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authorStanislaw Halik <sthalik@misaki.pl>2013-06-27 16:19:25 +0200
committerStanislaw Halik <sthalik@misaki.pl>2013-06-27 16:19:25 +0200
commitcb1fb94c79e44219ba15fafdbcad1cd0ef613726 (patch)
tree77e9285e22528e116293d0b076b481e76387ffe7
parent1535f956a73ea3be78bffa82a224ab7bcc6dd14d (diff)
parentd4e2f529a3e0c0c496eab4b7745fc320de8805c9 (diff)
Merge branch 'master' of github.com:opentrack/opentrack
Conflicts: ftnoir_tracker_rift/ftnoir_tracker_rift.cpp
-rw-r--r--CMakeLists.txt33
-rw-r--r--facetracknoir/facetracknoir.rc2
-rw-r--r--facetracknoir/rotation.cpp35
-rw-r--r--facetracknoir/rotation.h53
-rw-r--r--ftnoir_tracker_hydra/ftnoir_hydra_clientcontrols.ui372
-rw-r--r--ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp155
-rw-r--r--ftnoir_tracker_hydra/ftnoir_tracker_hydra.h89
-rw-r--r--ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp180
-rw-r--r--ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp55
-rw-r--r--ftnoir_tracker_rift/ftnoir_tracker_rift.cpp82
10 files changed, 990 insertions, 66 deletions
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f51d38e7..f2b3805c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,6 +17,7 @@ endif()
IF(WIN32)
SET(SDK_SM_FACEAPI_PATH "" CACHE PATH "SeeingMachines FaceAPI SDK path")
SET(SDK_RIFT "" CACHE PATH "libOVR path")
+ SET(SDK_HYDRA "" CACHE PATH "libSixense path")
SET(SDK_VJOY "" CACHE PATH "VJoy SDK path")
ENDIF()
@@ -248,7 +249,7 @@ if(NOT SDK_FACEAPI_ONLY)
QT4_WRAP_UI(opentrack-tracker-hillcrest-uih ${opentrack-tracker-hillcrest-ui})
QT4_ADD_RESOURCES(opentrack-tracker-hillcrest-rcc ${opentrack-tracker-hillcrest-rc})
- file(GLOB opentrack-tracker-rift-c "ftnoir_tracker_rift/*.cpp")
+ file(GLOB opentrack-tracker-rift-c "ftnoir_tracker_rift/*.cpp")
file(GLOB opentrack-tracker-rift-h "ftnoir_tracker_rift/*.h")
QT4_WRAP_CPP(opentrack-tracker-rift-moc ${opentrack-tracker-rift-h})
file(GLOB opentrack-tracker-rift-ui "ftnoir_tracker_rift/*.ui")
@@ -256,6 +257,14 @@ if(NOT SDK_FACEAPI_ONLY)
QT4_WRAP_UI(opentrack-tracker-rift-uih ${opentrack-tracker-rift-ui})
QT4_ADD_RESOURCES(opentrack-tracker-rift-rcc ${opentrack-tracker-rift-rc})
+ file(GLOB opentrack-tracker-hydra-c "ftnoir_tracker_hydra/*.cpp")
+ file(GLOB opentrack-tracker-hydra-h "ftnoir_tracker_hydra/*.h")
+ QT4_WRAP_CPP(opentrack-tracker-hydra-moc ${opentrack-tracker-hydra-h})
+ file(GLOB opentrack-tracker-hydra-ui "ftnoir_tracker_hydra/*.ui")
+ file(GLOB opentrack-tracker-hydra-rc "ftnoir_tracker_hydra/*.qrc")
+ QT4_WRAP_UI(opentrack-tracker-hydra-uih ${opentrack-tracker-hydra-ui})
+ QT4_ADD_RESOURCES(opentrack-tracker-hydra-rcc ${opentrack-tracker-hydra-rc})
+
file(GLOB opentrack-tracker-faceapi-c "ftnoir_tracker_sm/*.cpp")
file(GLOB opentrack-tracker-faceapi-h "ftnoir_tracker_sm/*.h")
QT4_WRAP_CPP(opentrack-tracker-faceapi-moc ${opentrack-tracker-faceapi-h})
@@ -466,6 +475,19 @@ endif()
endif()
endif()
+ if(SDK_HYDRA)
+ include_directories("${SDK_HYDRA}/include")
+ include_directories("${SDK_HYDRA}/include/sixense_utils")
+ add_library(opentrack-tracker-hydra SHARED ${opentrack-tracker-hydra-c} ${opentrack-tracker-hydra-moc} ${opentrack-tracker-hydra-uih} ${opentrack-tracker-hydra-rcc})
+ target_link_libraries(opentrack-tracker-hydra ${MY_QT_LIBS})
+ if(WIN32)
+ target_link_libraries(opentrack-tracker-hydra "${SDK_HYDRA}/lib/win32/release_static/sixense_s.lib" "${SDK_HYDRA}/lib/win32/release_static/sixense_utils_s.lib")
+ endif()
+ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_COMPILER_IS_GNUCC)
+ SET_TARGET_PROPERTIES(opentrack-tracker-hydra
+ PROPERTIES LINK_FLAGS "-Wl,--version-script=${CMAKE_SOURCE_DIR}/facetracknoir/posix-version-script.txt")
+ endif()
+ endif()
if(SDK_HILLCREST)
include_directories("${SDK_HILLCREST}/include")
if(WIN32)
@@ -592,6 +614,15 @@ if(NOT SDK_FACEAPI_ONLY)
)
endif()
+ if(SDK_HYDRA)
+ install(
+ TARGETS opentrack-tracker-hydra
+ RUNTIME DESTINATION .
