Don't use axes as class/struct members. Use an array instead, and iterate over them where applicable.

34 files changed, 381 insertions, 634 deletions

diff --git a/facetracknoir/facetracknoir.cpp b/facetracknoir/facetracknoir.cpp
index fd971c96..d5d24db1 100644
--- a/facetracknoir/facetracknoir.cpp
+++ b/facetracknoir/facetracknoir.cpp
@@ -743,26 +743,26 @@ void FaceTrackNoIR::startTracker( ) {
     QSettings settings("Abbequerque Inc.", "FaceTrackNoIR");	// 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)

-    GlobalPose->X.curvePtr->loadSettings(iniFile);

-    GlobalPose->Y.curvePtr->loadSettings(iniFile);

-    GlobalPose->Z.curvePtr->loadSettings(iniFile);

-    GlobalPose->Yaw.curvePtr->loadSettings(iniFile);

-    GlobalPose->Pitch.curvePtr->loadSettings(iniFile);

-    GlobalPose->Roll.curvePtr->loadSettings(iniFile);

-

-    GlobalPose->X.curvePtrAlt->loadSettings(iniFile);

-    GlobalPose->Y.curvePtrAlt->loadSettings(iniFile);

-    GlobalPose->Z.curvePtrAlt->loadSettings(iniFile);

-    GlobalPose->Yaw.curvePtrAlt->loadSettings(iniFile);

-    GlobalPose->Pitch.curvePtrAlt->loadSettings(iniFile);

-    GlobalPose->Roll.curvePtrAlt->loadSettings(iniFile);

-

-    GlobalPose->Yaw.altp = iniFile.value("rx_alt", false).toBool();

-    GlobalPose->Pitch.altp = iniFile.value("ry_alt", false).toBool();

-    GlobalPose->Roll.altp = iniFile.value("rz_alt", false).toBool();

-    GlobalPose->X.altp = iniFile.value("tx_alt", false).toBool();

-    GlobalPose->Y.altp = iniFile.value("ty_alt", false).toBool();

-    GlobalPose->Z.altp = iniFile.value("tz_alt", false).toBool();

+

+    for (int i = 0; i < 6; i++)

+    {

+        GlobalPose->axes[i].curvePtr->loadSettings(iniFile);

+        GlobalPose->axes[i].curvePtrAlt->loadSettings(iniFile);

+    }

+

+    static const char* names[] = {

+        "rx_alt",

+        "ry_alt",

+        "rz_alt",

+        "tx_alt",

+        "ty_alt",

+        "tz_alt"

+    };

+

+    for (int i = 0; i < 6; i++)

+    {

+        GlobalPose->axes[i].altp = iniFile.value(names[i], false).toBool();

+    }

 

 	tracker = new Tracker ( this );

 

@@ -770,12 +770,12 @@ void FaceTrackNoIR::startTracker( ) {
 	// Setup the Tracker and send the settings.

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

 	//

-	tracker->setInvertYaw (ui.chkInvertYaw->isChecked() );

-	tracker->setInvertPitch (ui.chkInvertPitch->isChecked() );

-	tracker->setInvertRoll (ui.chkInvertRoll->isChecked() );

-	tracker->setInvertX (ui.chkInvertX->isChecked() );

-	tracker->setInvertY (ui.chkInvertY->isChecked() );

-	tracker->setInvertZ (ui.chkInvertZ->isChecked() );

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

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

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

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

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

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

 

     tracker->start();

 

@@ -930,50 +930,15 @@ void FaceTrackNoIR::stopTracker( ) {
 }

 

 /** set the invert from the checkbox **/

-void FaceTrackNoIR::setInvertYaw( int invert ) {

-    if (tracker)

-        tracker->setInvertYaw ( (invert != 0)?true:false );

-	settingsDirty = true;

-}

-

-/** set the invert from the checkbox **/

-void FaceTrackNoIR::setInvertPitch( int invert ) {

-    if (tracker)

-        tracker->setInvertPitch ( (invert != 0)?true:false );

-	settingsDirty = true;

-}

-

-/** set the invert from the checkbox **/

-void FaceTrackNoIR::setInvertRoll( int invert ) {

+void FaceTrackNoIR::setInvertAxis(Axis axis, int invert ) {

     if (tracker)

-        tracker->setInvertRoll ( (invert != 0)?true:false );

-	settingsDirty = true;

-}

-

-/** set the invert from the checkbox **/

-void FaceTrackNoIR::setInvertX( int invert ) {

-    if (tracker)

-        tracker->setInvertX ( (invert != 0)?true:false );

-	settingsDirty = true;

-}

-

-/** set the invert from the checkbox **/

-void FaceTrackNoIR::setInvertY( int invert ) {

-    if (tracker)

-        tracker->setInvertY ( (invert != 0)?true:false );

-	settingsDirty = true;

-}

-

-/** set the invert from the checkbox **/

-void FaceTrackNoIR::setInvertZ( int invert ) {

-    if (tracker)

-        tracker->setInvertZ ( (invert != 0)?true:false );

+        tracker->setInvertAxis (axis, (invert != 0)?true:false );

 	settingsDirty = true;

 }

 

 /** Show the headpose in the widget (triggered by timer) **/

 void FaceTrackNoIR::showHeadPose() {

-THeadPoseData newdata;

+    double newdata[6];

 

 	ui.lblX->setVisible(true);

 	ui.lblY->setVisible(true);

@@ -993,14 +958,14 @@ THeadPoseData newdata;
 	// Get the pose and also display it.

 	// Updating the pose from within the Tracker-class caused crashes...

 	//

-    tracker->getHeadPose(&newdata);

-	ui.lcdNumX->display(QString("%1").arg(newdata.x, 0, 'f', 1));

-	ui.lcdNumY->display(QString("%1").arg(newdata.y, 0, 'f', 1));

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

+    tracker->getHeadPose(newdata);

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

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

     ui.txtAxisReverse->setVisible(tracker->getAxisReverse());

@@ -1009,16 +974,16 @@ THeadPoseData newdata;
 	// Get the output-pose and also display it.

 	//

 	if (_pose_display) {

-        tracker->getOutputHeadPose(&newdata);

-		_pose_display->rotateBy(newdata.pitch, newdata.yaw, newdata.roll);

+        tracker->getOutputHeadPose(newdata);

+        _pose_display->rotateBy(newdata[RY], newdata[RX], newdata[RZ]);

 

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

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

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

+        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.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));

+        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));

 	}

 }

 

@@ -1866,45 +1831,46 @@ QWidget( parent , f)
 	QSettings settings("Abbequerque Inc.", "FaceTrackNoIR");	// Registry settings (in HK_USER)

 	QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();

 

-    ui.txconfig->setConfig(GlobalPose->X.curvePtr, currentFile);

-    ui.tyconfig->setConfig(GlobalPose->Y.curvePtr, currentFile);

-    ui.tzconfig->setConfig(GlobalPose->Z.curvePtr, currentFile);

-    ui.rxconfig->setConfig(GlobalPose->Yaw.curvePtr, currentFile);

-    ui.ryconfig->setConfig(GlobalPose->Pitch.curvePtr, currentFile);

-    ui.rzconfig->setConfig(GlobalPose->Roll.curvePtr, currentFile);

-    ui.txconfig_alt->setConfig(GlobalPose->X.curvePtrAlt, currentFile);

-    ui.tyconfig_alt->setConfig(GlobalPose->Y.curvePtrAlt, currentFile);

-    ui.tzconfig_alt->setConfig(GlobalPose->Z.curvePtrAlt, currentFile);

-    ui.rxconfig_alt->setConfig(GlobalPose->Yaw.curvePtrAlt, currentFile);

-    ui.ryconfig_alt->setConfig(GlobalPose->Pitch.curvePtrAlt, currentFile);

-    ui.rzconfig_alt->setConfig(GlobalPose->Roll.curvePtrAlt, currentFile);

+    QFunctionConfigurator* configs[6] = {

+        ui.txconfig,

+        ui.tyconfig,

+        ui.tzconfig,

+        ui.rxconfig,

+        ui.ryconfig,

+        ui.rzconfig

+    };

+

+    QFunctionConfigurator* alt_configs[6] = {

+        ui.txconfig_alt,

+        ui.tyconfig_alt,

+        ui.tzconfig_alt,

+        ui.rxconfig_alt,

+        ui.ryconfig_alt,

+        ui.rzconfig_alt

+    };

+

+    QCheckBox* checkboxes[6] = {

+        ui.rx_altp,

+        ui.ry_altp,

+        ui.rz_altp,

+        ui.tx_altp,

+        ui.ty_altp,

+        ui.tz_altp

+    };

+

+    for (int i = 0; i < 6; i++)

+    {

+        configs[i]->setConfig(GlobalPose->axes[i].curvePtr, currentFile);

+        alt_configs[i]->setConfig(GlobalPose->axes[i].curvePtrAlt, currentFile);

+        connect(configs[i], SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

+        connect(alt_configs[i], SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

+        connect(checkboxes[i], SIGNAL(stateChanged(int)), this, SLOT(curveChanged(int)));

+    }

 

 	// Connect Qt signals to member-functions

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

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

 

-    connect(ui.txconfig, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

-    connect(ui.txconfig, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

-

-

-    connect(ui.tyconfig, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

-    connect(ui.tzconfig, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

-    connect(ui.rxconfig, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

-    connect(ui.ryconfig, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

-    connect(ui.rzconfig, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

-    connect(ui.txconfig_alt, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

-    connect(ui.tyconfig_alt, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

-    connect(ui.tzconfig_alt, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

-    connect(ui.rxconfig_alt, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

-    connect(ui.ryconfig_alt, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

-    connect(ui.rzconfig_alt, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

