Rename R[XYZ] to Yaw, Pitch, Roll to avoid confusion

Requested-by: mm0zct

17 files changed, 71 insertions, 71 deletions

diff --git a/facetracknoir/facetracknoir.cpp b/facetracknoir/facetracknoir.cpp
index 94a5257d..fafef908 100644
--- a/facetracknoir/facetracknoir.cpp
+++ b/facetracknoir/facetracknoir.cpp
@@ -681,9 +681,9 @@ void FaceTrackNoIR::startTracker( ) {
 	// Setup the Tracker and send the settings.

 	// This is necessary, because the events are only triggered 'on change'

 	//

-    tracker->setInvertAxis(RX, ui.chkInvertYaw->isChecked() );

+    tracker->setInvertAxis(Yaw, ui.chkInvertYaw->isChecked() );

     tracker->setInvertAxis(TY, ui.chkInvertPitch->isChecked() );

-    tracker->setInvertAxis(RZ, ui.chkInvertRoll->isChecked() );

+    tracker->setInvertAxis(Roll, ui.chkInvertRoll->isChecked() );

     tracker->setInvertAxis(TX, ui.chkInvertX->isChecked() );

     tracker->setInvertAxis(TY, ui.chkInvertY->isChecked() );

     tracker->setInvertAxis(TZ, ui.chkInvertZ->isChecked() );

@@ -849,9 +849,9 @@ void FaceTrackNoIR::showHeadPose() {
     ui.lcdNumY->display(QString("%1").arg(newdata[TY], 0, 'f', 1));

     ui.lcdNumZ->display(QString("%1").arg(newdata[TZ], 0, 'f', 1));

 

-    ui.lcdNumRotX->display(QString("%1").arg(newdata[RX], 0, 'f', 1));

-    ui.lcdNumRotY->display(QString("%1").arg(newdata[RY], 0, 'f', 1));

-    ui.lcdNumRotZ->display(QString("%1").arg(newdata[RZ], 0, 'f', 1));

+    ui.lcdNumRotX->display(QString("%1").arg(newdata[Yaw], 0, 'f', 1));

+    ui.lcdNumRotY->display(QString("%1").arg(newdata[Pitch], 0, 'f', 1));

+    ui.lcdNumRotZ->display(QString("%1").arg(newdata[Roll], 0, 'f', 1));

 

     ui.txtTracking->setVisible(tracker->getTrackingActive());

 

@@ -859,15 +859,15 @@ void FaceTrackNoIR::showHeadPose() {
 	// Get the output-pose and also display it.

 	//

     tracker->getOutputHeadPose(newdata);

-    ui.pose_display->rotateBy(newdata[RX], newdata[RZ], newdata[RY]);

+    ui.pose_display->rotateBy(newdata[Yaw], newdata[Roll], newdata[Pitch]);

 

     ui.lcdNumOutputPosX->display(QString("%1").arg(newdata[TX], 0, 'f', 1));

     ui.lcdNumOutputPosY->display(QString("%1").arg(newdata[TY], 0, 'f', 1));

     ui.lcdNumOutputPosZ->display(QString("%1").arg(newdata[TZ], 0, 'f', 1));

 

-    ui.lcdNumOutputRotX->display(QString("%1").arg(newdata[RX], 0, 'f', 1));

-    ui.lcdNumOutputRotY->display(QString("%1").arg(newdata[RY], 0, 'f', 1));

-    ui.lcdNumOutputRotZ->display(QString("%1").arg(newdata[RZ], 0, 'f', 1));

+    ui.lcdNumOutputRotX->display(QString("%1").arg(newdata[Yaw], 0, 'f', 1));

+    ui.lcdNumOutputRotY->display(QString("%1").arg(newdata[Pitch], 0, 'f', 1));

+    ui.lcdNumOutputRotZ->display(QString("%1").arg(newdata[Roll], 0, 'f', 1));

 

     //

     // Update the curves in the curve-configurator. This shows the ball with the red lines.