+ LIBRARY DESTINATION .
+ NAMELINK_SKIP
+ )
+ endif()
+
if(WIN32)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_COMPILER_IS_GNUCC)
file(GLOB mingw-libgcc-s "${SDK_MINGW_PATH}/bin/libgcc_s_*.dll")
diff --git a/facetracknoir/facetracknoir.rc b/facetracknoir/facetracknoir.rc
index fcae12b3..655baa9d 100644
--- a/facetracknoir/facetracknoir.rc
+++ b/facetracknoir/facetracknoir.rc
@@ -1,2 +1,2 @@
-#include "resource.h"
+#include <windows.h>
IDI_ICON1 ICON "facetracknoir.ico"
diff --git a/facetracknoir/rotation.cpp b/facetracknoir/rotation.cpp
index f6d16d2d..1a6e1e8e 100644
--- a/facetracknoir/rotation.cpp
+++ b/facetracknoir/rotation.cpp
@@ -7,42 +7,9 @@
#include "rotation.h"
-#include <cmath>
-// ----------------------------------------------------------------------------
-Rotation Rotation::inv()
-{
- return Rotation(a,-b,-c,-d);
-}
-// conversions
-// see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
-void Rotation::fromEuler(double yaw, double pitch, double roll)
-{
- double sin_phi = sin(roll/2.0);
- double cos_phi = cos(roll/2.0);
- double sin_the = sin(pitch/2.0);
- double cos_the = cos(pitch/2.0);
- double sin_psi = sin(yaw/2.0);
- double cos_psi = cos(yaw/2.0);
+// ----------------------------------------------------------------------------
- a = cos_phi*cos_the*cos_psi + sin_phi*sin_the*sin_psi;
- b = sin_phi*cos_the*cos_psi - cos_phi*sin_the*sin_psi;
- c = cos_phi*sin_the*cos_psi + sin_phi*cos_the*sin_psi;
- d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi;
-}
-void Rotation::toEuler(volatile double& yaw, volatile double& pitch, volatile double& roll)
-{
- roll = atan2(2.0*(a*b + c*d), 1.0 - 2.0*(b*b + c*c));
- pitch = asin(2.0*(a*c - b*d));
- yaw = atan2(2.0*(a*d + b*c), 1.0 - 2.0*(c*c + d*d));
-}
-Rotation operator*(const Rotation& A, const Rotation& B)
-{
- return Rotation(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d, // quaternion multiplication
- A.a*B.b + A.b*B.a + A.c*B.d - A.d*B.c,
- A.a*B.c - A.b*B.d + A.c*B.a + A.d*B.b,
- A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a);
-} \ No newline at end of file
diff --git a/facetracknoir/rotation.h b/facetracknoir/rotation.h
index 9dcea285..a1500969 100644
--- a/facetracknoir/rotation.h
+++ b/facetracknoir/rotation.h
@@ -7,25 +7,66 @@
#ifndef ROTATION_H
#define ROTATION_H
-
+#include <cmath>
// ----------------------------------------------------------------------------
class Rotation {
- friend Rotation operator*(const Rotation& A, const Rotation& B);
+
public:
Rotation() : a(1.0),b(0.0),c(0.0),d(0.0) {}
Rotation(double yaw, double pitch, double roll) { fromEuler(yaw, pitch, roll); }
Rotation(double a, double b, double c, double d) : a(a),b(b),c(c),d(d) {}
- Rotation inv(); // inverse
+ Rotation inv(){ // inverse
+ return Rotation(a,-b,-c,-d);
+ }
+
// conversions
- void fromEuler(double yaw, double pitch, double roll);
- void toEuler(volatile double& yaw, volatile double& pitch, volatile double& roll);
+ // see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
+ void fromEuler(double yaw, double pitch, double roll)
+ {
+ double sin_phi = sin(roll/2.0);
+ double cos_phi = cos(roll/2.0);
+ double sin_the = sin(pitch/2.0);
+ double cos_the = cos(pitch/2.0);
+ double sin_psi = sin(yaw/2.0);
+ double cos_psi = cos(yaw/2.0);
+
+ a = cos_phi*cos_the*cos_psi + sin_phi*sin_the*sin_psi;
+ b = sin_phi*cos_the*cos_psi - cos_phi*sin_the*sin_psi;
+ c = cos_phi*sin_the*cos_psi + sin_phi*cos_the*sin_psi;
+ d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi;
+ }
+
+ void toEuler(double& yaw, double& pitch, double& roll)
+ {
+ roll = atan2(2.0*(a*b + c*d), 1.0 - 2.0*(b*b + c*c));
+ pitch = asin(2.0*(a*c - b*d));
+ yaw = atan2(2.0*(a*d + b*c), 1.0 - 2.0*(c*c + d*d));
+ }
+/* const Rotation operator*(const Rotation& A, const Rotation& B)
+ {
+ return Rotation(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d, // quaternion multiplication
+ A.a*B.b + A.b*B.a + A.c*B.d - A.d*B.c,
+ A.a*B.c - A.b*B.d + A.c*B.a + A.d*B.b,
+ A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a);
+ }*/
+
+
+ const Rotation operator*(const Rotation& B)
+ {
+ const Rotation& A = *this;