-    connect(ui.rx_altp, SIGNAL(stateChanged(int)), this, SLOT(curveChanged(int)));

-    connect(ui.ry_altp, SIGNAL(stateChanged(int)), this, SLOT(curveChanged(int)));

-    connect(ui.rz_altp, SIGNAL(stateChanged(int)), this, SLOT(curveChanged(int)));

-    connect(ui.tx_altp, SIGNAL(stateChanged(int)), this, SLOT(curveChanged(int)));

-    connect(ui.ty_altp, SIGNAL(stateChanged(int)), this, SLOT(curveChanged(int)));

-    connect(ui.tz_altp, SIGNAL(stateChanged(int)), this, SLOT(curveChanged(int)));

-

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

 	loadSettings();

 }

@@ -1974,22 +1940,31 @@ void CurveConfigurationDialog::loadSettings() {
 

 	qDebug() << "loadSettings says: iniFile = " << currentFile;

 

-    GlobalPose->Yaw.altp = iniFile.value("rx_alt", false).toBool();

-    GlobalPose->Pitch.altp = iniFile.value("ry_alt", false).toBool();

-    GlobalPose->Roll.altp = iniFile.value("rz_alt", false).toBool();

-    GlobalPose->X.altp = iniFile.value("tx_alt", false).toBool();

-    GlobalPose->Y.altp = iniFile.value("ty_alt", false).toBool();

-    GlobalPose->Z.altp = iniFile.value("tz_alt", false).toBool();

-

-    ui.rx_altp->setChecked(GlobalPose->Yaw.altp);

-    ui.ry_altp->setChecked(GlobalPose->Pitch.altp);

-    ui.rz_altp->setChecked(GlobalPose->Roll.altp);

-    ui.tx_altp->setChecked(GlobalPose->X.altp);

-    ui.ty_altp->setChecked(GlobalPose->Y.altp);

-    ui.tz_altp->setChecked(GlobalPose->Z.altp);

-

-	settingsDirty = false;

+    static const char* names[] = {

+        "rx_alt",

+        "ry_alt",

+        "rz_alt",

+        "tx_alt",

+        "ty_alt",

+        "tz_alt"

+    };

+

+    for (int i = 0; i < 6; i++)

+        GlobalPose->axes[i].altp = iniFile.value(names[i], false).toBool();

+

+    static QCheckBox* widgets[] = {

+        ui.rx_altp,

+        ui.ry_altp,

+        ui.rz_altp,

+        ui.tx_altp,

+        ui.ty_altp,

+        ui.tz_altp

+    };

+

+    for (int i = 0; i < 6; i++)

+        widgets[i]->setChecked(GlobalPose->axes[i].altp);

 

+    settingsDirty = false;

 }

 

 //

diff --git a/facetracknoir/facetracknoir.h b/facetracknoir/facetracknoir.h
index e59c2190..40044ca5 100644
--- a/facetracknoir/facetracknoir.h
+++ b/facetracknoir/facetracknoir.h
@@ -211,12 +211,7 @@ private:
 		void showKeyboardShortcuts();

 		void showCurveConfiguration();

 

-		void setInvertYaw( int invert );

-		void setInvertPitch( int invert );

-		void setInvertRoll( int invert );

-		void setInvertX( int invert );

-		void setInvertY( int invert );

-		void setInvertZ( int invert );

+        void setInvertAxis( Axis axis, int invert );

 

 		void showHeadPose();

 

diff --git a/facetracknoir/tracker.cpp b/facetracknoir/tracker.cpp
index ed39765d..7f1201cc 100644
--- a/facetracknoir/tracker.cpp
+++ b/facetracknoir/tracker.cpp
@@ -80,26 +80,18 @@ Tracker::Tracker( FaceTrackNoIR *parent ) :
     should_quit(false),

     do_tracking(true),

     do_center(false),

-    do_inhibit(false),

     do_game_zero(false),

-    do_axis_reverse(false),

-    inhibit_rx(false),

-    inhibit_ry(false),

-    inhibit_rz(false),

-    inhibit_tx(false),

-    inhibit_ty(false),

-    inhibit_tz(false)

+    do_axis_reverse(false)

 {

     // Retieve the pointer to the parent

 	mainApp = parent;

 	// Load the settings from the INI-file

 	loadSettings();

-    GlobalPose->Yaw.headPos = 0;

-    GlobalPose->Pitch.headPos = 0;

-    GlobalPose->Roll.headPos = 0;

-    GlobalPose->X.headPos = 0;

-    GlobalPose->Y.headPos = 0;

-    GlobalPose->Z.headPos = 0;

+    for (int i = 0; i < 6; i++)

+    {

+        GlobalPose->axes[i].headPos = 0;

+        inhibit[i] = false;

+    }

 }

 

 Tracker::~Tracker()

@@ -142,53 +134,34 @@ void Tracker::run() {
     bool bTracker1Confid = false;

     bool bTracker2Confid = false;

     

-    THeadPoseData last;

-    THeadPoseData newpose;

-    THeadPoseData last_post_filter;

+    double newpose[6];

+    double last_post_filter[6];

     

     forever

 	{

         if (should_quit)

             break;

 

-        newpose.pitch = 0.0f;

-        newpose.roll = 0.0f;

-        newpose.yaw = 0.0f;

-        newpose.x = 0.0f;

-        newpose.y = 0.0f;

-        newpose.z = 0.0f;

+        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);

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

         }

 

         if (Libraries->pTracker) {

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

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

         }

 

         confid = (bTracker1Confid || bTracker2Confid);

-        

-        bool newp = last.yaw != newpose.yaw ||

-                               last.pitch != newpose.pitch ||

-                               last.roll != newpose.roll ||

-                               last.x != newpose.x ||

-                               last.y != newpose.y ||

-                               last.z != newpose.z;

-        

-        if (newp)

-            last = newpose;

-                    

+

         if ( confid ) {

-            GlobalPose->Yaw.headPos = newpose.yaw;

-            GlobalPose->Pitch.headPos = newpose.pitch;

-            GlobalPose->Roll.headPos = newpose.roll;

-            GlobalPose->X.headPos = newpose.x;

-            GlobalPose->Y.headPos = newpose.y;

-            GlobalPose->Z.headPos = newpose.z;

+            for (int i = 0; i < 6; i++)

+                GlobalPose->axes[i].headPos = newpose[i];

         }

 

         //

@@ -199,12 +172,8 @@ void Tracker::run() {
             // Only copy valid values

             //

             if (confid) {

-                offset_camera.x     = GlobalPose->X.headPos;

-                offset_camera.y     = GlobalPose->Y.headPos;

-                offset_camera.z     = GlobalPose->Z.headPos;

-                offset_camera.pitch = GlobalPose->Pitch.headPos;

-                offset_camera.yaw   = GlobalPose->Yaw.headPos;

-                offset_camera.roll  = GlobalPose->Roll.headPos;

+                for (int i = 0; i < 6; i++)

+                    offset_camera.axes[i] = GlobalPose->axes[i].headPos;

             }

 

             Tracker::do_center = false;

@@ -212,8 +181,6 @@ void Tracker::run() {
             // for kalman

             if (Libraries->pFilter)

                 Libraries->pFilter->Initialize();

-            

-            last = newpose;

         }

         

         if (do_game_zero) {

@@ -223,12 +190,8 @@ void Tracker::run() {
 

         if (do_tracking && confid) {

             // get values

-            target_camera.x     = GlobalPose->X.headPos;

-            target_camera.y     = GlobalPose->Y.headPos;

-            target_camera.z     = GlobalPose->Z.headPos;

-            target_camera.pitch = GlobalPose->Pitch.headPos;

-            target_camera.yaw   = GlobalPose->Yaw.headPos;

-            target_camera.roll  = GlobalPose->Roll.headPos;

+            for (int i = 0; i < 6; i++)

+                target_camera.axes[i] = GlobalPose->axes[i].headPos;

 

             // do the centering

             target_camera = target_camera - offset_camera;

@@ -237,22 +200,19 @@ void Tracker::run() {
             // Use advanced filtering, when a filter was selected.

             //

             if (Libraries->pFilter) {

-                last_post_filter = gameoutput_camera;

-                Libraries->pFilter->FilterHeadPoseData(&current_camera, &target_camera, &new_camera, &last_post_filter, newp);

+                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;

             }

 

-            get_curve(do_inhibit && inhibit_rx, inhibit_zero, new_camera.yaw, output_camera.yaw, GlobalPose->Yaw);

-            get_curve(do_inhibit && inhibit_ry, inhibit_zero, new_camera.pitch, output_camera.pitch, GlobalPose->Pitch);

-            get_curve(do_inhibit && inhibit_rz, inhibit_zero, new_camera.roll, output_camera.roll, GlobalPose->Roll);

-            get_curve(do_inhibit && inhibit_tx, inhibit_zero, new_camera.x, output_camera.x, GlobalPose->X);

-            get_curve(do_inhibit && inhibit_ty, inhibit_zero, new_camera.y, output_camera.y, GlobalPose->Y);

-            get_curve(do_inhibit && inhibit_tz, inhibit_zero, new_camera.z, output_camera.z, GlobalPose->Z);

+            for (int i = 0; i < 6; i++)

+                get_curve(do_inhibit && inhibit[i], inhibit_zero, new_camera.axes[i], output_camera.axes[i], GlobalPose->axes[i]);

 

             if (useAxisReverse) {

-                do_axis_reverse = ((fabs(output_camera.yaw) > YawAngle4ReverseAxis) && (output_camera.z < Z_Pos4ReverseAxis));

+                do_axis_reverse = ((fabs(output_camera.axes[RX]) > YawAngle4ReverseAxis) && (output_camera.axes[TZ] < Z_Pos4ReverseAxis));

             } else {

                 do_axis_reverse = false;

             }

@@ -261,7 +221,7 @@ void Tracker::run() {
             // Reverse Axis.