diff --git a/facetracknoir/facetracknoir.h b/facetracknoir/facetracknoir.h
index ece1d9b9..fd9c06a7 100644
--- a/facetracknoir/facetracknoir.h
+++ b/facetracknoir/facetracknoir.h
@@ -186,13 +186,13 @@ private:
 

         void setInvertAxis( Axis axis, int invert );

         void setInvertYaw(int invert) {

-            setInvertAxis(RX, invert);

+            setInvertAxis(Yaw, invert);

         }

         void setInvertPitch(int invert) {

-            setInvertAxis(RY, invert);

+            setInvertAxis(Pitch, invert);

         }        

         void setInvertRoll(int invert) {

-            setInvertAxis(RZ, invert);

+            setInvertAxis(Roll, invert);

         }

         void setInvertX(int invert) {

             setInvertAxis(TX, invert);

diff --git a/facetracknoir/tracker.h b/facetracknoir/tracker.h
index 89fb2650..5500993c 100644
--- a/facetracknoir/tracker.h
+++ b/facetracknoir/tracker.h
@@ -142,9 +142,9 @@ public:
         axes[TX] = new THeadPoseDOF("tx","tx_alt", 100, 100, 100, 100);

         axes[TY] = new THeadPoseDOF("ty","ty_alt", 100, 100, 100, 100);

         axes[TZ] = new THeadPoseDOF("tz","tz_alt", 100, 100, 100, 100);

-        axes[RX] = new THeadPoseDOF("rx", "rx_alt", 180, 180, 180, 180);

-        axes[RY] = new THeadPoseDOF("ry", "ry_alt", 90, 90, 90, 90);

-        axes[RZ] = new THeadPoseDOF("rz", "rz_alt", 180, 180, 180, 180);

+        axes[Yaw] = new THeadPoseDOF("rx", "rx_alt", 180, 180, 180, 180);

+        axes[Pitch] = new THeadPoseDOF("ry", "ry_alt", 90, 90, 90, 90);

+        axes[Roll] = new THeadPoseDOF("rz", "rz_alt", 180, 180, 180, 180);

     }

 };

 

diff --git a/facetracknoir/tracker_types.cpp b/facetracknoir/tracker_types.cpp
index eedd94f9..11adc985 100644
--- a/facetracknoir/tracker_types.cpp
+++ b/facetracknoir/tracker_types.cpp
@@ -7,15 +7,15 @@
 

 T6DOF operator-(const T6DOF& A, const T6DOF& B)

 {

-    Rotation R_A(A.axes[RX]*D2R, A.axes[RY]*D2R, A.axes[RZ]*D2R);

-    Rotation R_B(B.axes[RX]*D2R, B.axes[RY]*D2R, B.axes[RZ]*D2R);

+    Rotation R_A(A.axes[Yaw]*D2R, A.axes[Pitch]*D2R, A.axes[Roll]*D2R);

+    Rotation R_B(B.axes[Yaw]*D2R, B.axes[Pitch]*D2R, B.axes[Roll]*D2R);

 	Rotation R_C = R_A * R_B.inv();

 

 	T6DOF C;

-    R_C.toEuler(C.axes[RX], C.axes[RY], C.axes[RZ]);

-    C.axes[RX] *= R2D;

-    C.axes[RY] *= R2D;

-    C.axes[RZ] *= R2D;

+    R_C.toEuler(C.axes[Yaw], C.axes[Pitch], C.axes[Roll]);

+    C.axes[Yaw] *= R2D;

+    C.axes[Pitch] *= R2D;

+    C.axes[Roll] *= R2D;

 

     C.axes[TX] = A.axes[TX] - B.axes[TX];

     C.axes[TY] = A.axes[TY] - B.axes[TY];

@@ -26,15 +26,15 @@ T6DOF operator-(const T6DOF& A, const T6DOF& B)
 

 T6DOF operator+(const T6DOF& A, const T6DOF& B)

 {

-    Rotation R_A(A.axes[RX]*D2R, A.axes[RY]*D2R, A.axes[RZ]*D2R);