+ return Rotation(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d, // quaternion multiplication
+ A.a*B.b + A.b*B.a + A.c*B.d - A.d*B.c,
+ A.a*B.c - A.b*B.d + A.c*B.a + A.d*B.b,
+ A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a);
+ }
+
protected:
double a,b,c,d; // quaternion coefficients
};
-Rotation operator*(const Rotation& A, const Rotation& B); // composition of rotations
+
#endif //ROTATION_H
diff --git a/ftnoir_tracker_hydra/ftnoir_hydra_clientcontrols.ui b/ftnoir_tracker_hydra/ftnoir_hydra_clientcontrols.ui
new file mode 100644
index 00000000..0cee05f0
--- /dev/null
+++ b/ftnoir_tracker_hydra/ftnoir_hydra_clientcontrols.ui
@@ -0,0 +1,372 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>UIHydraControls</class>
+ <widget class="QWidget" name="UIHydraControls">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>411</width>
+ <height>142</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>Sixense Hydra tracker settings FaceTrackNoIR</string>
+ </property>
+ <property name="windowIcon">
+ <iconset>
+ <normaloff>images/FaceTrackNoIR.png</normaloff>images/FaceTrackNoIR.png</iconset>
+ </property>
+ <property name="layoutDirection">
+ <enum>Qt::LeftToRight</enum>
+ </property>
+ <property name="autoFillBackground">
+ <bool>false</bool>
+ </property>
+ <layout class="QVBoxLayout" name="_vertical_layout">
+ <item>
+ <widget class="QGroupBox" name="groupBox_3">
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>85</height>
+ </size>
+ </property>
+ <property name="title">
+ <string>Enable Axis</string>
+ </property>
+ <widget class="QWidget" name="layoutWidget">
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>20</y>
+ <width>143</width>
+ <height>60</height>
+ </rect>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_2">
+
+
+
+
+
+
+
+
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_61">
+ <property name="text">
+ <string>Pitch:</string>
+ </property>
+ </widget>
+ </item>
+
+ <item row="0" column="1">
+ <widget class="QCheckBox" name="chkEnablePitch">
+ <property name="maximumSize">
+ <size>
+ <width>20</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="layoutDirection">
+ <enum>Qt::LeftToRight</enum>
+ </property>
+ <property name="styleSheet">
+ <string notr="true"/>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_91">
+ <property name="text">
+ <string>Yaw:</string>
+ </property>
+ </widget>
+ </item>
+
+
+ <item row="1" column="1">
+ <widget class="QCheckBox" name="chkEnableYaw">
+ <property name="maximumSize">
+ <size>
+ <width>20</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="layoutDirection">
+ <enum>Qt::LeftToRight</enum>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+
+
+
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_111">
+ <property name="text">
+ <string>Roll:</string>
+ </property>
+ </widget>
+ </item>
+
+ <item row="2" column="1">
+ <widget class="QCheckBox" name="chkEnableRoll">
+ <property name="maximumSize">
+ <size>
+ <width>20</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="layoutDirection">
+ <enum>Qt::LeftToRight</enum>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ <item row="0" column="2">
+ <widget class="QLabel" name="label_6">
+ <property name="text">
+ <string>X:</string>
+ </property>
+ </widget>
+ </item>
+
+ <item row="0" column="3">
+ <widget class="QCheckBox" name="chkEnableX">
+ <property name="maximumSize">
+ <size>
+ <width>20</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="layoutDirection">
+ <enum>Qt::LeftToRight</enum>
+ </property>
+ <property name="styleSheet">
+ <string notr="true"/>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+
+ <item row="1" column="2">
+ <widget class="QLabel" name="label_9">
+ <property name="text">
+ <string>Y:</string>
+ </property>
+ </widget>
+ </item>
+
+
+ <item row="1" column="3">
+ <widget class="QCheckBox" name="chkEnableY">
+ <property name="maximumSize">
+ <size>
+ <width>20</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="layoutDirection">
+ <enum>Qt::LeftToRight</enum>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+
+
+
+ <item row="2" column="2">
+ <widget class="QLabel" name="label_11">
