Added second headtracker logic. The other headtrackers will have to be adapted.

git-svn-id: svn+ssh://svn.code.sf.net/p/facetracknoir/code@190 19e81ba0-9b1a-49c3-bd6c-561e1906d5fb

6 files changed, 607 insertions, 33 deletions

diff --git a/FTNoIR_Tracker_SM/FTNoIR_SM_Controls.ui b/FTNoIR_Tracker_SM/FTNoIR_SM_Controls.ui
index 2f699672..170a4a46 100644
--- a/FTNoIR_Tracker_SM/FTNoIR_SM_Controls.ui
+++ b/FTNoIR_Tracker_SM/FTNoIR_SM_Controls.ui
@@ -6,8 +6,8 @@
    <rect>

     <x>0</x>

     <y>0</y>

-    <width>406</width>

-    <height>160</height>

+    <width>383</width>

+    <height>344</height>

    </rect>

   </property>

   <property name="windowTitle">

@@ -93,6 +93,274 @@
     </layout>

    </item>

    <item>

+    <layout class="QGridLayout" name="gridLayout_2">

+     <item row="1" column="0">

+      <widget class="QLabel" name="label_6">

+       <property name="text">

+        <string>Roll:</string>

+       </property>

+      </widget>

+     </item>

+     <item row="2" column="0">

+      <widget class="QLabel" name="label_7">

+       <property name="text">

+        <string>Pitch:</string>

+       </property>

+      </widget>

+     </item>

+     <item row="3" column="0">

+      <widget class="QLabel" name="label_8">

+       <property name="text">

+        <string>Yaw:</string>

+       </property>

+      </widget>

+     </item>

+     <item row="1" 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="styleSheet">

+        <string notr="true"/>

+       </property>

+       <property name="text">

+        <string/>

+       </property>

+      </widget>

+     </item>

+     <item row="0" column="1">

+      <widget class="QLabel" name="label_10">

+       <property name="text">

+        <string>Enable Axis:</string>

+       </property>

+      </widget>

+     </item>

+     <item row="4" column="0">

+      <widget class="QLabel" name="label_12">

+       <property name="text">

+        <string>X:</string>

+       </property>

+      </widget>

+     </item>

+     <item row="5" column="0">

+      <widget class="QLabel" name="label_13">

+       <property name="text">

+        <string>Y:</string>

+       </property>

+      </widget>

+     </item>

+     <item row="6" column="0">

+      <widget class="QLabel" name="label_14">

+       <property name="text">

+        <string>Z:</string>

+       </property>

+      </widget>

+     </item>

+     <item row="2" 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="text">

+        <string/>

+       </property>

+      </widget>

+     </item>

+     <item row="3" 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="3" column="2">

+      <widget class="QCheckBox" name="chkInvertYaw">

+       <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="QCheckBox" name="chkInvertPitch">

+       <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="1" column="2">

+      <widget class="QCheckBox" name="chkInvertRoll">

+       <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_11">

+       <property name="text">

+        <string>Invert Axis:</string>

+       </property>

+      </widget>

+     </item>

+     <item row="1" column="3">

+      <spacer name="horizontalSpacer_4">

+       <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 row="4" column="1">

+      <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="text">

+        <string/>

+       </property>

+      </widget>

+     </item>

+     <item row="5" column="1">

+      <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="6" column="1">

+      <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>

+     <item row="4" column="2">

+      <widget class="QCheckBox" name="chkInvertX">

+       <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="5" column="2">

+      <widget class="QCheckBox" name="chkInvertY">

+       <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="6" column="2">

+      <widget class="QCheckBox" name="chkInvertZ">

+       <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>

+   </item>

+   <item>

     <spacer name="verticalSpacer">

      <property name="orientation">

       <enum>Qt::Vertical</enum>

diff --git a/FTNoIR_Tracker_SM/FTNoIR_Tracker_SM.h b/FTNoIR_Tracker_SM/FTNoIR_Tracker_SM.h
index 5f3eb9b9..e62009f5 100644
--- a/FTNoIR_Tracker_SM/FTNoIR_Tracker_SM.h
+++ b/FTNoIR_Tracker_SM/FTNoIR_Tracker_SM.h
@@ -55,6 +55,21 @@ private:
 	SMMemMap *pMemData;

 	HANDLE hSMMutex;

 	QProcess *faceAPI;

+

+	int numTracker;

+	bool bEnableRoll;

+	bool bEnablePitch;

+	bool bEnableYaw;

+	bool bEnableX;

+	bool bEnableY;

+	bool bEnableZ;

+

+	double dInvertRoll;

+	double dInvertPitch;

+	double dInvertYaw;

+	double dInvertX;

+	double dInvertY;

+	double dInvertZ;

 };

 

 // Widget that has controls for SMoIR protocol client-settings.