-    Rotation R_B(B.axes[RX]*D2R, B.axes[RY]*D2R, B.axes[RZ]*D2R);

+    Rotation R_A(A.axes[Yaw]*D2R, A.axes[Pitch]*D2R, A.axes[Roll]*D2R);

+    Rotation R_B(B.axes[Yaw]*D2R, B.axes[Pitch]*D2R, B.axes[Roll]*D2R);

 	Rotation R_C = R_A * R_B;

 

 	T6DOF C;

-    R_C.toEuler(C.axes[RX], C.axes[RY], C.axes[RZ]);

-    C.axes[RX] *= R2D;

-    C.axes[RY] *= R2D;

-    C.axes[RZ] *= R2D;

+    R_C.toEuler(C.axes[Yaw], C.axes[Pitch], C.axes[Roll]);

+    C.axes[Yaw] *= R2D;

+    C.axes[Pitch] *= R2D;

+    C.axes[Roll] *= R2D;

 

     C.axes[TX] = A.axes[TX] + B.axes[TX];

     C.axes[TY] = A.axes[TY] + B.axes[TY];

diff --git a/ftnoir_protocol_fg/ftnoir_protocol_fg.cpp b/ftnoir_protocol_fg/ftnoir_protocol_fg.cpp
index bbeac489..7b43e306 100644
--- a/ftnoir_protocol_fg/ftnoir_protocol_fg.cpp
+++ b/ftnoir_protocol_fg/ftnoir_protocol_fg.cpp
@@ -98,11 +98,11 @@ quint16 senderPort;
 	// Copy the Raw measurements directly to the client.

 	//

     FlightData.x = headpose[TX];

-    FlightData.y = headpose[RY];

+    FlightData.y = headpose[Pitch];

     FlightData.z = headpose[TZ];

     FlightData.p = headpose[TY];

-    FlightData.h = headpose[RX];

-    FlightData.r = headpose[RZ];

+    FlightData.h = headpose[Yaw];

+    FlightData.r = headpose[Roll];

 	FlightData.status = fg_cmd;

 

 	//

diff --git a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.cpp b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.cpp
index 418003c0..e457d363 100644
--- a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.cpp
+++ b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.cpp
@@ -110,9 +110,9 @@ float virtRotZ;
 

 //	qDebug() << "FSUIPCServer::run() says: started!";

 

-    virtRotX = -headpose[RY];				// degrees

-    virtRotY = headpose[RX];

-    virtRotZ = headpose[RZ];

+    virtRotX = -headpose[Pitch];				// degrees

+    virtRotY = headpose[Yaw];

+    virtRotZ = headpose[Roll];

 

 	virtPosX = 0.0f;											// cm, X and Y are not working for FS2002/2004!

 	virtPosY = 0.0f;

diff --git a/ftnoir_protocol_ft/ftnoir_protocol_ft.cpp b/ftnoir_protocol_ft/ftnoir_protocol_ft.cpp
index 3108f0d7..1ee8b49e 100644
--- a/ftnoir_protocol_ft/ftnoir_protocol_ft.cpp
+++ b/ftnoir_protocol_ft/ftnoir_protocol_ft.cpp
@@ -129,16 +129,16 @@ float headRotZ;
     //

 	// Scale the Raw measurements to the client measurements.

 	//

-    headRotX = getRadsFromDegrees(headpose[RY]);

-    headRotY = getRadsFromDegrees(headpose[RX]);

-    headRotZ = getRadsFromDegrees(headpose[RZ]);

+    headRotX = getRadsFromDegrees(headpose[Pitch]);

+    headRotY = getRadsFromDegrees(headpose[Yaw]);

+    headRotZ = getRadsFromDegrees(headpose[Roll]);

     headPosX = headpose[TX] * 10;

     headPosY = headpose[TY] * 10;

     headPosZ = headpose[TZ] * 10;

 

-    virtRotX = getRadsFromDegrees(headpose[RY]);

