1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
|
/********************************************************************************
* FaceTrackNoIR This program is a private project of the some enthusiastic *
* gamers from Holland, who don't like to pay much for *
* head-tracking. *
* *
* Copyright (C) 2012 Wim Vriend (Developing) *
* Ron Hendriks (Researching and Testing) *
* *
* Homepage: http://facetracknoir.sourceforge.net/home/default.htm *
* *
* This program is free software; you can redistribute it and/or modify it *
* under the terms of the GNU General Public License as published by the *
* Free Software Foundation; either version 3 of the License, or (at your *
* option) any later version. *
* *
* This program is distributed in the hope that it will be useful, but *
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY *
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for *
* more details. *
* *
* You should have received a copy of the GNU General Public License along *
* with this program; if not, see <http://www.gnu.org/licenses/>. *
*********************************************************************************/
#include "tracker.h"
#include "facetracknoir.h"
/** constructor **/
Tracker::Tracker( FaceTrackNoIR *parent ) :
should_quit(false),
do_center(false)
{
// Retieve the pointer to the parent
mainApp = parent;
// Load the settings from the INI-file
loadSettings();
}
Tracker::~Tracker()
{
}
static void get_curve(double pos, double& out, THeadPoseDOF& axis) {
bool altp = (pos < 0) && axis.altp;
if (altp) {
out = axis.invert * axis.curveAlt.getValue(pos);
axis.curve.setTrackingActive( false );
axis.curveAlt.setTrackingActive( true );
}
else {
out = axis.invert * axis.curve.getValue(pos);
axis.curve.setTrackingActive( true );
axis.curveAlt.setTrackingActive( false );
}
out += axis.zero;
}
/** QThread run method @override **/
void Tracker::run() {
T6DOF current_camera; // Used for filtering
T6DOF target_camera;
T6DOF new_camera;
/** Direct Input variables **/
T6DOF offset_camera;
T6DOF gameoutput_camera;
bool bTracker1Confid = false;
bool bTracker2Confid = false;
double newpose[6];
double last_post_filter[6];
forever
{
if (should_quit)
break;
for (int i = 0; i < 6; i++)
newpose[i] = 0;
//
// The second tracker serves as 'secondary'. So if an axis is written by the second tracker it CAN be overwritten by the Primary tracker.
// This is enforced by the sequence below.
//
if (Libraries->pSecondTracker) {
bTracker2Confid = Libraries->pSecondTracker->GiveHeadPoseData(newpose);
}
if (Libraries->pTracker) {
bTracker1Confid = Libraries->pTracker->GiveHeadPoseData(newpose);
}
{
QMutexLocker foo(&mtx);
const bool confid = bTracker1Confid || bTracker2Confid;
if ( confid ) {
for (int i = 0; i < 6; i++)
mainApp->axis(i).headPos = newpose[i];
}
//
// If Center is pressed, copy the current values to the offsets.
//
if (do_center) {
//
// Only copy valid values
//
for (int i = 0; i < 6; i++)
offset_camera.axes[i] = mainApp->axis(i).headPos;
Tracker::do_center = false;
if (Libraries->pTracker)
Libraries->pTracker->NotifyCenter();
if (Libraries->pSecondTracker)
Libraries->pSecondTracker->NotifyCenter();
if (Libraries->pFilter)
Libraries->pFilter->Initialize();
}
if (confid) {
// get values
for (int i = 0; i < 6; i++)
target_camera.axes[i] = mainApp->axis(i).headPos;
// do the centering
target_camera = target_camera - offset_camera;
//
// Use advanced filtering, when a filter was selected.
//
if (Libraries->pFilter) {
for (int i = 0; i < 6; i++)
last_post_filter[i] = gameoutput_camera.axes[i];
Libraries->pFilter->FilterHeadPoseData(current_camera.axes, target_camera.axes, new_camera.axes, last_post_filter);
}
else {
new_camera = target_camera;
}
for (int i = 0; i < 6; i++) {
get_curve(new_camera.axes[i], output_camera.axes[i], mainApp->axis(i));
}
//
// Send the headpose to the game
//
if (Libraries->pProtocol) {
gameoutput_camera = output_camera;
Libraries->pProtocol->sendHeadposeToGame( gameoutput_camera.axes, newpose ); // degrees & centimeters
}
}
}
//for lower cpu load
msleep(8);
}
for (int i = 0; i < 6; i++)
{
mainApp->axis(i).curve.setTrackingActive(false);
mainApp->axis(i).curveAlt.setTrackingActive(false);
}
}
//
// Get the raw headpose, so it can be displayed.
//
void Tracker::getHeadPose( double *data ) {
QMutexLocker foo(&mtx);
for (int i = 0; i < 6; i++)
{
data[i] = mainApp->axis(i).headPos;
}
}
//
// Get the output-headpose, so it can be displayed.
//
void Tracker::getOutputHeadPose( double *data ) {
QMutexLocker foo(&mtx);
for (int i = 0; i < 6; i++)
data[i] = output_camera.axes[i];
}
//
// Load the current Settings from the currently 'active' INI-file.
//
void Tracker::loadSettings() {
qDebug() << "Tracker::loadSettings says: Starting ";
QSettings settings("opentrack"); // Registry settings (in HK_USER)
QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file)
iniFile.beginGroup("Tracking");
qDebug() << "loadSettings says: iniFile = " << currentFile;
const char* names2[] = {
"zero_tx",
"zero_ty",
"zero_tz",
"zero_rx",
"zero_ry",
"zero_rz"
};
for (int i = 0; i < 6; i++)
mainApp->axis(i).zero = iniFile.value(names2[i], 0).toDouble();
iniFile.endGroup();
}
void Tracker::setInvertAxis(Axis axis, bool invert) { mainApp->axis(axis).invert = invert?-1.0f:1.0f; }
|