             //

             if (do_axis_reverse) {

-                output_camera.z = Z_PosWhenReverseAxis;	// Set the desired Z-position

+                output_camera.axes[TZ] = Z_PosWhenReverseAxis;	// Set the desired Z-position

             }

 

             //

@@ -269,7 +229,7 @@ void Tracker::run() {
             //

             if (Libraries->pProtocol) {

                 gameoutput_camera = output_camera + gamezero_camera;

-                Libraries->pProtocol->sendHeadposeToGame( &gameoutput_camera, &newpose );	// degrees & centimeters

+                Libraries->pProtocol->sendHeadposeToGame( gameoutput_camera.axes, newpose );	// degrees & centimeters

             }

         }

         else {

@@ -277,27 +237,16 @@ void Tracker::run() {
             // Go to initial position

             //

             if (Libraries->pProtocol && inhibit_zero) {

-                output_camera.pitch = 0.0f;

-                output_camera.yaw = 0.0f;

-                output_camera.roll = 0.0f;

-                output_camera.x = 0.0f;

-                output_camera.y = 0.0f;

-                output_camera.z = 0.0f;

+                for (int i = 0; i < 6; i++)

+                    output_camera.axes[i] = 0;

                 gameoutput_camera = output_camera + gamezero_camera;

-                Libraries->pProtocol->sendHeadposeToGame( &gameoutput_camera, &newpose );				// degrees & centimeters

+                Libraries->pProtocol->sendHeadposeToGame( gameoutput_camera.axes, newpose );				// degrees & centimeters

+            }

+            for (int i = 0; i < 6; i++)

+            {

+                GlobalPose->axes[i].curvePtr->setTrackingActive(false);

+                GlobalPose->axes[i].curvePtrAlt->setTrackingActive(false);

             }

-            GlobalPose->X.curvePtr->setTrackingActive( false );

-            GlobalPose->Y.curvePtr->setTrackingActive( false );

-            GlobalPose->Z.curvePtr->setTrackingActive( false );

-            GlobalPose->Yaw.curvePtr->setTrackingActive( false );

-            GlobalPose->Pitch.curvePtr->setTrackingActive( false );

-            GlobalPose->Roll.curvePtr->setTrackingActive( false );

-            GlobalPose->X.curvePtrAlt->setTrackingActive( false );

-            GlobalPose->Y.curvePtrAlt->setTrackingActive( false );

-            GlobalPose->Z.curvePtrAlt->setTrackingActive( false );

-            GlobalPose->Yaw.curvePtrAlt->setTrackingActive( false );

-            GlobalPose->Pitch.curvePtrAlt->setTrackingActive( false );

-            GlobalPose->Roll.curvePtrAlt->setTrackingActive( false );

             if (Libraries->pFilter)

                 Libraries->pFilter->Initialize();

         }

@@ -306,13 +255,11 @@ void Tracker::run() {
         usleep(1000);

     }

 

-    GlobalPose->X.curvePtr->setTrackingActive( false );

-    GlobalPose->Y.curvePtr->setTrackingActive( false );

-    GlobalPose->Z.curvePtr->setTrackingActive( false );

-    GlobalPose->Yaw.curvePtr->setTrackingActive( false );

-    GlobalPose->Pitch.curvePtr->setTrackingActive( false );

-    GlobalPose->Pitch.curvePtrAlt->setTrackingActive( false );

-    GlobalPose->Roll.curvePtr->setTrackingActive( false );

+    for (int i = 0; i < 6; i++)

+    {

+        GlobalPose->axes[i].curvePtr->setTrackingActive(false);

+        GlobalPose->axes[i].curvePtrAlt->setTrackingActive(false);

+    }

 }

 

 //

@@ -352,27 +299,19 @@ bool Tracker::handleGameCommand ( int command ) {
 //

 // Get the raw headpose, so it can be displayed.

 //

-void Tracker::getHeadPose( THeadPoseData *data ) {

-    data->x = GlobalPose->X.headPos;				// centimeters

-    data->y = GlobalPose->Y.headPos;

-    data->z = GlobalPose->Z.headPos;

-

-    data->pitch = GlobalPose->Pitch.headPos;		// degrees

-    data->yaw = GlobalPose->Yaw.headPos;

-    data->roll = GlobalPose->Roll.headPos;

+void Tracker::getHeadPose( double *data ) {

+    for (int i = 0; i < 6; i++)

+    {

+        data[i] = GlobalPose->axes[i].headPos;

+    }

 }

 

 //

 // Get the output-headpose, so it can be displayed.

 //

-void Tracker::getOutputHeadPose( THeadPoseData *data ) {

-	data->x = output_camera.x;										// centimeters

-	data->y = output_camera.y;

-	data->z = output_camera.z;

-

-	data->pitch = output_camera.pitch;	// degrees

-	data->yaw   = output_camera.yaw;

-	data->roll  = output_camera.roll;

+void Tracker::getOutputHeadPose( double *data ) {

+    for (int i = 0; i < 6; i++)

+        data[i] = output_camera.axes[i];

 }

 

 //

@@ -395,19 +334,22 @@ void Tracker::loadSettings() {
     YawAngle4ReverseAxis = iniFile.value ( "RA_Yaw", 40 ).toInt();

     Z_Pos4ReverseAxis = iniFile.value ( "RA_ZPos", 50 ).toInt();

     Z_PosWhenReverseAxis = iniFile.value ( "RA_ToZPos", 80 ).toInt();

-    inhibit_rx = iniFile.value("Inhibit_Yaw", false).toBool();

-    inhibit_ry = iniFile.value("Inhibit_Pitch", false).toBool();

-    inhibit_rz = iniFile.value("Inhibit_Roll", false).toBool();

-    inhibit_tx = iniFile.value("Inhibit_X", false).toBool();

-    inhibit_ty = iniFile.value("Inhibit_Y", false).toBool();

-    inhibit_tz = iniFile.value("Inhibit_Z", false).toBool();

+

+    static const char* names[] = {

+        "Inhibit_Yaw",

+        "Inhibit_Pitch",

+        "Inhibit_Roll",

+        "Inhibit_X",

+        "Inhibit_Y",

+        "Inhibit_Z"

+    };

+

+    for (int i = 0; i < 6; i++)

+    {

+        inhibit[i] = iniFile.value(names[i], false).toBool();

+    }

     inhibit_zero = iniFile.value("SetZero", false).toBool(); 

 	iniFile.endGroup ();

 }

 

-void Tracker::setInvertPitch(bool invert) { GlobalPose->Pitch.invert = invert?-1.0f:1.0f; }

-void Tracker::setInvertYaw(bool invert) { GlobalPose->Yaw.invert = invert?-1.0f:+1.0f; }

-void Tracker::setInvertRoll(bool invert) { GlobalPose->Roll.invert = invert?-1.0f:+1.0f; }

-void Tracker::setInvertX(bool invert) { GlobalPose->X.invert = invert?-1.0f:+1.0f; }

-void Tracker::setInvertY(bool invert) { GlobalPose->Y.invert = invert?-1.0f:+1.0f; }

-void Tracker::setInvertZ(bool invert) { GlobalPose->Z.invert = invert?-1.0f:+1.0f; }

+void Tracker::setInvertAxis(Axis axis, bool invert) { GlobalPose->axes[axis].invert = invert?-1.0f:1.0f; }

diff --git a/facetracknoir/tracker.h b/facetracknoir/tracker.h
index e413c8d7..5dc48f60 100644
--- a/facetracknoir/tracker.h
+++ b/facetracknoir/tracker.h
@@ -37,6 +37,7 @@
 #include <QDebug>

 #include <QMutex>

 #include "global-settings.h"

+#include <ftnoir_tracker_base/ftnoir_tracker_types.h>

 

 //#define DIRECTINPUT_VERSION 0x0800

 //#include <Dinput.h>

@@ -101,13 +102,17 @@ extern HeadPoseData* GlobalPose;
 //

 class THeadPoseDOF {

 public:

-    THeadPoseDOF(QString primary, QString secondary, int maxInput1 = 50, int maxOutput1 = 180, int maxInput2 = 50, int maxOutput2 = 90) {

+    THeadPoseDOF(QString primary = "", QString secondary= "", int maxInput1 = 50, int maxOutput1 = 180, int maxInput2 = 50, int maxOutput2 = 90) {

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

 

-        curvePtr = new FunctionConfig(primary, maxInput1, maxOutput1);						// Create the Function-config for input-output translation

-        curvePtr->loadSettings(iniFile);													// Load the settings from the INI-file

+        if (primary != "")

+        {

+            curvePtr = new FunctionConfig(primary, maxInput1, maxOutput1);						// Create the Function-config for input-output translation

+            curvePtr->loadSettings(iniFile);													// Load the settings from the INI-file

+        }

+

         if (secondary != "")

         {

             curvePtrAlt = new FunctionConfig(secondary, maxInput2, maxOutput2);

@@ -133,7 +138,9 @@ private:
     float Z_Pos4ReverseAxis;

     float Z_PosWhenReverseAxis;

     

-    volatile bool inhibit_rx, inhibit_ry, inhibit_rz, inhibit_tx, inhibit_ty, inhibit_tz, inhibit_zero;

+

+    volatile bool inhibit[6];

+    volatile bool inhibit_zero;

 

     FaceTrackNoIR *mainApp;

 

@@ -157,15 +164,10 @@ public:
 

     bool getConfid() { return confid; }

 

-    void setInvertPitch(bool invert);

-    void setInvertYaw(bool invert);