@@ -68,8 +83,12 @@ public:
 	void showEvent ( QShowEvent * event );

 

     void Initialize(QWidget *parent, int numTracker);

-	void registerTracker(ITracker *tracker) {};

-	void unRegisterTracker() {};

+	void registerTracker(ITracker *tracker) {

+		theTracker = (FTNoIR_Tracker *) tracker;			// Accept the pointer to the Tracker

+	};

+	void unRegisterTracker() {

+		theTracker = NULL;									// Reset the pointer

+	};

 

 private:

 	Ui::UICSMClientControls ui;

@@ -92,6 +111,16 @@ private:
     smEngineHandle *engine_handle;

 	QTimer *timUpdateSettings;								// Timer to display current settings

 

+	FTNoIR_Tracker *theTracker;

+	int numTracker;											// Primary (1) or secondary tracker (2)

+

+	int numRoll;											// Number of Tracker (1 or 2) which tracks this axis

+	int numPitch;

+	int numYaw;

+	int numX;

+	int numY;

+	int numZ;

+

 private slots:

 	void doOK();

 	void doCancel();

@@ -110,6 +139,9 @@ private slots:
 	void doSetFilter(int value){

 		doCommand(FT_SM_SET_PAR_FILTER, value);

 	}

+	void settingChanged(int dummy) { 

+		settingsDirty = true;

+	};

 

 signals:

      void stateChanged(int newState);

diff --git a/FTNoIR_Tracker_SM/ftnoir_tracker_faceapi.cpp b/FTNoIR_Tracker_SM/ftnoir_tracker_faceapi.cpp
index b04c856b..23b973cb 100644
--- a/FTNoIR_Tracker_SM/ftnoir_tracker_faceapi.cpp
+++ b/FTNoIR_Tracker_SM/ftnoir_tracker_faceapi.cpp
@@ -36,13 +36,28 @@ FTNoIR_Tracker::~FTNoIR_Tracker()
 	if ( pMemData != NULL ) {

 		UnmapViewOfFile ( pMemData );

 	}

+

+	numTracker = 1;

+	bEnableRoll = true;

+	bEnablePitch = true;

+	bEnableYaw = true;

+	bEnableX = true;

+	bEnableY = true;

+	bEnableZ = true;

+

+	dInvertRoll = 1.0f;

+	dInvertPitch = 1.0f;

+	dInvertYaw = 1.0f;

+	dInvertX = 1.0f;

+	dInvertY = 1.0f;

+	dInvertZ = 1.0f;

 	

 	CloseHandle( hSMMutex );

 	CloseHandle( hSMMemMap );

 	hSMMemMap = 0;

 }

 

-void FTNoIR_Tracker::Initialize( QFrame *videoframe, int numTracker )

+void FTNoIR_Tracker::Initialize( QFrame *videoframe, int num)

 {

 	qDebug() << "FTNoIR_Tracker::Initialize says: Starting ";

 

@@ -53,11 +68,17 @@ void FTNoIR_Tracker::Initialize( QFrame *videoframe, int numTracker )
 		QMessageBox::warning(0,"FaceTrackNoIR Error","Memory mapping not created!",QMessageBox::Ok,QMessageBox::NoButton);

 	}

 

+	numTracker = num;

 	loadSettings();

 

 	if ( pMemData != NULL ) {

-		pMemData->command = 0;						// Reset any and all commands

-		pMemData->handle = videoframe->winId();		// Handle of Videoframe widget

+		pMemData->command = 0;							// Reset any and all commands

+		if (videoframe != NULL) {

+			pMemData->handle = videoframe->winId();		// Handle of Videoframe widget

+		}

+		else {

+			pMemData->handle = NULL;					// reset Handle of Videoframe widget

+		}

 	}

 

 	//

@@ -70,7 +91,9 @@ void FTNoIR_Tracker::Initialize( QFrame *videoframe, int numTracker )
 	// Show the video widget

 	qDebug() << "FTNoIR_Tracker::Initialize says: videoframe = " << videoframe;

 

-	videoframe->show();

+	if (videoframe != NULL) {

+		videoframe->show();

+	}

 	return;

 }

 

@@ -110,12 +133,24 @@ bool FTNoIR_Tracker::GiveHeadPoseData(THeadPoseData *data)
 		//

 		// Copy the measurements to FaceTrackNoIR.