+ <property name="text">
+ <string>Z:</string>
+ </property>
+ </widget>
+ </item>
+
+ <item row="2" column="3">
+ <widget class="QCheckBox" name="chkEnableZ">
+ <property name="maximumSize">
+ <size>
+ <width>20</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="layoutDirection">
+ <enum>Qt::LeftToRight</enum>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ </layout>
+ </widget>
+ </widget>
+ </item>
+ <item>
+ <spacer name="verticalSpacer">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>40</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <item>
+ <spacer name="horizontalSpacer_2">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_2">
+ <property name="sizeConstraint">
+ <enum>QLayout::SetDefaultConstraint</enum>
+ </property>
+ <item>
+ <widget class="QPushButton" name="btnOK">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>100</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>100</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>OK</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="btnCancel">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>100</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>100</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>Cancel</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeType">
+ <enum>QSizePolicy::Fixed</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>10</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ <tabstops>
+ <tabstop>btnOK</tabstop>
+ <tabstop>btnCancel</tabstop>
+ </tabstops>
+ <resources/>
+ <connections/>
+ <slots>
+ <slot>startEngineClicked()</slot>
+ <slot>stopEngineClicked()</slot>
+ <slot>cameraSettingsClicked()</slot>
+ </slots>
+</ui>
diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp
new file mode 100644
index 00000000..24ffedcd
--- /dev/null
+++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp
@@ -0,0 +1,155 @@
+/* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */
+#include "ftnoir_tracker_hydra.h"
+#include "facetracknoir/global-settings.h"
+#include "facetracknoir/rotation.h"
+#include <cstdio>
+#define SIXENSE_STATIC_LIB
+#define SIXENSE_UTILS_STATIC_LIB
+#include <sixense.h>
+#include <sixense_math.hpp>
+#ifdef WIN32
+#include <sixense_utils/mouse_pointer.hpp>
+#endif
+#include <sixense_utils/derivatives.hpp>
+#include <sixense_utils/button_states.hpp>
+#include <sixense_utils/event_triggers.hpp>
+#include <sixense_utils/controller_manager/controller_manager.hpp>
+
+Hydra_Tracker::Hydra_Tracker()
+{
+ bEnableRoll = true;
+ bEnablePitch = true;
+ bEnableYaw = true;
+ bEnableX = true;
+ bEnableY = true;
+ bEnableZ = true;
+ should_quit = false;
+ for (int i = 0; i < 6; i++)
+ newHeadPose[i] = 0;
+}
+
+Hydra_Tracker::~Hydra_Tracker()
+{
+
+ sixenseExit();
+}
+
+/*
+void controller_manager_setup_callback( sixenseUtils::ControllerManager::setup_step step ) {
+
+ QMessageBox::warning(0,"OpenTrack Info", "controller manager callback",QMessageBox::Ok,QMessageBox::NoButton);
+ if( sixenseUtils::getTheControllerManager()->isMenuVisible() ) {
+ // Ask the controller manager what the next instruction string should be.
+ std::string controller_manager_text_string = sixenseUtils::getTheControllerManager()->getStepString();
+ QMessageBox::warning(0,"OpenTrack Info", controller_manager_text_string.c_str(),QMessageBox::Ok,QMessageBox::NoButton);
+ // We could also load the supplied controllermanager textures using the filename: sixenseUtils::getTheControllerManager()->getTextureFileName();
+
+ }
+}*/
+
+void Hydra_Tracker::StartTracker(QFrame* videoFrame)
+{
+ //QMessageBox::warning(0,"FaceTrackNoIR Notification", "Tracking loading settings...",QMessageBox::Ok,QMessageBox::NoButton);
+ loadSettings();
+
+ // Init sixense
+ //QMessageBox::warning(0,"OpenTrack Info", "sixense init",QMessageBox::Ok,QMessageBox::NoButton);
+ sixenseInit();
+ //QMessageBox::warning(0,"OpenTrack Info", "sixense init complete, setting controller manager",QMessageBox::Ok,QMessageBox::NoButton);
+ // Init the controller manager. This makes sure the controllers are present, assigned to left and right hands, and that
+ // the hemisphere calibration is complete.