-    void setInvertRoll(bool invert);

-    void setInvertX(bool invert);

-    void setInvertY(bool invert);

-    void setInvertZ(bool invert);

+    void setInvertAxis(Axis axis, bool invert);

 

-    void getHeadPose(THeadPoseData *data);				// Return the current headpose data

-    void getOutputHeadPose(THeadPoseData *data);			// Return the current (processed) headpose data

+    void getHeadPose(double *data);				// Return the current headpose data

+    void getOutputHeadPose(double *data);			// Return the current (processed) headpose data

 

     float getDegreesFromRads ( float rads ) { return (rads * 57.295781f); }

     float getRadsFromDegrees ( float degrees ) { return (degrees * 0.017453f); }

@@ -185,20 +187,15 @@ public:
 

 struct HeadPoseData {

 public:

-    THeadPoseDOF Pitch;

-    THeadPoseDOF Yaw;

-    THeadPoseDOF Roll;

-    THeadPoseDOF X;

-    THeadPoseDOF Y;

-    THeadPoseDOF Z;

-    HeadPoseData() :

-        Pitch("ry", "ry_alt", 60, 180, 60, 90),

-        Yaw("rx", "rx_alt", 60, 180, 60, 180),

-        Roll("rz", "rz_alt", 60, 180, 60, 180),

-        X("tx","tx_alt", 60, 200, 60, 200),

-        Y("ty","ty_alt", 60, 200, 60, 200),

-        Z("tz","tz_alt", 60, 200, 60, 200)

+    THeadPoseDOF axes[6];

+    HeadPoseData()

     {

+        axes[TX] = THeadPoseDOF("tx","tx_alt", 60, 200, 60, 200);

+        axes[TY] = THeadPoseDOF("ty","ty_alt", 60, 200, 60, 200);

+        axes[TZ] = THeadPoseDOF("tz","tz_alt", 60, 200, 60, 200);

+        axes[RX] = THeadPoseDOF("rx", "rx_alt", 60, 180, 60, 180);

+        axes[RY] = THeadPoseDOF("ry", "ry_alt", 60, 180, 60, 90);

+        axes[RZ] = THeadPoseDOF("rz", "rz_alt", 60, 180, 60, 180);

     }

 };

 

diff --git a/facetracknoir/tracker_types.cpp b/facetracknoir/tracker_types.cpp
index 5a6126ff..82109952 100644
--- a/facetracknoir/tracker_types.cpp
+++ b/facetracknoir/tracker_types.cpp
@@ -7,38 +7,38 @@
 

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

 {

-	Rotation R_A(A.yaw*D2R, A.pitch*D2R, A.roll*D2R);

-	Rotation R_B(B.yaw*D2R, B.pitch*D2R, B.roll*D2R);

+    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_C = R_A * R_B.inv();

 

 	T6DOF C;

-	R_C.toEuler(C.yaw, C.pitch, C.roll);

-	C.yaw *= R2D;

-	C.pitch *= R2D;

-	C.roll *= R2D;

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

+    C.axes[RX] *= R2D;

+    C.axes[RY] *= R2D;

+    C.axes[RZ] *= R2D;

 

-	C.x = A.x - B.x;

-	C.y = A.y - B.y;

-	C.z = A.z - B.z;

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

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

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

 	//C.frame_number?

 	return C;

 }

 

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

 {

-	Rotation R_A(A.yaw*D2R, A.pitch*D2R, A.roll*D2R);

-	Rotation R_B(B.yaw*D2R, B.pitch*D2R, B.roll*D2R);

+    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_C = R_A * R_B;

 

 	T6DOF C;

-	R_C.toEuler(C.yaw, C.pitch, C.roll);

-	C.yaw *= R2D;

-	C.pitch *= R2D;

-	C.roll *= R2D;

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

+    C.axes[RX] *= R2D;

+    C.axes[RY] *= R2D;

+    C.axes[RZ] *= R2D;

 

-	C.x = A.x + B.x;

-	C.y = A.y + B.y;

-	C.z = A.z + B.z;

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

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

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

 	//C.frame_number?

 	return C;

 }

diff --git a/facetracknoir/tracker_types.h b/facetracknoir/tracker_types.h
index d8e7ecee..94d96de5 100644
--- a/facetracknoir/tracker_types.h
+++ b/facetracknoir/tracker_types.h
@@ -30,13 +30,9 @@
 

 #include "ftnoir_tracker_base/ftnoir_tracker_types.h"

 

-class T6DOF : public THeadPoseData

-{

+struct T6DOF {

 public:

-    T6DOF() : THeadPoseData() {}

-

-	T6DOF(double x, double y, double z, double yaw, double pitch, double roll) 

-		:  THeadPoseData(x,y,z, yaw,pitch,roll) {}

+    double axes[6];

 };

 

 T6DOF operator-(const T6DOF& A, const T6DOF& B); // get new pose with respect to reference pose B

diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.cpp b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
index 3e931df4..cfd98742 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.cpp
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
@@ -53,45 +53,31 @@ void FTNoIR_Filter::loadSettings() {
 	iniFile.endGroup ();

 }

 

-void FTNoIR_Filter::FilterHeadPoseData(THeadPoseData *current_camera_position,

-                                       THeadPoseData *target_camera_position,

-                                       THeadPoseData *new_camera_position,

-                                       THeadPoseData *last_post_filter_values,

-                                       bool newTarget)

+void FTNoIR_Filter::FilterHeadPoseData(double *current_camera_position,

+                                       double *target_camera_position,

+                                       double *new_camera_position,

+                                       double *last_post_filter_values)

 {

 	double target[6];

 	double prev_output[6];

 	float output[6];

-	int i=0;

-

-	prev_output[0]=current_camera_position->x;

-	prev_output[1]=current_camera_position->y;

-	prev_output[2]=current_camera_position->z;

-	prev_output[3]=current_camera_position->yaw;

-	prev_output[4]=current_camera_position->pitch;

-	prev_output[5]=current_camera_position->roll;

-

-	target[0]=target_camera_position->x;

-	target[1]=target_camera_position->y;

-	target[2]=target_camera_position->z;

-	target[3]=target_camera_position->yaw;

-	target[4]=target_camera_position->pitch;

-	target[5]=target_camera_position->roll;

+

+    for (int i = 0; i < 6; i++)

+    {

+        prev_output[i] = current_camera_position[i];

+        target[i] = target_camera_position[i];

+    }

 

 	if (first_run)

 	{

-		new_camera_position->x=target[0];

-		new_camera_position->y=target[1];

-		new_camera_position->z=target[2];

-		new_camera_position->yaw=target[3];

-		new_camera_position->pitch=target[4];

-		new_camera_position->roll=target[5];

+        for (int i = 0; i < 6; i++)

+            new_camera_position[i] = target[i];

 

 		first_run=false;

 		return;

 	}

 

-	for (i=0;i<6;i++)

+    for (int i=0;i<6;i++)

 	{

 		if (_isnan(target[i]))

 			return;

@@ -123,7 +109,7 @@ void FTNoIR_Filter::FilterHeadPoseData(THeadPoseData *current_camera_position,
 		// useful for filtering, as skipping them would result in jerky output.

 		// the magic "100" is the amount of calls to the filter by FTNOIR per sec.

 		// WVR: Added kMagicNumber for Patrick

-        double velocity = foo / (kMagicNumber > 0 ? kMagicNumber : 100.0) * (1 / std::max(1.0, 1 + kZoomSlowness * -last_post_filter_values->z / 100));

+        double velocity = foo / (kMagicNumber > 0 ? kMagicNumber : 100.0) * (1 / std::max(1.0, 1 + kZoomSlowness * -last_post_filter_values[TZ] / 100));

 		double sum = start + velocity * sign;

 		bool done = (sign > 0 ? sum >= e2 : sum <= e2);

 		if (done) {

@@ -136,19 +122,11 @@ void FTNoIR_Filter::FilterHeadPoseData(THeadPoseData *current_camera_position,
 			return;

 	}

 

-	new_camera_position->x=output[0];

-	new_camera_position->y=output[1];

-	new_camera_position->z=output[2];

-	new_camera_position->yaw=output[3];

-	new_camera_position->pitch=output[4];

-	new_camera_position->roll=output[5];

-

-	current_camera_position->x=output[0];

-	current_camera_position->y=output[1];

-	current_camera_position->z=output[2];

-	current_camera_position->yaw=output[3];

-	current_camera_position->pitch=output[4];

-	current_camera_position->roll=output[5];

+    for (int i = 0; i < 6; i++)

+    {

+        new_camera_position[i] = output[i];

+        current_camera_position[i] = output[i];

+    }

 }

 

 ////////////////////////////////////////////////////////////////////////////////

diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.h b/ftnoir_filter_accela/ftnoir_filter_accela.h
index 701dabaa..48efbc59 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.h
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.h
@@ -49,11 +49,11 @@ public:
 	~FTNoIR_Filter();

 

     void Initialize();

-    void FilterHeadPoseData(THeadPoseData *current_camera_position, THeadPoseData *target_camera_position, THeadPoseData *new_camera_position, THeadPoseData *last_post_filter_values, bool newTarget);

+    void FilterHeadPoseData(double *current_camera_position, double *target_camera_position, double *new_camera_position, double *last_post_filter_values);

 

 private:

 	void loadSettings();									// Load the settings from the INI-file

-	THeadPoseData newHeadPose;								// Structure with new headpose

+    double newHeadPose[6];								// Structure with new headpose

 

 	bool	first_run;

 	double kFactor, kFactorTranslation;

diff --git a/ftnoir_filter_base/ftnoir_filter_base.h b/ftnoir_filter_base/ftnoir_filter_base.h
index 37309077..5cd7b1d9 100644
--- a/ftnoir_filter_base/ftnoir_filter_base.h
+++ b/ftnoir_filter_base/ftnoir_filter_base.h
@@ -27,7 +27,7 @@ struct IFilter
 {

 	virtual ~IFilter() {}

 	virtual void Initialize() = 0;