 		//

-		data->x     = pMemData->data.new_pose.head_pos.x * 100.0f;					// From meters to centimeters

-		data->y     = pMemData->data.new_pose.head_pos.y * 100.0f;

-		data->z     = pMemData->data.new_pose.head_pos.z * 100.0f;

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

-		data->pitch = pMemData->data.new_pose.head_rot.x_rads * 57.295781f;

-		data->roll  = pMemData->data.new_pose.head_rot.z_rads * 57.295781f;

+		if (bEnableX) {

+			data->x     = dInvertX * pMemData->data.new_pose.head_pos.x * 100.0f;						// From meters to centimeters

+		}

+		if (bEnableY) {

+			data->y     = dInvertY * pMemData->data.new_pose.head_pos.y * 100.0f;

+		}

+		if (bEnableZ) {

+			data->z     = dInvertZ * pMemData->data.new_pose.head_pos.z * 100.0f;

+		}

+		if (bEnableYaw) {

+			data->yaw   = dInvertYaw * pMemData->data.new_pose.head_rot.y_rads * 57.295781f;			// From rads to degrees

+		}

+		if (bEnablePitch) {

+			data->pitch = dInvertPitch * pMemData->data.new_pose.head_rot.x_rads * 57.295781f;

+		}

+		if (bEnableRoll) {

+			data->roll  = dInvertRoll * pMemData->data.new_pose.head_rot.z_rads * 57.295781f;

+		}

 

 		//

 		// Reset the handshake, to let faceAPI know we're still here!

@@ -132,6 +167,12 @@ bool FTNoIR_Tracker::GiveHeadPoseData(THeadPoseData *data)
 // Load the current Settings from the currently 'active' INI-file.

 //

 void FTNoIR_Tracker::loadSettings() {

+int numRoll;											// Number of Tracker (1 or 2) which tracks this axis

+int numPitch;

+int numYaw;

+int numX;

+int numY;

+int numZ;

 

 	qDebug() << "FTNoIR_Tracker::loadSettings says: Starting ";

 	QSettings settings("Abbequerque Inc.", "FaceTrackNoIR");	// Registry settings (in HK_USER)

@@ -145,7 +186,45 @@ void FTNoIR_Tracker::loadSettings() {
 	if (pMemData) {

 		pMemData->initial_filter_level = iniFile.value ( "FilterLevel", 1 ).toInt();

 	}

+	dInvertRoll = (iniFile.value ( "InvertRoll", 0 ).toBool()) ? -1.0f : 1.0f;

+	dInvertPitch = (iniFile.value ( "InvertPitch", 0 ).toBool()) ? -1.0f : 1.0f;

+	dInvertYaw = (iniFile.value ( "InvertYaw", 0 ).toBool()) ? -1.0f : 1.0f;

+	dInvertX = (iniFile.value ( "InvertX", 0 ).toBool()) ? -1.0f : 1.0f;

+	dInvertY = (iniFile.value ( "InvertY", 0 ).toBool()) ? -1.0f : 1.0f;

+	dInvertZ = (iniFile.value ( "InvertZ", 0 ).toBool()) ? -1.0f : 1.0f;

+

+	iniFile.endGroup ();

+

+	iniFile.beginGroup ( "HeadTracker" );

+	//

+	// Check if the Tracker is the Primary one.

+	// If the property is not found in the INI-file, set the value.

