main: add relative and absolute center options

Closes #237

4 files changed, 64 insertions, 21 deletions

diff --git a/facetracknoir/options-dialog.cpp b/facetracknoir/options-dialog.cpp
index 1ec26d5e..fef2b0ca 100644
--- a/facetracknoir/options-dialog.cpp
+++ b/facetracknoir/options-dialog.cpp
@@ -50,6 +50,8 @@ OptionsDialog::OptionsDialog()
     tie_setting(s.s_main.camera_pitch, ui.camera_pitch);
     tie_setting(s.s_main.camera_roll, ui.camera_roll);
 
+    tie_setting(s.s_main.center_method, ui.center_method);
+
     connect(ui.bind_center, &QPushButton::pressed, [&]() -> void { bind_key(s.center.keycode, ui.center_text); });
     connect(ui.bind_zero, &QPushButton::pressed, [&]() -> void { bind_key(s.zero.keycode, ui.zero_text); });
     connect(ui.bind_toggle, &QPushButton::pressed, [&]() -> void { bind_key(s.toggle.keycode, ui.toggle_text); });
diff --git a/facetracknoir/settings.ui b/facetracknoir/settings.ui
index 5eea9e57..d87b68bf 100644
--- a/facetracknoir/settings.ui
+++ b/facetracknoir/settings.ui
@@ -141,6 +141,46 @@
         </widget>
        </item>
        <item>
+        <widget class="QGroupBox" name="groupBox_9">
+         <property name="title">
+          <string>Centering method</string>
+         </property>
+         <layout class="QGridLayout" name="gridLayout">
+          <item row="1" column="0">
+           <widget class="QLabel" name="label_26">
+            <property name="text">
+             <string>Method</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QComboBox" name="center_method">
+            <item>
+             <property name="text">
+              <string>Relative</string>
+             </property>
+            </item>
+            <item>
+             <property name="text">
+              <string>Absolute</string>
+             </property>
+            </item>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QLabel" name="label_25">
+            <property name="text">
+             <string>Try changing this if centering doesn't perform correctly for your input device.</string>
+            </property>
+            <property name="wordWrap">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
         <widget class="QCheckBox" name="center_at_startup">
          <property name="text">
           <string>Center at startup</string>
diff --git a/opentrack/main-settings.hpp b/opentrack/main-settings.hpp
index b973e7af..d1fe574d 100644
--- a/opentrack/main-settings.hpp
+++ b/opentrack/main-settings.hpp
@@ -39,6 +39,7 @@ struct main_settings : opts {
     value<bool> tray_enabled;
     value<int> camera_yaw, camera_pitch, camera_roll;
     value<bool> center_at_startup;
+    value<int> center_method;
     main_settings() :
         opts("opentrack-ui"),
         tracker_dll(b, "tracker-dll", ""),
@@ -56,6 +57,7 @@ struct main_settings : opts {
         camera_yaw(b, "camera-yaw", 0),
         camera_pitch(b, "camera-pitch", 0),
         camera_roll(b, "camera-roll", 0),
-        center_at_startup(b, "center-at-startup", true)
+        center_at_startup(b, "center-at-startup", true),
+        center_method(b, "centering-method", false)
     {}
 };
diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index 3d88a962..8fd054b4 100644
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -78,26 +78,15 @@ void Tracker::logic()
     
     Pose value, raw;
     
-    if (!zero_)
-        for (int i = 0; i < 6; i++)
-        {
-            auto& axis = m(i);
-            int k = axis.opts.src;
-            if (k < 0 || k >= 6)
-                value(i) = 0;
-            else
-                value(i) = newpose[k];
-            raw(i) = newpose[i];
-        }
-    else
+    for (int i = 0; i < 6; i++)
     {
-        auto mat = rmat::rmat_to_euler(r_b);
-        
-        for (int i = 0; i < 3; i++)
-        {
-            raw(i+3) = value(i+3) = mat(i) * r2d;
-            raw(i) = value(i) = t_b[i];
-        }
+        auto& axis = m(i);
+        int k = axis.opts.src;
+        if (k < 0 || k >= 6)
+            value(i) = 0;
+        else
+            value(i) = newpose[k];
+        raw(i) = newpose[i];
     }
 
     const double off[] = {
@@ -134,7 +123,17 @@ void Tracker::logic()
     {
         double tmp[3] = { t(0) - t_b[0], t(1) - t_b[1], t(2) - t_b[2] };
         t_compensate(cam, tmp, tmp, false);
-        const rmat m_ = r * r_b.t();
+        rmat m_;
+        switch (s.center_method)
+        {
+        case 0:
+        default:
+            m_ = r * r_b.t();
+            break;
+        case 1:
+            m_ = r_b.t() * r;
+        }
+
         const dmat<3, 1> euler = rmat::rmat_to_euler(m_);
         for (int i = 0; i < 3; i++)
         {