-    virtual void FilterHeadPoseData(THeadPoseData *current_camera_position, THeadPoseData *target_camera_position, THeadPoseData *new_camera_position, THeadPoseData *last_post_filter, bool newTarget) = 0;

+    virtual void FilterHeadPoseData(double *current_camera_position, double *target_camera_position, double *new_camera_position, double *last_post_filter) = 0;

 };

 

 // Factory function that creates instances of the Filter object.

diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp
index 5f196533..c08b7e23 100644
--- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp
+++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp
@@ -79,57 +79,33 @@ void FTNoIR_Filter::loadSettings() {
 

 }

 

-void FTNoIR_Filter::FilterHeadPoseData(THeadPoseData *current_camera_position, THeadPoseData *target_camera_position, THeadPoseData *new_camera_position, THeadPoseData *last_post_filter, bool newTarget)

+void FTNoIR_Filter::FilterHeadPoseData(double *current_camera_position, double *target_camera_position, double *new_camera_position, double *last_post_filter)

 {

 	//non-optimised version for clarity

-	float prev_output[6];

-	float target[6];

-	float output_delta[6];

-	float scale[]={0.025f,0.025f,0.025f,6.0f,6.0f,6.0f};

-	float norm_output_delta[6];

-	float output[6];

-	int i=0;

-

-	#if PRE_FILTER_SCALING

-	//compensate for any prefilter scaling

-	scale[0]*=X_POS_SCALE;

-	scale[1]*=Y_POS_SCALE;

-	scale[2]*=Z_POS_SCALE;

-	scale[3]*=X_ROT_SCALE;

-	scale[4]*=Y_ROT_SCALE;

-	scale[5]*=Z_ROT_SCALE;

-	#endif

-

-	//find out how far the head has moved

-	prev_output[0]=current_camera_position->x;

-	prev_output[1]=current_camera_position->y;

-	prev_output[2]=current_camera_position->z;

-	prev_output[3]=current_camera_position->yaw;

-	prev_output[4]=current_camera_position->pitch;

-	prev_output[5]=current_camera_position->roll;

-

-	target[0]=target_camera_position->x;

-	target[1]=target_camera_position->y;

-	target[2]=target_camera_position->z;

-	target[3]=target_camera_position->yaw;

-	target[4]=target_camera_position->pitch;

-	target[5]=target_camera_position->roll;

+    double prev_output[6];

+    double target[6];

+    double output_delta[6];

+    double scale[]={0.025f,0.025f,0.025f,6.0f,6.0f,6.0f};

+    double norm_output_delta[6];

+    double output[6];

+

+    for (int i = 0; i < 6; i++)

+    {

+        prev_output[i] = current_camera_position[i];

+        target[i] = target_camera_position[i];

+    }

 

 	if (first_run==true)

 	{

 		//on the first run, output=target

-		for (i=0;i<6;i++)

+        for (int i=0;i<6;i++)

 		{

 			output[i]=target[i];

 			prev_alpha[i] = 0.0f;

 		}

 

-		new_camera_position->x=target[0];

-		new_camera_position->y=target[1];

-		new_camera_position->z=target[2];

-		new_camera_position->yaw=target[3];

-		new_camera_position->pitch=target[4];

-		new_camera_position->roll=target[5];

+        for (int i = 0; i < 6; i++)

+            new_camera_position[i] = target[i];

 

 		first_run=false;

 		

@@ -138,13 +114,13 @@ void FTNoIR_Filter::FilterHeadPoseData(THeadPoseData *current_camera_position, T
 	}

 

 	//how far does the camera need to move to catch up?

-	for (i=0;i<6;i++)

+    for (int i=0;i<6;i++)

 	{

 		output_delta[i]=(target[i]-prev_output[i]);

 	}

 

 	//normalise the deltas

-	for (i=0;i<6;i++)

+    for (int i=0;i<6;i++)

 	{

         norm_output_delta[i]=std::min<double>(std::max<double>(fabs(output_delta[i])/scale[i],0.0),1.0);

 	}

@@ -152,9 +128,9 @@ void FTNoIR_Filter::FilterHeadPoseData(THeadPoseData *current_camera_position, T
 	//calculate the alphas

 	//work out the dynamic smoothing factors

 //	if (newTarget) {

-		for (i=0;i<6;i++)

+        for (int i=0;i<6;i++)

 		{

-			alpha[i]=1.0f/(kMinSmoothing+((1.0f-pow(norm_output_delta[i],kSmoothingScaleCurve))*smoothing_frames_range));

+            alpha[i]=1.0/(kMinSmoothing+((1.0-pow(norm_output_delta[i],kSmoothingScaleCurve))*smoothing_frames_range));

 			smoothed_alpha[i]=(alpha_smoothing*alpha[i])+((1.0f-alpha_smoothing)*prev_alpha[i]);

 		}

 //	}

@@ -165,7 +141,7 @@ void FTNoIR_Filter::FilterHeadPoseData(THeadPoseData *current_camera_position, T
 	//use the same (largest) smoothed alpha for each channel

 	//NB: larger alpha = *less* lag (opposite to what you'd expect)

 	float largest_alpha=0.0f;

-	for (i=0;i<6;i++)

+    for (int i=0;i<6;i++)

 	{

 		if (smoothed_alpha[i]>=largest_alpha)

 		{

@@ -174,7 +150,7 @@ void FTNoIR_Filter::FilterHeadPoseData(THeadPoseData *current_camera_position, T
 	}

 

 	//move the camera

-	for (i=0;i<6;i++)

+    for (int i=0;i<6;i++)

 	{

 		output[i]=(largest_alpha*target[i])+((1.0f-largest_alpha)*prev_output[i]);

 //		output[i]=(smoothed_alpha[i]*target[i])+((1.0f-smoothed_alpha[i])*prev_output[i]);

@@ -193,25 +169,14 @@ void FTNoIR_Filter::FilterHeadPoseData(THeadPoseData *current_camera_position, T
 	}

 	#endif

 

-	new_camera_position->x=output[0];

-	new_camera_position->y=output[1];

-	new_camera_position->z=output[2];

-	new_camera_position->yaw=output[3];

-	new_camera_position->pitch=output[4];

-	new_camera_position->roll=output[5];

-

-	//

-	// Also update the 'current' position, for the next iteration.

-	//

-	current_camera_position->x=output[0];

-	current_camera_position->y=output[1];

-	current_camera_position->z=output[2];

-	current_camera_position->yaw=output[3];

-	current_camera_position->pitch=output[4];

-	current_camera_position->roll=output[5];

+    for (int i = 0; i < 6; i++)

+    {

+        new_camera_position[i] = output[i];

+        current_camera_position[i] = output[i];

+    }

 

 	//update filter memories ready for next sample

-	for (i=0;i<6;i++)

+    for (int i=0;i<6;i++)

 	{

 		prev_alpha[i]=smoothed_alpha[i];

 	}

diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h
index cade740f..b35d5cc3 100644
--- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h
+++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h
@@ -43,22 +43,22 @@ public:
     ~FTNoIR_Filter();

 

     void Initialize();

-    void FilterHeadPoseData(THeadPoseData *current_camera_position, THeadPoseData *target_camera_position, THeadPoseData *new_camera_position, THeadPoseData *last_post_filter, bool newTarget);

+    void FilterHeadPoseData(double *current_camera_position, double *target_camera_position, double *new_camera_position, double *last_post_filter);

 

 private:

 	void loadSettings();									// Load the settings from the INI-file

-	THeadPoseData newHeadPose;								// Structure with new headpose

+    double newHeadPose;								// Structure with new headpose

 

 	bool	first_run;

-	float	smoothing_frames_range;

-	float	alpha_smoothing;

-	float	prev_alpha[6];

-	float	alpha[6];

-	float	smoothed_alpha[6];

-

-	float	kMinSmoothing;

-	float	kMaxSmoothing;

-	float	kSmoothingScaleCurve;

+    double	smoothing_frames_range;

+    double	alpha_smoothing;

+    double	prev_alpha[6];

+    double	alpha[6];

+    double	smoothed_alpha[6];

+

+    double	kMinSmoothing;

+    double	kMaxSmoothing;

+    double	kSmoothingScaleCurve;

 };

 

 //*******************************************************************************************************

diff --git a/ftnoir_protocol_base/ftnoir_protocol_base.h b/ftnoir_protocol_base/ftnoir_protocol_base.h
index 5d88a508..f1985677 100644
--- a/ftnoir_protocol_base/ftnoir_protocol_base.h
+++ b/ftnoir_protocol_base/ftnoir_protocol_base.h
@@ -59,7 +59,7 @@ struct IProtocol
 	virtual ~IProtocol() {}

 	virtual void Initialize() = 0;

     virtual bool checkServerInstallationOK() = 0;

-	virtual void sendHeadposeToGame( THeadPoseData *headpose, THeadPoseData *rawheadpose ) = 0;

+    virtual void sendHeadposeToGame( double *headpose, double *rawheadpose ) = 0;

 	virtual void getNameFromGame( char *dest ) = 0;				// Take care dest can handle up to 100 chars...