+	//

+	if (numTracker == 1) {

+		numRoll = iniFile.value ( "RollTracker", 1 ).toInt();

+		numPitch = iniFile.value ( "PitchTracker", 1 ).toInt();

+		numYaw = iniFile.value ( "YawTracker", 1 ).toInt();

+		numX = iniFile.value ( "XTracker", 0 ).toInt();

+		numY = iniFile.value ( "YTracker", 0 ).toInt();

+		numZ = iniFile.value ( "ZTracker", 0 ).toInt();

+	}

+	else {

+		numRoll = iniFile.value ( "RollTracker", 0 ).toInt();

+		numPitch = iniFile.value ( "PitchTracker", 0 ).toInt();

+		numYaw = iniFile.value ( "YawTracker", 0 ).toInt();

+		numX = iniFile.value ( "XTracker", 0 ).toInt();

+		numY = iniFile.value ( "YTracker", 0 ).toInt();

+		numZ = iniFile.value ( "ZTracker", 0 ).toInt();

+	}

+	bEnableRoll = (numRoll == numTracker);

+	bEnablePitch = (numPitch == numTracker);

+	bEnableYaw = (numYaw == numTracker);

+	bEnableX = (numX == numTracker);

+	bEnableY = (numY == numTracker);

+	bEnableZ = (numZ == numTracker);

+

 	iniFile.endGroup ();

+

 }

 

 //

diff --git a/FTNoIR_Tracker_SM/ftnoir_tracker_faceapi_dialog.cpp b/FTNoIR_Tracker_SM/ftnoir_tracker_faceapi_dialog.cpp
index e04af2f7..f9d1047f 100644
--- a/FTNoIR_Tracker_SM/ftnoir_tracker_faceapi_dialog.cpp
+++ b/FTNoIR_Tracker_SM/ftnoir_tracker_faceapi_dialog.cpp
@@ -37,6 +37,8 @@ QWidget()
 {

 	ui.setupUi( this );

 

+	theTracker = NULL;

+

 	// Connect Qt signals to member-functions

 	connect(ui.btnOK, SIGNAL(clicked()), this, SLOT(doOK()));

 	connect(ui.btnCancel, SIGNAL(clicked()), this, SLOT(doCancel()));

@@ -56,15 +58,26 @@ QWidget()
 		QMessageBox::warning(0,"FaceTrackNoIR Error","Memory mapping not created!",QMessageBox::Ok,QMessageBox::NoButton);

 	}

 

-	// Load the settings from the current .INI-file

-	loadSettings();

-

 	//Setup the timer for showing the headpose.

 	timUpdateSettings = new QTimer(this);

     connect(timUpdateSettings, SIGNAL(timeout()), this, SLOT(doTimUpdate()));

 	timUpdateSettings->start(100);

 	connect(this, SIGNAL(stateChanged( int )), this, SLOT(showSettings( int )));

 

+	connect(ui.chkInvertRoll, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));

+	connect(ui.chkInvertPitch, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));

+	connect(ui.chkInvertYaw, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));

+	connect(ui.chkInvertX, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));

+	connect(ui.chkInvertY, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));

+	connect(ui.chkInvertZ, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));

+

+	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)));

+	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)));

+

 }

 

 //

@@ -77,12 +90,17 @@ TrackerControls::~TrackerControls() {
 //

 // Initialize tracker-client-dialog

 //

-void TrackerControls::Initialize(QWidget *parent, int numTracker) {

+void TrackerControls::Initialize(QWidget *parent, int num) {

 

 	QPoint offsetpos(200, 200);

 	if (parent) {

 		this->move(parent->pos() + offsetpos);

 	}

+

+	// Load the settings from the current .INI-file

+	numTracker = num;

+	loadSettings();

+

 	show();

 }

 

@@ -147,6 +165,42 @@ void TrackerControls::loadSettings() {
 

 	iniFile.beginGroup ( "SMTracker" );

 	ui.cbxFilterSetting->setCurrentIndex(iniFile.value ( "FilterLevel", 1 ).toInt());

+	ui.chkInvertRoll->setChecked(iniFile.value ( "InvertRoll", 0 ).toBool());

+	ui.chkInvertPitch->setChecked(iniFile.value ( "InvertPitch", 0 ).toBool());

+	ui.chkInvertYaw->setChecked(iniFile.value ( "InvertYaw", 0 ).toBool());

+	ui.chkInvertX->setChecked(iniFile.value ( "InvertX", 0 ).toBool());

+	ui.chkInvertY->setChecked(iniFile.value ( "InvertY", 0 ).toBool());

+	ui.chkInvertZ->setChecked(iniFile.value ( "InvertZ", 0 ).toBool());

+

+	iniFile.endGroup ();

+

+	iniFile.beginGroup ( "HeadTracker" );

+	//

+	// Check if the Tracker is the Primary one.