+ //sixenseUtils::getTheControllerManager()->setGameType( sixenseUtils::ControllerManager::ONE_PLAYER_TWO_CONTROLLER );
+ //sixenseUtils::getTheControllerManager()->registerSetupCallback( controller_manager_setup_callback );
+ //QMessageBox::warning(0,"OpenTrack Info", "controller manager callback registered",QMessageBox::Ok,QMessageBox::NoButton);
+ return;
+}
+
+
+bool Hydra_Tracker::GiveHeadPoseData(double *data)
+{
+
+ sixenseSetActiveBase(0);
+ sixenseAllControllerData acd;
+ sixenseGetAllNewestData( &acd );
+ //sixenseUtils::getTheControllerManager()->update( &acd );
+
+ //sixenseControllerData cd;
+ Rotation quat = Rotation(acd.controllers[0].rot_quat[0],acd.controllers[0].rot_quat[1],acd.controllers[0].rot_quat[2],acd.controllers[0].rot_quat[3]);
+ double yaw = 0.0f;
+ double pitch = 0.0f;
+ double roll = 0.0f;
+
+ quat.toEuler(yaw, pitch, roll);
+
+ newHeadPose[RY] = pitch;
+ newHeadPose[RZ] = roll;
+ newHeadPose[RX] = yaw;
+
+
+
+ newHeadPose[TX] = acd.controllers[0].pos[0]/50.0f;
+ newHeadPose[TY] = acd.controllers[0].pos[1]/50.0f;
+ newHeadPose[TZ] = acd.controllers[0].pos[2]/50.0f;
+
+ //if (bEnableX) {
+ data[TX] = newHeadPose[TX];
+ //}
+ //if (bEnableY) {
+ data[TY] = newHeadPose[TY];
+ //}
+ //if (bEnableY) {
+ data[TZ] = newHeadPose[TZ];
+ //}
+
+ if (bEnableYaw) {
+ data[RX] = newHeadPose[RX] * 57.295781f;
+ }
+ if (bEnablePitch) {
+ data[RY] = newHeadPose[RY] * 57.295781f;
+ }
+ if (bEnableRoll) {
+ data[RZ] = newHeadPose[RZ] * 57.295781f;
+ }
+
+ return true;
+}
+
+
+//
+// Load the current Settings from the currently 'active' INI-file.
+//
+void Hydra_Tracker::loadSettings() {
+
+ qDebug() << "FTNoIR_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)
+
+ qDebug() << "FTNoIR_Tracker::loadSettings says: iniFile = " << currentFile;
+
+ iniFile.beginGroup ( "Hydra" );
+ bEnableRoll = iniFile.value ( "EnableRoll", 1 ).toBool();
+ bEnablePitch = iniFile.value ( "EnablePitch", 1 ).toBool();
+ bEnableYaw = iniFile.value ( "EnableYaw", 1 ).toBool();
+ bEnableX = iniFile.value ( "EnableX", 1 ).toBool();
+ bEnableY = iniFile.value ( "EnableY", 1 ).toBool();
+ bEnableZ = iniFile.value ( "EnableZ", 1 ).toBool();
+
+ iniFile.endGroup ();
+}
+
+
+////////////////////////////////////////////////////////////////////////////////
+// Factory function that creates instances if the Tracker object.
+
+// Export both decorated and undecorated names.
+// GetTracker - Undecorated name, which can be easily used with GetProcAddress
+// Win32 API function.
+// _GetTracker@0 - Common name decoration for __stdcall functions in C language.
+//#pragma comment(linker, "/export:GetTracker=_GetTracker@0")
+
+extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor()
+{
+ return new Hydra_Tracker;
+}
diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h
new file mode 100644
index 00000000..3f7bf0a8
--- /dev/null
+++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h
@@ -0,0 +1,89 @@
+#include "ftnoir_tracker_base/ftnoir_tracker_base.h"
+#include "ui_ftnoir_hydra_clientcontrols.h"
+#include <QMessageBox>
+#include <QSettings>
+#include <QWaitCondition>
+#include <math.h>
+#include "facetracknoir/global-settings.h"
+class Hydra_Tracker : public ITracker
+{
+public:
+ Hydra_Tracker();
+ ~Hydra_Tracker();
+
+ void StartTracker( QFrame *videoframe );
+ bool GiveHeadPoseData(double *data);
+ void loadSettings();
+ volatile bool should_quit;
+ void WaitForExit() {
+ return;
+ }
+protected:
+ void run(); // qthread override run method
+
+private:
+ bool isCalibrated;
+
+ double newHeadPose[6]; // Structure with new headpose
+ bool bEnableRoll;
+ bool bEnablePitch;
+ bool bEnableYaw;
+
+ bool bEnableX;
+ bool bEnableY;
+ bool bEnableZ;
+
+ QMutex mutex;
+};
+
+// Widget that has controls for FTNoIR protocol client-settings.