-    virtRotY = getRadsFromDegrees(headpose[RX]);

-    virtRotZ = getRadsFromDegrees(headpose[RZ]);

+    virtRotX = getRadsFromDegrees(headpose[Pitch]);

+    virtRotY = getRadsFromDegrees(headpose[Yaw]);

+    virtRotZ = getRadsFromDegrees(headpose[Roll]);

     virtPosX = headpose[TX] * 10;

     virtPosY = headpose[TY] * 10;

     virtPosZ = headpose[TZ] * 10;

diff --git a/ftnoir_protocol_mouse/ftnoir_protocol_mouse.h b/ftnoir_protocol_mouse/ftnoir_protocol_mouse.h
index 14719540..fd0058ea 100644
--- a/ftnoir_protocol_mouse/ftnoir_protocol_mouse.h
+++ b/ftnoir_protocol_mouse/ftnoir_protocol_mouse.h
@@ -46,9 +46,9 @@
 #define MOUSE_AXIS_MAX 65535

 

 enum FTN_AngleName {

-    FTN_YAW = RX,

-    FTN_PITCH = RY,

-    FTN_ROLL = RZ,

+    FTN_YAW = Yaw,

+    FTN_PITCH = Pitch,

+    FTN_ROLL = Roll,

     FTN_X = TX,

     FTN_Y = TY,

     FTN_Z = TZ

diff --git a/ftnoir_protocol_sc/ftnoir_protocol_sc.cpp b/ftnoir_protocol_sc/ftnoir_protocol_sc.cpp
index ba4c9012..3cc25be4 100644
--- a/ftnoir_protocol_sc/ftnoir_protocol_sc.cpp
+++ b/ftnoir_protocol_sc/ftnoir_protocol_sc.cpp
@@ -90,9 +90,9 @@ void FTNoIR_Protocol::sendHeadposeToGame( double *headpose, double *rawheadpose
 PDWORD_PTR MsgResult = 0;

 

 

-    virtSCRotX = -headpose[RY];					// degrees

-    virtSCRotY = -headpose[RX];

-    virtSCRotZ = headpose[RZ];

+    virtSCRotX = -headpose[Pitch];					// degrees

+    virtSCRotY = -headpose[Yaw];

+    virtSCRotZ = headpose[Roll];

 

     virtSCPosX = headpose[TX]/100.f;						// cm to meters

     virtSCPosY = headpose[TY]/100.f;

diff --git a/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.cpp b/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.cpp
index f4495e10..50a7bf97 100644
--- a/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.cpp
+++ b/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.cpp
@@ -17,9 +17,9 @@ FTNoIR_Protocol::~FTNoIR_Protocol()
 void FTNoIR_Protocol::sendHeadposeToGame( double *headpose, double *rawheadpose ) {
     JOYSTICK_STATE state[2] = { 0 };
 
-    state[0].XAxis = std::min<int>(VJOY_AXIS_MAX, std::max<int>(VJOY_AXIS_MIN, headpose[RX] * VJOY_AXIS_MAX / 180.0));
-    state[0].YAxis = std::min<int>(VJOY_AXIS_MAX, std::max<int>(VJOY_AXIS_MIN, headpose[RY] * VJOY_AXIS_MAX / 180.0));
-    state[0].ZAxis = std::min<int>(VJOY_AXIS_MAX, std::max<int>(VJOY_AXIS_MIN, headpose[RZ] * VJOY_AXIS_MAX / 180.0));
+    state[0].XAxis = std::min<int>(VJOY_AXIS_MAX, std::max<int>(VJOY_AXIS_MIN, headpose[Yaw] * VJOY_AXIS_MAX / 180.0));
+    state[0].YAxis = std::min<int>(VJOY_AXIS_MAX, std::max<int>(VJOY_AXIS_MIN, headpose[Pitch] * VJOY_AXIS_MAX / 180.0));
+    state[0].ZAxis = std::min<int>(VJOY_AXIS_MAX, std::max<int>(VJOY_AXIS_MIN, headpose[Roll] * VJOY_AXIS_MAX / 180.0));
     state[0].XRotation = std::min<int>(VJOY_AXIS_MAX, std::max<int>(VJOY_AXIS_MIN, headpose[TX] * VJOY_AXIS_MAX / 100.0));
     state[0].YRotation = std::min<int>(VJOY_AXIS_MAX, std::max<int>(VJOY_AXIS_MIN, headpose[TY] * VJOY_AXIS_MAX / 100.0));
     state[0].ZRotation = std::min<int>(VJOY_AXIS_MAX, std::max<int>(VJOY_AXIS_MIN, headpose[TZ] * VJOY_AXIS_MAX / 100.0));
diff --git a/ftnoir_tracker_base/ftnoir_tracker_types.h b/ftnoir_tracker_base/ftnoir_tracker_types.h
index d2981701..583d508b 100644
--- a/ftnoir_tracker_base/ftnoir_tracker_types.h
+++ b/ftnoir_tracker_base/ftnoir_tracker_types.h
@@ -31,7 +31,7 @@
 #define FTNOIR_TRACKER_TYPES_H