+	// If the property is not found in the INI-file, set the value.

+	//

+	if (numTracker == 1) {

+		numRoll = iniFile.value ( "RollTracker", 1 ).toInt();

+		numPitch = iniFile.value ( "PitchTracker", 1 ).toInt();

+		numYaw = iniFile.value ( "YawTracker", 1 ).toInt();

+		numX = iniFile.value ( "XTracker", 0 ).toInt();

+		numY = iniFile.value ( "YTracker", 0 ).toInt();

+		numZ = iniFile.value ( "ZTracker", 0 ).toInt();

+	}

+	else {

+		numRoll = iniFile.value ( "RollTracker", 0 ).toInt();

+		numPitch = iniFile.value ( "PitchTracker", 0 ).toInt();

+		numYaw = iniFile.value ( "YawTracker", 0 ).toInt();

+		numX = iniFile.value ( "XTracker", 0 ).toInt();

+		numY = iniFile.value ( "YTracker", 0 ).toInt();

+		numZ = iniFile.value ( "ZTracker", 0 ).toInt();

+	}

+	ui.chkEnableRoll->setChecked(numRoll == numTracker);

+	ui.chkEnablePitch->setChecked(numPitch == numTracker);

+	ui.chkEnableYaw->setChecked(numYaw == numTracker);

+	ui.chkEnableX->setChecked(numX == numTracker);

+	ui.chkEnableY->setChecked(numY == numTracker);

+	ui.chkEnableZ->setChecked(numZ == numTracker);

 	iniFile.endGroup ();

 

 	settingsDirty = false;

@@ -164,6 +218,66 @@ void TrackerControls::save() {
 

 	iniFile.beginGroup ( "SMTracker" );

 	iniFile.setValue ( "FilterLevel", ui.cbxFilterSetting->currentIndex() );

+	iniFile.setValue ( "InvertRoll", ui.chkInvertRoll->isChecked() );

+	iniFile.setValue ( "InvertPitch", ui.chkInvertPitch->isChecked() );

+	iniFile.setValue ( "InvertYaw", ui.chkInvertYaw->isChecked() );

+	iniFile.setValue ( "InvertX", ui.chkInvertX->isChecked() );

+	iniFile.setValue ( "InvertY", ui.chkInvertY->isChecked() );

+	iniFile.setValue ( "InvertZ", ui.chkInvertZ->isChecked() );

+	iniFile.endGroup ();

+

+	iniFile.beginGroup ( "HeadTracker" );

+	if ( ui.chkEnableRoll->isChecked() ) {

+		iniFile.setValue ( "RollTracker", numTracker );

+	}

+	else {

+		if (numRoll == numTracker) {

+			iniFile.setValue ( "RollTracker", 0 );

+		}

+	}

+

+	if ( ui.chkEnablePitch->isChecked() ) {

+		iniFile.setValue ( "PitchTracker", numTracker );

+	}

+	else {

+		if (numPitch == numTracker) {

+			iniFile.setValue ( "PitchTracker", 0 );

+		}

+	}

+

+	if ( ui.chkEnableYaw->isChecked() ) {

+		iniFile.setValue ( "YawTracker", numTracker );

+	}

+	else {

+		if (numYaw == numTracker) {

+			iniFile.setValue ( "YawTracker", 0 );

+		}

+	}

+	if ( ui.chkEnableX->isChecked() ) {

+		iniFile.setValue ( "XTracker", numTracker );

+	}

+	else {

+		if (numX == numTracker) {

+			iniFile.setValue ( "XTracker", 0 );

+		}

+	}

+	if ( ui.chkEnableY->isChecked() ) {

+		iniFile.setValue ( "YTracker", numTracker );

+	}

+	else {

+		if (numY == numTracker) {

+			iniFile.setValue ( "YTracker", 0 );

+		}

+	}

+	if ( ui.chkEnableZ->isChecked() ) {

+		iniFile.setValue ( "ZTracker", numTracker );

+	}

+	else {

+		if (numZ == numTracker) {

+			iniFile.setValue ( "ZTracker", 0 );