+class TrackerControls: public QWidget, public ITrackerDialog
+{
+ Q_OBJECT
+public:
+
+ explicit TrackerControls();
+ ~TrackerControls();
+ void showEvent ( QShowEvent * event );
+
+ void Initialize(QWidget *parent);
+ void registerTracker(ITracker *tracker) {};
+ void unRegisterTracker() {};
+
+private:
+ Ui::UIHydraControls ui;
+ void loadSettings();
+ void save();
+
+ /** helper **/
+ bool settingsDirty;
+
+private slots:
+ void doOK();
+ void doCancel();
+ void settingChanged() { settingsDirty = true; };
+ void settingChanged(int) { settingsDirty = true; };
+};
+
+//*******************************************************************************************************
+// FaceTrackNoIR Tracker DLL. Functions used to get general info on the Tracker
+//*******************************************************************************************************
+class FTNoIR_TrackerDll : public Metadata
+{
+public:
+ FTNoIR_TrackerDll();
+ ~FTNoIR_TrackerDll();
+
+ void Initialize();
+
+ void getFullName(QString *strToBeFilled);
+ void getShortName(QString *strToBeFilled);
+ void getDescription(QString *strToBeFilled);
+ void getIcon(QIcon *icon);
+
+private:
+ QString trackerFullName; // Trackers' name and description
+ QString trackerShortName;
+ QString trackerDescription;
+};
+
diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp
new file mode 100644
index 00000000..77d4963b
--- /dev/null
+++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp
@@ -0,0 +1,180 @@
+/********************************************************************************
+* FaceTrackNoIR This program is a private project of 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 "ftnoir_tracker_hydra.h"
+#include "facetracknoir/global-settings.h"
+
+//*******************************************************************************************************
+// FaceTrackNoIR Client Settings-dialog.
+//*******************************************************************************************************
+
+//
+// Constructor for server-settings-dialog
+//
+TrackerControls::TrackerControls() :
+QWidget()
+{
+ ui.setupUi( this );
+
+ // Connect Qt signals to member-functions
+ connect(ui.btnOK, SIGNAL(clicked()), this, SLOT(doOK()));
+ connect(ui.btnCancel, SIGNAL(clicked()), this, SLOT(doCancel()));
+
+ connect(ui.chkEnableRoll, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
+ connect(ui.chkEnablePitch, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
+ connect(ui.chkEnableYaw, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
+#if 0
+ connect(ui.chkEnableX, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
+ connect(ui.chkEnableY, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
+ connect(ui.chkEnableZ, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
+#endif
+ // Load the settings from the current .INI-file
+ loadSettings();
+}
+
+//
+// Destructor for server-dialog
+//
+TrackerControls::~TrackerControls() {
+ qDebug() << "~TrackerControls() says: started";
+}
+
+//
+// Initialize tracker-client-dialog
+//
+void TrackerControls::Initialize(QWidget *parent) {
+
+ QPoint offsetpos(100, 100);
+ if (parent) {
+ this->move(parent->pos() + offsetpos);
+ }
+ show();
+}
+
+//
+// OK clicked on server-dialog
+//
+void TrackerControls::doOK() {
+ save();
+ this->close();
+}
+
+// override show event
+void TrackerControls::showEvent ( QShowEvent * event ) {
+ loadSettings();
+}
+
+//
+// Cancel clicked on server-dialog
+//
+void TrackerControls::doCancel() {
+ //
+ // Ask if changed Settings should be saved
+ //
+ if (settingsDirty) {
+ int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel, QMessageBox::Discard );
+
+ qDebug() << "doCancel says: answer =" << ret;
+
+ switch (ret) {
+ case QMessageBox::Save:
+ save();
+ this->close();
+ break;
+ case QMessageBox::Discard:
+ this->close();
+ break;
+ case QMessageBox::Cancel:
+ // Cancel was clicked
+ break;
+ default:
+ // should never be reached
+ break;
+ }
+ }
+ else {
+ this->close();
+ }
+}
+
+
+//
+// Load the current Settings from the currently 'active' INI-file.
+//
+void TrackerControls::loadSettings() {
+
+// qDebug() << "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)
+
+// qDebug() << "loadSettings says: iniFile = " << currentFile;
+
+ iniFile.beginGroup ( "Hydra" );
+ ui.chkEnableRoll->setChecked(iniFile.value ( "EnableRoll", 1 ).toBool());
+ ui.chkEnablePitch->setChecked(iniFile.value ( "EnablePitch", 1 ).toBool());
+ ui.chkEnableYaw->setChecked(iniFile.value ( "EnableYaw", 1 ).toBool());
+ ui.chkEnableX->setChecked(iniFile.value ( "EnableX", 1 ).toBool());
+ ui.chkEnableY->setChecked(iniFile.value ( "EnableY", 1 ).toBool());
+ ui.chkEnableZ->setChecked(iniFile.value ( "EnableZ", 1 ).toBool());
+
+ iniFile.endGroup ();
+
+ settingsDirty = false;
+}
+
+//
+// Save the current Settings to the currently 'active' INI-file.