 

 enum Axis {

-    TX = 0, TY, TZ, RX, RY, RZ

+    TX = 0, TY, TZ, Yaw, Pitch, Roll

 };

 

 #endif // FTNOIR_TRACKER_TYPES_H

diff --git a/ftnoir_tracker_hillcrest/ftnoir_tracker_hillcrest.cpp b/ftnoir_tracker_hillcrest/ftnoir_tracker_hillcrest.cpp
index f2dd1fd7..e6c3bbf2 100644
--- a/ftnoir_tracker_hillcrest/ftnoir_tracker_hillcrest.cpp
+++ b/ftnoir_tracker_hillcrest/ftnoir_tracker_hillcrest.cpp
@@ -213,11 +213,11 @@ bool FTNoIR_Tracker::GiveHeadPoseData(double *data)
         freespace_perform();
         body = cachedBodyFrame;
         if (bEnableYaw)
-            data[RX] = body.angularVelZ * TO_DEG;
+            data[Yaw] = body.angularVelZ * TO_DEG;
         if (bEnablePitch)
-            data[RY] = body.angularVelY * TO_DEG;
+            data[Pitch] = body.angularVelY * TO_DEG;
         if (bEnableRoll)
-            data[RZ] = body.angularVelX * TO_DEG;
+            data[Roll] = body.angularVelX * TO_DEG;
     }
 	return device != -1;
 }
diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
index 63c1eadd..29738dd2 100644
--- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
+++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
@@ -109,7 +109,7 @@ static void load_settings(ht_config_t* config, Tracker* tracker)
 	config->pyrlk_pyramids = 3;
     config->pyrlk_win_size_w = config->pyrlk_win_size_h = 21;
     config->max_keypoints = 200;
-    config->keypoint_distance = 5;
+    config->keypoint_distance = 4.5;
     //config->force_width = 640;
     //config->force_height = 480;
     config->force_fps = iniFile.value("fps", 0).toInt();
@@ -215,12 +215,12 @@ bool Tracker::GiveHeadPoseData(double *data)
     }
     if (shm->result.filled) {
         if (enableRX)
-            data[RX] = shm->result.rotx;
+            data[Yaw] = shm->result.rotx;
         if (enableRY) {
-            data[RY] = shm->result.roty;
+            data[Pitch] = shm->result.roty;
 		}
         if (enableRZ) {
-            data[RZ] = shm->result.rotz;
+            data[Roll] = shm->result.rotz;
         }
         if (enableTX)
             data[TX] = shm->result.tx;
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index ddf91c59..99b2f680 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -240,13 +240,13 @@ bool Tracker::GiveHeadPoseData(double *data)
 		gamma = atan2( R(2,1), R(2,2));		

 

 		if (bEnableYaw) {

-            data[RX]   = rad2deg * alpha;

+            data[Yaw]   = rad2deg * alpha;