+		}

+	}

+

 	iniFile.endGroup ();

 

 	settingsDirty = false;

diff --git a/FaceTrackNoIR/tracker.cpp b/FaceTrackNoIR/tracker.cpp
index 80080df7..4e9608fd 100644
--- a/FaceTrackNoIR/tracker.cpp
+++ b/FaceTrackNoIR/tracker.cpp
@@ -176,7 +176,29 @@ QFrame *video_frame;
 			}

 		}

 		else {

-			QMessageBox::warning(0,"FaceTrackNoIR Error", "Facetracker DLL not loaded",QMessageBox::Ok,QMessageBox::NoButton);

+			QMessageBox::warning(0,"FaceTrackNoIR Error", libName + " DLL not loaded",QMessageBox::Ok,QMessageBox::NoButton);

+		}

+	}

+	//

+	// Load the Tracker-engine DLL, get the tracker-class from it and do stuff...

+	//

+	pSecondTracker = NULL;

+	libName = mainApp->getSecondTrackerName();

+	if (!libName.isEmpty()) {

+		trackerLib = new QLibrary(libName);

+		getIT = (importGetTracker) trackerLib->resolve("GetTracker");

+			

+		if (getIT) {

+			ITracker *ptrXyz(getIT());							// Get the Class

+			if (ptrXyz)

+			{

+				pSecondTracker = ptrXyz;

+				pSecondTracker->Initialize( NULL, 2 );

+				qDebug() << "Tracker::setup Function Resolved!";

+			}

+		}

+		else {

+			QMessageBox::warning(0,"FaceTrackNoIR Error", libName + " DLL not loaded",QMessageBox::Ok,QMessageBox::NoButton);

 		}

 	}

 

@@ -233,11 +255,12 @@ QFrame *video_frame;
 /** destructor empty **/

 Tracker::~Tracker() {

 

-	// Stop the Tracker

+	// Stop the Tracker(s)

 	if (pTracker) {

-		qDebug() << "Tracker::~Tracker Calling pTracker->StopTracker()...";

 		pTracker->StopTracker( true );

-		qDebug() << "Tracker::~Tracker After Calling pTracker->StopTracker()...";

+	}

+	if (pSecondTracker) {

+		pSecondTracker->StopTracker( true );

 	}

 

 	// Trigger thread to stop

@@ -255,6 +278,10 @@ Tracker::~Tracker() {
 		delete pTracker;

 		pTracker = NULL;

 	}

+	if (pSecondTracker) {

+		delete pSecondTracker;

+		pSecondTracker = NULL;

+	}

 

 	// Close handles

 	::CloseHandle(m_StopThread);

@@ -277,7 +304,12 @@ void Tracker::setup() {
 	bool DLL_Ok;

 

 	// retrieve pointers to the User Interface and the main Application

-	pTracker->StartTracker( mainApp->winId() );

+	if (pTracker) {

+		pTracker->StartTracker( mainApp->winId() );

+	}

+	if (pSecondTracker) {

+		pSecondTracker->StartTracker( mainApp->winId() );

+	}

 

 	//

 	// Check if the Protocol-server files were installed OK.

@@ -331,8 +363,13 @@ T6DOF offset_camera(0,0,0,0,0,0);
 T6DOF gamezero_camera(0,0,0,0,0,0);

 T6DOF gameoutput_camera(0,0,0,0,0,0);

 

+bool bInitialCenter = true;

+bool bTracker1Confid = false;

+bool bTracker2Confid = false;

+

 	Tracker::do_tracking = true;				// Start initially

-	Tracker::do_center = true;					// Center initially

+	Tracker::do_center = false;					// Center initially

+	bInitialCenter = true;

 

 	//

 	// Test some Filter-stuff

@@ -420,11 +457,21 @@ T6DOF gameoutput_camera(0,0,0,0,0,0);
 					//

 					if (Tracker::do_tracking) {

 						Tracker::confid = false;

-						pTracker->StartTracker( mainApp->winId() );

+						if (pTracker) {

+							pTracker->StartTracker( mainApp->winId() );

+						}

+						if (pSecondTracker) {

+							pSecondTracker->StartTracker( mainApp->winId() );

+						}

 					}

 					else {

 						if (setEngineStop) {						// Only stop engine when option is checked

-							pTracker->StopTracker( false );