 };

 

diff --git a/ftnoir_protocol_fg/ftnoir_protocol_fg.cpp b/ftnoir_protocol_fg/ftnoir_protocol_fg.cpp
index 0c259d61..1303d051 100644
--- a/ftnoir_protocol_fg/ftnoir_protocol_fg.cpp
+++ b/ftnoir_protocol_fg/ftnoir_protocol_fg.cpp
@@ -34,6 +34,7 @@
 #include "ftnoir_protocol_fg.h"

 #include <QFile>

 #include "facetracknoir/global-settings.h"

+#include <ftnoir_tracker_base/ftnoir_tracker_types.h>

 

 // For Todd and Arda Kutlu

 //#define SEND_ASCII_DATA

@@ -99,24 +100,20 @@ void FTNoIR_Protocol::loadSettings() {
 //

 // Update Headpose in Game.

 //

-void FTNoIR_Protocol::sendHeadposeToGame( THeadPoseData *headpose, THeadPoseData *rawheadpose ) {

+void FTNoIR_Protocol::sendHeadposeToGame( double *headpose, double *rawheadpose ) {

 int no_bytes;

 QHostAddress sender;

 quint16 senderPort;

 

-#ifdef SEND_ASCII_DATA

-char data[100];

-#endif

-

 	//

 	// Copy the Raw measurements directly to the client.

 	//

-	FlightData.x = headpose->x;

-	FlightData.y = headpose->y;

-	FlightData.z = headpose->z;

-	FlightData.p = headpose->pitch;

-	FlightData.h = headpose->yaw;

-	FlightData.r = headpose->roll;

+    FlightData.x = headpose[TX];

+    FlightData.y = headpose[RY];

+    FlightData.z = headpose[TZ];

+    FlightData.p = headpose[TY];

+    FlightData.h = headpose[RX];

+    FlightData.r = headpose[RZ];

 	FlightData.status = fg_cmd;

 

 	//

diff --git a/ftnoir_protocol_fg/ftnoir_protocol_fg.h b/ftnoir_protocol_fg/ftnoir_protocol_fg.h
index 4ff2846f..3e2a1bf4 100644
--- a/ftnoir_protocol_fg/ftnoir_protocol_fg.h
+++ b/ftnoir_protocol_fg/ftnoir_protocol_fg.h
@@ -51,7 +51,7 @@ public:
     void Initialize();

 

     bool checkServerInstallationOK();

-	void sendHeadposeToGame( THeadPoseData *headpose, THeadPoseData *rawheadpose );

+    void sendHeadposeToGame( double *headpose, double *rawheadpose );

 	void getNameFromGame( char *dest );						// Take care dest can handle up to 100 chars...

 

 private:

diff --git a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.cpp b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.cpp
index c750ae26..0c25e77e 100644
--- a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.cpp
+++ b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.cpp
@@ -104,7 +104,7 @@ void FTNoIR_Protocol::loadSettings() {
 //

 // Update Headpose in Game.

 //

-void FTNoIR_Protocol::sendHeadposeToGame( THeadPoseData *headpose, THeadPoseData *rawheadpose ) {

+void FTNoIR_Protocol::sendHeadposeToGame(double *headpose, double *rawheadpose ) {

 DWORD result;

 TFSState pitch;

 TFSState yaw;

@@ -121,13 +121,13 @@ float virtRotZ;
 

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

 

-	virtRotX = -1.0f * headpose->pitch;				// degrees

-	virtRotY = headpose->yaw;

-	virtRotZ = headpose->roll;

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

+    virtRotY = headpose[RX];

+    virtRotZ = headpose[RZ];

 

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

 	virtPosY = 0.0f;

-	virtPosZ = -1.0f * headpose->z;

+    virtPosZ = headpose[TZ];

 

 	//

 	// Init. the FSUIPC offsets (derived from Free-track...)

diff --git a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.h b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.h
index 0d386a59..e2aed7db 100644
--- a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.h
+++ b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.h
@@ -66,7 +66,7 @@ public:
     void Initialize();

 

     bool checkServerInstallationOK();

-	void sendHeadposeToGame( THeadPoseData *headpose, THeadPoseData *rawheadpose );

+    void sendHeadposeToGame( double *headpose, double *rawheadpose );

 	void getNameFromGame( char *dest );					// Take care dest can handle up to 100 chars...

 

 private:

diff --git a/ftnoir_protocol_ft/ftnoir_protocol_ft.cpp b/ftnoir_protocol_ft/ftnoir_protocol_ft.cpp
index bd9b7746..99525c90 100644
--- a/ftnoir_protocol_ft/ftnoir_protocol_ft.cpp
+++ b/ftnoir_protocol_ft/ftnoir_protocol_ft.cpp
@@ -208,7 +208,7 @@ void FTNoIR_Protocol::loadSettings() {
 //

 // Update Headpose in Game.

 //

-void FTNoIR_Protocol::sendHeadposeToGame( THeadPoseData *headpose, THeadPoseData *rawheadpose ) {

+void FTNoIR_Protocol::sendHeadposeToGame(double *headpose, double *rawheadpose ) {

 float virtPosX;

 float virtPosY;

 float virtPosZ;

@@ -228,19 +228,19 @@ float headRotZ;
     //

 	// Scale the Raw measurements to the client measurements.

 	//

-	headRotX = getRadsFromDegrees(headpose->pitch);

-	headRotY = getRadsFromDegrees(headpose->yaw);

-	headRotZ = getRadsFromDegrees(headpose->roll);

-	headPosX = headpose->x * 10;

-	headPosY = headpose->y * 10;

-	headPosZ = headpose->z * 10;

-

-	virtRotX = getRadsFromDegrees(headpose->pitch);

-	virtRotY = getRadsFromDegrees(headpose->yaw);

-	virtRotZ = getRadsFromDegrees(headpose->roll);

-	virtPosX = headpose->x * 10;

-	virtPosY = headpose->y * 10;

-	virtPosZ = headpose->z * 10;

+    headRotX = getRadsFromDegrees(headpose[RY]);

+    headRotY = getRadsFromDegrees(headpose[RX]);

+    headRotZ = getRadsFromDegrees(headpose[RZ]);

+    headPosX = headpose[TX] * 10;

+    headPosY = headpose[TY] * 10;

+    headPosZ = headpose[TZ] * 10;

+

+    virtRotX = getRadsFromDegrees(headpose[RY]);

+    virtRotY = getRadsFromDegrees(headpose[RX]);

+    virtRotZ = getRadsFromDegrees(headpose[RZ]);

+    virtPosX = headpose[TX] * 10;

+    virtPosY = headpose[TY] * 10;

+    virtPosZ = headpose[TZ] * 10;

 

 	//

 	// Check if the pointer is OK and wait for the Mutex.

diff --git a/ftnoir_protocol_ft/ftnoir_protocol_ft.h b/ftnoir_protocol_ft/ftnoir_protocol_ft.h
index 15ee5149..526a6aea 100644
--- a/ftnoir_protocol_ft/ftnoir_protocol_ft.h
+++ b/ftnoir_protocol_ft/ftnoir_protocol_ft.h
@@ -55,7 +55,7 @@ public:
     void Initialize();

 

 	bool checkServerInstallationOK(  );

-	void sendHeadposeToGame( THeadPoseData *headpose, THeadPoseData *rawheadpose );

+    void sendHeadposeToGame( double *headpose, double *rawheadpose );

 	void getNameFromGame( char *dest );					// Take care dest can handle up to 100 chars...

 

 private:

diff --git a/ftnoir_protocol_ftn/ftnoir_protocol_ftn.cpp b/ftnoir_protocol_ftn/ftnoir_protocol_ftn.cpp
index 26f331b3..b8cc0703 100644
--- a/ftnoir_protocol_ftn/ftnoir_protocol_ftn.cpp
+++ b/ftnoir_protocol_ftn/ftnoir_protocol_ftn.cpp
@@ -77,23 +77,21 @@ void FTNoIR_Protocol::loadSettings() {
 //

 // Update Headpose in Game.

 //

-void FTNoIR_Protocol::sendHeadposeToGame( THeadPoseData *headpose, THeadPoseData *rawheadpose ) {

-int no_bytes;

-THeadPoseData TestData;

-

+void FTNoIR_Protocol::sendHeadposeToGame(double *headpose, double *rawheadpose ) {

+    int no_bytes;

+    double test_data[6];

 	//

 	// Copy the Raw measurements directly to the client.

 	//

-	TestData = *headpose;

-    TestData.frame_number = 0;

-

+    for (int i = 0; i < 6; i++)

+        test_data[i] = headpose[i];

 	//

 	// Try to send an UDP-message to the receiver

 	//

 

 	//! [1]

 	if (outSocket != 0) {

-		no_bytes = outSocket->writeDatagram((const char *) &TestData, sizeof( TestData ), destIP, destPort);

+        no_bytes = outSocket->writeDatagram((const char *) test_data, sizeof( test_data ), destIP, destPort);

 		if ( no_bytes > 0) {

 //		qDebug() << "FTNServer::writePendingDatagrams says: bytes send =" << no_bytes << sizeof( double );

 		}

diff --git a/ftnoir_protocol_ftn/ftnoir_protocol_ftn.h b/ftnoir_protocol_ftn/ftnoir_protocol_ftn.h
index 7dca6842..f40f30fa 100644
--- a/ftnoir_protocol_ftn/ftnoir_protocol_ftn.h
+++ b/ftnoir_protocol_ftn/ftnoir_protocol_ftn.h
@@ -48,7 +48,7 @@ public:
     void Initialize();

 

     bool checkServerInstallationOK();

-	void sendHeadposeToGame( THeadPoseData *headpose, THeadPoseData *rawheadpose );

+    void sendHeadposeToGame( double *headpose, double *rawheadpose );

 	void getNameFromGame( char *dest );						// Take care dest can handle up to 100 chars...