+//
+void TrackerControls::save() {
+ 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 ( "Hydra" );
+ iniFile.setValue ( "EnableRoll", ui.chkEnableRoll->isChecked() );
+ iniFile.setValue ( "EnablePitch", ui.chkEnablePitch->isChecked() );
+ iniFile.setValue ( "EnableYaw", ui.chkEnableYaw->isChecked() );
+ iniFile.setValue ( "EnableX", ui.chkEnableX->isChecked() );
+ iniFile.setValue ( "EnableY", ui.chkEnableY->isChecked() );
+ iniFile.setValue ( "EnableZ", ui.chkEnableZ->isChecked() );
+ iniFile.endGroup ();
+
+ settingsDirty = false;
+}
+////////////////////////////////////////////////////////////////////////////////
+// Factory function that creates instances if the Tracker-settings dialog object.
+
+// Export both decorated and undecorated names.
+// GetTrackerDialog - Undecorated name, which can be easily used with GetProcAddress
+// Win32 API function.
+// _GetTrackerDialog@0 - Common name decoration for __stdcall functions in C language.
+//#pragma comment(linker, "/export:GetTrackerDialog=_GetTrackerDialog@0")
+
+extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( )
+{
+ return new TrackerControls;
+}
diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp
new file mode 100644
index 00000000..4f5d8b10
--- /dev/null
+++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp
@@ -0,0 +1,55 @@
+/* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */
+#include "ftnoir_tracker_hydra.h"
+#include <QDebug>
+#include "facetracknoir/global-settings.h"
+
+FTNoIR_TrackerDll::FTNoIR_TrackerDll() {
+ //populate the description strings
+ trackerFullName = "Hydra";
+ trackerShortName = "Hydra";
+ trackerDescription = "Hydra";
+}
+
+FTNoIR_TrackerDll::~FTNoIR_TrackerDll()
+{
+
+}
+
+void FTNoIR_TrackerDll::Initialize()
+{
+ return;
+}
+
+void FTNoIR_TrackerDll::getFullName(QString *strToBeFilled)
+{
+ *strToBeFilled = trackerFullName;
+};
+
+void FTNoIR_TrackerDll::getShortName(QString *strToBeFilled)
+{
+ *strToBeFilled = trackerShortName;
+};
+
+void FTNoIR_TrackerDll::getDescription(QString *strToBeFilled)
+{
+ *strToBeFilled = trackerDescription;
+};
+
+void FTNoIR_TrackerDll::getIcon(QIcon *icon)
+{
+ *icon = QIcon(":/images/facetracknoir.png");
+};
+
+////////////////////////////////////////////////////////////////////////////////
+// Factory function that creates instances if the Tracker object.
+
+// Export both decorated and undecorated names.
+// GetTrackerDll - Undecorated name, which can be easily used with GetProcAddress
+// Win32 API function.
+// _GetTrackerDll@0 - Common name decoration for __stdcall functions in C language.
+//#pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0")
+
+extern "C" FTNOIR_TRACKER_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata()
+{
+ return new FTNoIR_TrackerDll;
+}
diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp
index 0e023bde..3ef68260 100644
--- a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp
+++ b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp
@@ -1,11 +1,10 @@
/* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */
#include "ftnoir_tracker_rift.h"
#include "facetracknoir/global-settings.h"
- #include "OVR.h"
+#include "OVR.h"
#include <cstdio>
-using namespace OVR;
-bool Rift_Tracker::isInitialised = false;
+using namespace OVR;
Rift_Tracker::Rift_Tracker()
{
@@ -30,27 +29,36 @@ Rift_Tracker::~Rift_Tracker()
pSensor.Clear();
pHMD.Clear();
pManager.Clear();
+ System::Destroy();
}
+/*
+void controller_manager_setup_callback( sixenseUtils::ControllerManager::setup_step step ) {
+
+ QMessageBox::warning(0,"OpenTrack Info", "controller manager callback",QMessageBox::Ok,QMessageBox::NoButton);
+ if( sixenseUtils::getTheControllerManager()->isMenuVisible() ) {
+ // Ask the controller manager what the next instruction string should be.