 		}

 		if (bEnablePitch) {

-            data[RY] = rad2deg * beta;

+            data[Pitch] = rad2deg * beta;

 		}

 		if (bEnableRoll) {

-            data[RZ]  = rad2deg * gamma;

+            data[Roll]  = rad2deg * gamma;

 		}

 	}

 	return true;

diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp
index 9e985444..0e023bde 100644
--- a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp
+++ b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp
@@ -73,9 +73,9 @@ bool Rift_Tracker::GiveHeadPoseData(double *data)
         float pitch = 0.0f;
         float roll = 0.0f;
         hmdOrient.GetEulerAngles<Axis_Y, Axis_X, Axis_Z>(&yaw, &pitch , &roll);
-        newHeadPose[RY] =pitch;
-        newHeadPose[RZ] = roll;
-        newHeadPose[RX] = yaw;
+        newHeadPose[Pitch] =pitch;
+        newHeadPose[Roll] = roll;
+        newHeadPose[Yaw] = yaw;
 #if 0
         if (bEnableX) {
             data[TX] = newHeadPose[TX];
@@ -88,13 +88,13 @@ bool Rift_Tracker::GiveHeadPoseData(double *data)
         }
 #endif
         if (bEnableYaw) {
-            data[RX] = newHeadPose[RX] * 57.295781f;
+            data[Yaw] = newHeadPose[Yaw] * 57.295781f;
         }
         if (bEnablePitch) {
-            data[RY] = newHeadPose[RY] * 57.295781f;
+            data[Pitch] = newHeadPose[Pitch] * 57.295781f;
         }
         if (bEnableRoll) {
-            data[RZ] = newHeadPose[RZ] * 57.295781f;
+            data[Roll] = newHeadPose[Roll] * 57.295781f;
         }
     }
 	return pHMD.GetPtr() != NULL;
diff --git a/ftnoir_tracker_sm/ftnoir_tracker_faceapi.cpp b/ftnoir_tracker_sm/ftnoir_tracker_faceapi.cpp
index b50f4916..74e1d3d2 100644
--- a/ftnoir_tracker_sm/ftnoir_tracker_faceapi.cpp
+++ b/ftnoir_tracker_sm/ftnoir_tracker_faceapi.cpp
@@ -112,13 +112,13 @@ bool FTNoIR_Tracker::GiveHeadPoseData(double *data)
         data[TZ]     = pMemData->data.new_pose.head_pos.z * 100.0f;

     }

     if (bEnableYaw) {

-        data[RX]   = pMemData->data.new_pose.head_rot.y_rads * 57.295781f;			// From rads to degrees

+        data[Yaw]   = pMemData->data.new_pose.head_rot.y_rads * 57.295781f;			// From rads to degrees

     }

     if (bEnablePitch) {

-        data[RY] = pMemData->data.new_pose.head_rot.x_rads * 57.295781f;

+        data[Pitch] = pMemData->data.new_pose.head_rot.x_rads * 57.295781f;

     }

     if (bEnableRoll) {

-        data[RZ]  = pMemData->data.new_pose.head_rot.z_rads * 57.295781f;

+        data[Roll]  = pMemData->data.new_pose.head_rot.z_rads * 57.295781f;

     }

 

     //

diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp
index e62a54cc..83f518fa 100644
--- a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp
+++ b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp
@@ -121,13 +121,13 @@ bool FTNoIR_Tracker::GiveHeadPoseData(double *data)
         data[TZ] = newHeadPose[TZ];

 	}

     if (bEnableYaw) {

-        data[RX] = newHeadPose[RX];

+        data[Yaw] = newHeadPose[Yaw];

 	}

     if (bEnablePitch) {

-        data[RY] = newHeadPose[RY];

+        data[Pitch] = newHeadPose[Pitch];

 	}

     if (bEnableRoll) {

-        data[RZ] = newHeadPose[RZ];

+        data[Roll] = newHeadPose[Roll];

 	}

     mutex.unlock();

 	return true;