 

 private:

diff --git a/ftnoir_protocol_mouse/ftnoir_protocol_mouse.cpp b/ftnoir_protocol_mouse/ftnoir_protocol_mouse.cpp
index 953482a5..35198cb1 100644
--- a/ftnoir_protocol_mouse/ftnoir_protocol_mouse.cpp
+++ b/ftnoir_protocol_mouse/ftnoir_protocol_mouse.cpp
@@ -106,7 +106,7 @@ void FTNoIR_Protocol::loadSettings() {
 //

 // Update Headpose in Game.

 //

-void FTNoIR_Protocol::sendHeadposeToGame( THeadPoseData *headpose, THeadPoseData *rawheadpose ) {

+void FTNoIR_Protocol::sendHeadposeToGame(double *headpose, double *rawheadpose ) {

 float fMouse_X = 0;							// The actual value

 float fMouse_Y = 0;

 float fMouse_Wheel = 0;

@@ -116,103 +116,25 @@ float fMouse_Wheel = 0;
 	// Determine which of the 6DOF's is used.

 	// The rotations are from -180 to +180 and the translations from -50cm to +50cm.

 	// Let's scale the translations to the degrees for simplicity sake...

-	//

-	switch (Mouse_X) {

-		case FTN_PITCH:

-			fMouse_X = headpose->pitch;

-			break;

-

-		case FTN_YAW:

-			fMouse_X = headpose->yaw;

-			break;

-

-		case FTN_ROLL:

-			fMouse_X = headpose->roll;

-			break;

-

-		case FTN_X:

-			fMouse_X = headpose->x * 3.0f;

-			break;

-

-		case FTN_Y:

-			fMouse_X = headpose->y * 3.0f;

-			break;

-

-		case FTN_Z:

-			fMouse_X = headpose->z * 3.0f;

-			break;

-

-		default:

-			break;

-	}

-

-	//

-	// Determine which of the 6DOF's is used.

-	// The rotations are from -180 to +180 and the translations from -50cm to +50cm.

-	// Let's scale the translations to the degrees for simplicity sake...

-	//

-	switch (Mouse_Y) {

-		case FTN_PITCH:

-			fMouse_Y = headpose->pitch;

-			break;

+    //

 

-		case FTN_YAW:

-			fMouse_Y = headpose->yaw;

-			break;

+    if (Mouse_X > 0 && Mouse_X < 6+1)

+        fMouse_X = headpose[Mouse_X-1];

 

-		case FTN_ROLL:

-			fMouse_Y = headpose->roll;

-			break;

+    if (Mouse_X < 3+1 && Mouse_X > 0)

+        fMouse_X *= 3;

 

-		case FTN_X:

-			fMouse_Y = headpose->x * 3.0f;

-			break;

+    if (Mouse_Y > 0 && Mouse_Y < 6+1)

+        fMouse_Y = headpose[Mouse_Y-1];

 

-		case FTN_Y:

-			fMouse_Y = headpose->y * 3.0f;

-			break;

+    if (Mouse_Y < 3+1 && Mouse_Y > 0)

+        fMouse_Y *= 3;

 

-		case FTN_Z:

-			fMouse_Y = headpose->z * 3.0f;

-			break;

+    if (Mouse_Wheel > 0 && Mouse_Wheel < 6+1)

+        fMouse_Wheel = headpose[Mouse_Wheel-1];

 

-		default:

-			break;

-	}

-

-	//

-	// Determine which of the 6DOF's is used.

-	// The rotations are from -180 to +180 and the translations from -50cm to +50cm.

-	// Let's scale the translations to the degrees for simplicity sake...

-	//

-	switch (Mouse_Wheel) {

-		case FTN_PITCH:

-			fMouse_Wheel = headpose->pitch;

-			break;

-

-		case FTN_YAW:

-			fMouse_Wheel = headpose->yaw;

-			break;

-

-		case FTN_ROLL:

-			fMouse_Wheel = headpose->roll;

-			break;

-

-		case FTN_X:

-			fMouse_Wheel = headpose->x * 3.0f;

-			break;

-

-		case FTN_Y:

-			fMouse_Wheel = headpose->y * 3.0f;

-			break;

-

-		case FTN_Z:

-			fMouse_Wheel = headpose->z * 3.0f;

-			break;

-

-		default:

-			break;

-	}

+    if (Mouse_Wheel < 3+1 && Mouse_Wheel > 0)

+        fMouse_Wheel *= 3;

 

 	//

 	// Only send Input, when it has changed.

diff --git a/ftnoir_protocol_mouse/ftnoir_protocol_mouse.h b/ftnoir_protocol_mouse/ftnoir_protocol_mouse.h
index e4bc6256..e1305a6f 100644
--- a/ftnoir_protocol_mouse/ftnoir_protocol_mouse.h
+++ b/ftnoir_protocol_mouse/ftnoir_protocol_mouse.h
@@ -46,12 +46,12 @@
 #define MOUSE_AXIS_MAX 65535

 

 enum FTN_AngleName {

-	FTN_PITCH = 1,

-	FTN_YAW = 2,

-	FTN_ROLL = 3,

-	FTN_X = 4,

-	FTN_Y = 5,

-	FTN_Z = 6

+    FTN_PITCH = RX,

+    FTN_YAW = TY,

+    FTN_ROLL = RZ,

+    FTN_X = TX,

+    FTN_Y = TY,

+    FTN_Z = TZ

 };

 

 enum FTN_MouseStyle {

@@ -70,7 +70,7 @@ public:
     void Initialize();

 

     bool checkServerInstallationOK();

-	void sendHeadposeToGame( THeadPoseData *headpose, THeadPoseData *rawheadpose );

+    void sendHeadposeToGame( double *headpose, double *rawheadpose );

 	void getNameFromGame( char *dest );					// Take care dest can handle up to 100 chars...

 

 private:

diff --git a/ftnoir_protocol_sc/ftnoir_protocol_sc.cpp b/ftnoir_protocol_sc/ftnoir_protocol_sc.cpp
index 90ca3dba..39c98ea7 100644
--- a/ftnoir_protocol_sc/ftnoir_protocol_sc.cpp
+++ b/ftnoir_protocol_sc/ftnoir_protocol_sc.cpp
@@ -86,17 +86,17 @@ void FTNoIR_Protocol::loadSettings() {
 //

 // Update Headpose in Game.

 //

-void FTNoIR_Protocol::sendHeadposeToGame( THeadPoseData *headpose, THeadPoseData *rawheadpose ) {

+void FTNoIR_Protocol::sendHeadposeToGame( double *headpose, double *rawheadpose ) {

 PDWORD_PTR MsgResult = 0;

 

 

-    virtSCRotX = -1.0f * headpose->pitch;					// degrees

-	virtSCRotY = -1.0f * headpose->yaw;

-	virtSCRotZ = headpose->roll;

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

+    virtSCRotY = -headpose[RX];

+    virtSCRotZ = headpose[RZ];

 

-	virtSCPosX = headpose->x/100.f;						// cm to meters

-	virtSCPosY = headpose->y/100.f;

-	virtSCPosZ = -1.0f * headpose->z/100.f;

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

+    virtSCPosY = headpose[TY]/100.f;

+    virtSCPosZ = -headpose[TZ]/100.f;

 

 	//

 	// It's only useful to send data, if the connection was made.

diff --git a/ftnoir_protocol_sc/ftnoir_protocol_sc.h b/ftnoir_protocol_sc/ftnoir_protocol_sc.h
index 57919193..f49860b7 100644
--- a/ftnoir_protocol_sc/ftnoir_protocol_sc.h
+++ b/ftnoir_protocol_sc/ftnoir_protocol_sc.h
@@ -85,7 +85,7 @@ public:
 	~FTNoIR_Protocol();

     void Initialize() {}

     bool checkServerInstallationOK();

-	void sendHeadposeToGame( THeadPoseData *headpose, THeadPoseData *rawheadpose );

+    void sendHeadposeToGame( double *headpose, double *rawheadpose );

 	void getNameFromGame( char *dest );					// Take care dest can handle up to 100 chars...

 

 private:

diff --git a/ftnoir_tracker_base/ftnoir_tracker_base.h b/ftnoir_tracker_base/ftnoir_tracker_base.h
index 416d3944..b72be93e 100644
--- a/ftnoir_tracker_base/ftnoir_tracker_base.h
+++ b/ftnoir_tracker_base/ftnoir_tracker_base.h
@@ -56,7 +56,7 @@ struct ITracker
 {

     virtual ~ITracker() {}

     virtual void StartTracker( QFrame* frame ) = 0;

-    virtual bool GiveHeadPoseData(THeadPoseData *data) = 0;

+    virtual bool GiveHeadPoseData(double *data) = 0;

 

     virtual void WaitForExit() = 0;

 };

diff --git a/ftnoir_tracker_base/ftnoir_tracker_types.h b/ftnoir_tracker_base/ftnoir_tracker_types.h
index ee443b95..d2981701 100644
--- a/ftnoir_tracker_base/ftnoir_tracker_types.h
+++ b/ftnoir_tracker_base/ftnoir_tracker_types.h
@@ -30,22 +30,8 @@
 #ifndef FTNOIR_TRACKER_TYPES_H

 #define FTNOIR_TRACKER_TYPES_H

 

-//

-// x,y,z position in centimetres, yaw, pitch and roll in degrees...