+ std::string controller_manager_text_string = sixenseUtils::getTheControllerManager()->getStepString();
+ QMessageBox::warning(0,"OpenTrack Info", controller_manager_text_string.c_str(),QMessageBox::Ok,QMessageBox::NoButton);
+ // We could also load the supplied controllermanager textures using the filename: sixenseUtils::getTheControllerManager()->getTextureFileName();
+
+ }
+}*/
void Rift_Tracker::StartTracker(QFrame* videoFrame)
{
- //QMessageBox::warning(0,"FaceTrackNoIR Notification", "Tracking loading settings...",QMessageBox::Ok,QMessageBox::NoButton);
+ //QMessageBox::warning(0,"FaceTrackNoIR Notification", "Tracking loading settings...",QMessageBox::Ok,QMessageBox::NoButton);
loadSettings();
//
// Startup the Oculus SDK device handling, use the first Rift sensor we find.
//
- if(!isInitialised){
- System::Init(Log::ConfigureDefaultLog(LogMask_All));
- isInitialised = true;
- }
-
- pManager = *DeviceManager::Create();
+ System::Init(Log::ConfigureDefaultLog(LogMask_All));
+ pManager = *DeviceManager::Create();
DeviceEnumerator<HMDDevice>& enumerator = pManager->EnumerateDevices<HMDDevice>();
if (enumerator.IsAvailable())
{
pHMD = *enumerator.CreateDevice();
-
+
pSensor = *pHMD->GetSensor();
if (pSensor){
@@ -58,34 +66,60 @@ void Rift_Tracker::StartTracker(QFrame* videoFrame)
}else{
QMessageBox::warning(0,"FaceTrackNoIR Error", "Unable to find Rift tracker",QMessageBox::Ok,QMessageBox::NoButton);
}
- SFusion.SetYawCorrectionEnabled(true);
- SFusion.SetMagReference();
+ isCalibrated = false;
+ MagCal.BeginAutoCalibration(SFusion);
+ SFusion.SetMagReference(SFusion.GetOrientation());
}
-
- return;
}
+
bool Rift_Tracker::GiveHeadPoseData(double *data)
{
if (pHMD.GetPtr() != NULL) {
+#if 0
+ if (SFusion.IsMagReady() && !isCalibrated ){
+ SFusion.SetYawCorrectionEnabled(true);
+ QMessageBox::warning(0,"OpenTrack Info", "Calibrated magnetic sensor",QMessageBox::Ok,QMessageBox::NoButton);
+ }else{
+ if(isCalibrated){
+ isCalibrated = false;
+ QMessageBox::warning(0,"OpenTrack Info", "Lost magnetic calibration",QMessageBox::Ok,QMessageBox::NoButton);
+ }
+ }
+#endif
+
+ // Magnetometer calibration procedure
+ MagCal.UpdateAutoCalibration(SFusion);
Quatf hmdOrient = SFusion.GetOrientation();
float yaw = 0.0f;
float pitch = 0.0f;
float roll = 0.0f;
+ //hmdOrient.GetEulerAngles< Axis_X, Axis_Y, Axis_Z>(&pitch, &yaw, &roll);
+ //hmdOrient.GetEulerAngles< Axis_X, Axis_Z, Axis_Y>(&pitch, &roll, &yaw);
hmdOrient.GetEulerAngles<Axis_Y, Axis_X, Axis_Z>(&yaw, &pitch , &roll);
- newHeadPose[Pitch] =pitch;
- newHeadPose[Roll] = roll;
- newHeadPose[Yaw] = yaw;
+ //hmdOrient.GetEulerAngles< Axis_Y, Axis_Z, Axis_X>(&yaw, &roll, &pitch);
+ //hmdOrient.GetEulerAngles< Axis_Z, Axis_X, Axis_Y>(&roll, &pitch, &yaw);
+ //hmdOrient.GetEulerAngles< Axis_Z, Axis_Y, Axis_X>(&roll, &yaw, &pitch);
+ newHeadPose[Pitch] = pitch;
+ newHeadPose[Roll] = roll;
+ newHeadPose[Yaw] = yaw;
+
#if 0
- if (bEnableX) {
+ sixenseControllerData cd;
+
+ newHeadPose[TX] = acd.controllers[0].pos[0]/50.0f;
+ newHeadPose[TY] = acd.controllers[0].pos[1]/50.0f;
+ newHeadPose[TZ] = acd.controllers[0].pos[2]/50.0f;
+
+ //if (bEnableX) {
data[TX] = newHeadPose[TX];
- }
- if (bEnableY) {
+ //}
+ //if (bEnableY) {
data[TY] = newHeadPose[TY];
- }
- if (bEnableY) {
+ //}
+ //if (bEnableY) {
data[TZ] = newHeadPose[TZ];
- }
+ //}
#endif
if (bEnableYaw) {
data[Yaw] = newHeadPose[Yaw] * 57.295781f;