+							if (pTracker) {

+								pTracker->StopTracker( false );

+							}

+							if (pSecondTracker) {

+								pSecondTracker->StopTracker( false );

+							}

 						}

 					}

 					qDebug() << "Tracker::run() says StartStop pressed, do_tracking =" << Tracker::do_tracking;

@@ -491,11 +538,21 @@ T6DOF gameoutput_camera(0,0,0,0,0,0);
 					//

 					if (Tracker::do_tracking) {

 						Tracker::confid = false;

-						pTracker->StartTracker( mainApp->winId() );

+						if (pTracker) {

+							pTracker->StartTracker( mainApp->winId() );

+						}

+						if (pSecondTracker) {

+							pSecondTracker->StartTracker( mainApp->winId() );

+						}

 					}

 					else {

 						if (setEngineStop) {						// Only stop engine when option is checked

-							pTracker->StopTracker( false );

+							if (pTracker) {

+								pTracker->StopTracker( false );

+							}

+							if (pSecondTracker) {

+								pSecondTracker->StopTracker( false );

+							}

 						}

 					}

 					qDebug() << "Tracker::run() says StartStop pressed, do_tracking =" << Tracker::do_tracking;

@@ -559,7 +616,20 @@ T6DOF gameoutput_camera(0,0,0,0,0,0);
 			newpose.y = 0.0f;

 			newpose.z = 0.0f;

 

-			Tracker::confid = pTracker->GiveHeadPoseData(&newpose);

+			if (pTracker) {

+				bTracker1Confid = pTracker->GiveHeadPoseData(&newpose);

+			}

+			else {

+				bTracker1Confid = true;

+			}

+			if (pSecondTracker) {

+				bTracker2Confid = pSecondTracker->GiveHeadPoseData(&newpose);

+			}

+			else {

+				bTracker2Confid = true;

+			}

+

+			Tracker::confid = (bTracker1Confid && bTracker2Confid);

 			if ( Tracker::confid ) {

 				addHeadPose(newpose);

 			}

@@ -567,10 +637,15 @@ T6DOF gameoutput_camera(0,0,0,0,0,0);
 			//

 			// If Center is pressed, copy the current values to the offsets.

 			//

-			if (Tracker::do_center) {

+			if ((Tracker::do_center) || ((bInitialCenter) && (Tracker::confid)))  {

 				

 				MessageBeep (MB_ICONASTERISK);

-				pTracker->notifyCenter();				// Send 'center' to the tracker

+				if (pTracker) {

+					pTracker->notifyCenter();					// Send 'center' to the tracker

+				}

+				if (pSecondTracker) {

+					pSecondTracker->notifyCenter();				// Send 'center' to the tracker

+				}

 

 				//

 				// Only copy valid values

@@ -583,6 +658,7 @@ T6DOF gameoutput_camera(0,0,0,0,0,0);
 					offset_camera.pitch = getSmoothFromList( &Pitch.rawList );

 					offset_camera.yaw   = getSmoothFromList( &Yaw.rawList );

 					offset_camera.roll  = getSmoothFromList( &Roll.rawList );

+					bInitialCenter = false;

 				}

 

 				Tracker::do_center = false;

@@ -593,8 +669,10 @@ T6DOF gameoutput_camera(0,0,0,0,0,0);
 			// Change requested by Stanislaw

 			//

 			if (Tracker::confid && Tracker::do_game_zero) {

-				if (!pTracker->notifyZeroed())

-					gamezero_camera = gameoutput_camera;

+				if (pTracker) {

+					if (!pTracker->notifyZeroed())

+						gamezero_camera = gameoutput_camera;

+				}

 //				gamezero_camera = gameoutput_camera;

 

 				Tracker::do_game_zero = false;

diff --git a/FaceTrackNoIR/tracker.h b/FaceTrackNoIR/tracker.h
index 03d517c6..6a51758b 100644
--- a/FaceTrackNoIR/tracker.h
+++ b/FaceTrackNoIR/tracker.h
@@ -261,6 +261,9 @@ public:
 		if (pTracker) {

 			pTracker->refreshVideo();

 		}

+		if (pSecondTracker) {

+			pSecondTracker->refreshVideo();

+		}

 	};

 

 	static float getSmoothFromList ( QList<float> *rawList );