-//

-#pragma pack(push, 2)

-struct THeadPoseData {

-

-	THeadPoseData()

-		: x(0.0), y(0.0), z(0.0), yaw(0.0), pitch(0.0), roll(0.0), frame_number(0) {}

-

-	THeadPoseData(double x, double y, double z, 

-		double yaw, double pitch, double roll ) 

-		: x(x), y(y), z(z), yaw(yaw), pitch(pitch), roll(roll), frame_number(0) {}

-

-	double x, y, z, yaw, pitch, roll;

-    unsigned char frame_number;

+enum Axis {

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

 };

-#pragma pack(pop)

 

 #endif // FTNOIR_TRACKER_TYPES_H

diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
index d37ab9b2..224fff4a 100644
--- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
+++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
@@ -218,7 +218,7 @@ void Tracker::paint_widget() {
     }
 }
 
-bool Tracker::GiveHeadPoseData(THeadPoseData* data)
+bool Tracker::GiveHeadPoseData(double *data)
 {
 	bool ret = false;
 
@@ -233,25 +233,25 @@ bool Tracker::GiveHeadPoseData(THeadPoseData* data)
     }
     if (shm->result.filled) {
         if (enableRX)
-            data->yaw = shm->result.rotx;
+            data[RX] = shm->result.rotx;
         if (enableRY) {
-            data->pitch = shm->result.roty;
-            double sign = data->pitch >= 0 ? 1 : -1;
-            if (fabs(fabs(data->pitch) - 180) < fabs(data->pitch))
-                data->pitch = fabs(fabs(data->pitch) - 180) * sign;
+            data[RY] = shm->result.roty;
+            double sign = data[RY] >= 0 ? 1 : -1;
+            if (fabs(fabs(data[RY]) - 180) < fabs(data[RY]))
+                data[RY] = fabs(fabs(data[RY]) - 180) * sign;
 		}
         if (enableRZ) {
-            data->roll = shm->result.rotz;
-            double sign = data->roll >= 0 ? 1 : -1;
-            if (fabs(fabs(data->roll) - 180) < fabs(data->roll))
-                data->roll = fabs(fabs(data->roll) - 180) * sign;
+            data[RZ] = shm->result.rotz;
+            double sign = data[RZ] >= 0 ? 1 : -1;
+            if (fabs(fabs(data[RZ]) - 180) < fabs(data[RZ]))
+                data[RZ] = fabs(fabs(data[RZ]) - 180) * sign;
         }
         if (enableTX)
-            data->x = shm->result.tx;
+            data[TX] = shm->result.tx;
         if (enableTY)
-            data->y = shm->result.ty;
+            data[TY] = shm->result.ty;
         if (enableTZ)
-            data->z = shm->result.tz;
+            data[TZ] = shm->result.tz;
         ret = true;
     }
     lck_shm.unlock();
diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.h b/ftnoir_tracker_ht/ftnoir_tracker_ht.h
index 5a17e4af..a08f2437 100644
--- a/ftnoir_tracker_ht/ftnoir_tracker_ht.h
+++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.h
@@ -24,7 +24,7 @@ public:
 	Tracker();
 	~Tracker();
     void StartTracker(QFrame* frame);
-    bool GiveHeadPoseData(THeadPoseData *data);
+    bool GiveHeadPoseData(double *data);
 	bool enableTX, enableTY, enableTZ, enableRX, enableRY, enableRZ;
 	ht_shm_t* shm;
     bool NeedsTimeToFinish() {
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 96017d52..654e9924 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -192,7 +192,7 @@ void Tracker::paint_widget() {
     }

 }

 

-bool Tracker::GiveHeadPoseData(THeadPoseData *data)

+bool Tracker::GiveHeadPoseData(double *data)

 {

 	const float rad2deg = 180.0/3.14159265;

 	const float deg2rad = 1.0/rad2deg;

@@ -217,13 +217,13 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data)
 

 		// get translation(s)

 		if (bEnableX) {

-			data->x = t[0] / 10.0;	// convert to cm

+            data[TX] = t[0] / 10.0;	// convert to cm

 		}

 		if (bEnableY) {

-			data->y = t[1] / 10.0;

+            data[TY] = t[1] / 10.0;

 		}

 		if (bEnableZ) {

-			data->z = t[2] / 10.0;

+            data[TZ] = t[2] / 10.0;

 		}

 

 		// translate rotation matrix from opengl (G) to roll-pitch-yaw (R) frame

@@ -241,13 +241,13 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data)
 		gamma = atan2( R(2,1), R(2,2));		

 

 		if (bEnableYaw) {

-			data->yaw   = rad2deg * alpha;

+            data[RX]   = rad2deg * alpha;

 		}

 		if (bEnablePitch) {

-            data->pitch = rad2deg * beta;

+            data[RY] = rad2deg * beta;

 		}

 		if (bEnableRoll) {

-			data->roll  = rad2deg * gamma;

+            data[RZ]  = rad2deg * gamma;

 		}

 	}

 	return true;

diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
index 49881b69..014cab76 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
@@ -33,7 +33,7 @@ public:
 

 	// ITracker interface

     void StartTracker(QFrame* videoFrame);

-	bool GiveHeadPoseData(THeadPoseData *data);

+    bool GiveHeadPoseData(double *data);

 

 	void refreshVideo();

 

diff --git a/ftnoir_tracker_sm/ftnoir_tracker_faceapi.cpp b/ftnoir_tracker_sm/ftnoir_tracker_faceapi.cpp
index 09d7432b..81be669a 100644
--- a/ftnoir_tracker_sm/ftnoir_tracker_faceapi.cpp
+++ b/ftnoir_tracker_sm/ftnoir_tracker_faceapi.cpp
@@ -92,7 +92,7 @@ void FTNoIR_Tracker::WaitForExit()
 	}

 }

 

-bool FTNoIR_Tracker::GiveHeadPoseData(THeadPoseData *data)

+bool FTNoIR_Tracker::GiveHeadPoseData(double *data)

 {

 	//

 	// Check if the pointer is OK and wait for the Mutex.

@@ -103,22 +103,22 @@ bool FTNoIR_Tracker::GiveHeadPoseData(THeadPoseData *data)
     // Copy the measurements to FaceTrackNoIR.

     //

     if (bEnableX) {

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

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

     }

     if (bEnableY) {

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

+        data[TY]     = pMemData->data.new_pose.head_pos.y * 100.0f;

     }

     if (bEnableZ) {

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

+        data[TZ]     = pMemData->data.new_pose.head_pos.z * 100.0f;

     }

     if (bEnableYaw) {

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

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

     }

     if (bEnablePitch) {

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

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

     }

     if (bEnableRoll) {

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

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

     }

 

     //

diff --git a/ftnoir_tracker_sm/ftnoir_tracker_sm.h b/ftnoir_tracker_sm/ftnoir_tracker_sm.h
index ae79436d..665507e6 100644
--- a/ftnoir_tracker_sm/ftnoir_tracker_sm.h
+++ b/ftnoir_tracker_sm/ftnoir_tracker_sm.h
@@ -45,7 +45,7 @@ public:
 

     void StartTracker( QFrame* parent_window );

     void StopTracker( bool exit );

-	bool GiveHeadPoseData(THeadPoseData *data);				// Returns true if confidence is good

+    bool GiveHeadPoseData(double *data);				// Returns true if confidence is good

     void WaitForExit();

 

 	void loadSettings();

diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp
index 4978fa8d..58316298 100644
--- a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp
+++ b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp
@@ -38,12 +38,8 @@ FTNoIR_Tracker::FTNoIR_Tracker()
 	bEnableZ = true;

 	portAddress = 5551;

 

-	newHeadPose.x = 0.0f;

-	newHeadPose.y = 0.0f;

-	newHeadPose.z = 0.0f;

-	newHeadPose.yaw   = 0.0f;

-	newHeadPose.pitch = 0.0f;

-	newHeadPose.roll  = 0.0f;

+    for (int i = 0; i < 6; i++)

+        newHeadPose[i] = 0;

 }

 

 FTNoIR_Tracker::~FTNoIR_Tracker()

@@ -111,26 +107,26 @@ void FTNoIR_Tracker::StartTracker(QFrame* videoFrame)
 	return;

 }

 

-bool FTNoIR_Tracker::GiveHeadPoseData(THeadPoseData *data)

+bool FTNoIR_Tracker::GiveHeadPoseData(double *data)

 {

     mutex.lock();

 	if (bEnableX) {

-		data->x = newHeadPose.x;

+        data[TX] = newHeadPose[TX];

 	}

 	if (bEnableX) {

-		data->y = newHeadPose.y;

+        data[TY] = newHeadPose[TY];

 	}

 	if (bEnableX) {

-		data->z = newHeadPose.z;

+        data[TZ] = newHeadPose[TZ];

 	}

     if (bEnableYaw) {

-		data->yaw = newHeadPose.yaw;

+        data[RX] = newHeadPose[RX];

 	}

     if (bEnablePitch) {

-		data->pitch = newHeadPose.pitch;

+        data[RY] = newHeadPose[RY];

 	}

     if (bEnableRoll) {

-		data->roll = newHeadPose.roll;

+        data[RZ] = newHeadPose[RZ];

 	}

     mutex.unlock();

 	return true;

diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp.h b/ftnoir_tracker_udp/ftnoir_tracker_udp.h
index d60b27a4..ccb42ac1 100644
--- a/ftnoir_tracker_udp/ftnoir_tracker_udp.h
+++ b/ftnoir_tracker_udp/ftnoir_tracker_udp.h
@@ -16,7 +16,7 @@ public:
 	~FTNoIR_Tracker();

 

     void StartTracker( QFrame *videoframe );

-	bool GiveHeadPoseData(THeadPoseData *data);

+    bool GiveHeadPoseData(double *data);

 	void loadSettings();

     volatile bool should_quit;

     void WaitForExit() {

@@ -34,7 +34,7 @@ private:
 	QHostAddress destIP;									// Destination IP-address

 	QHostAddress srcIP;										// Source IP-address

 

-	THeadPoseData newHeadPose;								// Structure with new headpose

+    double newHeadPose[6];								// Structure with new headpose

 

 	float portAddress;										// Port-number

 	bool bEnableRoll;