Added 'enable axis' parameters to the Trackers. Added 'none' to filter-listbox.

git-svn-id: svn+ssh://svn.code.sf.net/p/facetracknoir/code@203 19e81ba0-9b1a-49c3-bd6c-561e1906d5fb

1 files changed, 30 insertions, 8 deletions

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
index 13522863..412d35d4 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
@@ -109,7 +109,16 @@ void Tracker::apply(const TrackerSettings& settings)
 	sleep_time = settings.sleep_time;

 	point_tracker.dt_reset = settings.reset_time / 1000.0;

 	draw_frame = settings.video_widget;

+

+	bEnableRoll = settings.bEnableRoll;

+	bEnablePitch = settings.bEnablePitch;

+	bEnableYaw = settings.bEnableYaw;

+	bEnableX = settings.bEnableX;

+	bEnableY = settings.bEnableY;

+	bEnableZ = settings.bEnableZ;

+

 	t_MH = settings.t_MH;

+	qDebug()<<"Tracker::apply ends";

 }

 

 void Tracker::reset()

@@ -189,12 +198,19 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data)
 		Matx33f R = X_CH.R * X_CH_0.R.t(); 

 		Vec3f t   = X_CH.t - X_CH_0.t;

 

-		// get translation

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

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

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

+		// get translation(s)

+		if (bEnableX) {

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

+		}

 

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

+		if (bEnableY) {

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

+		}

+		if (bEnableZ) {

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

+		}

+

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

 		// -z -> x, y -> z, x -> -y

 		Matx33f R_RG( 0, 0,-1,

 			         -1, 0, 0,

@@ -208,9 +224,15 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data)
 		alpha = atan2( R(1,0), R(0,0));

 		gamma = atan2( R(2,1), R(2,2));		

 

-		data->yaw   =  rad2deg * alpha;

-		data->pitch = -rad2deg * beta;	// this is what ftnoir expects?

-		data->roll  =  rad2deg * gamma;

+		if (bEnableYaw) {

+			data->yaw   =  rad2deg * alpha;

+		}

+		if (bEnablePitch) {

+			data->pitch = -rad2deg * beta;	// this is what ftnoir expects?

+		}

+		if (bEnableRoll) {

+			data->roll  =  rad2deg * gamma;

+		}

 	}

 	return true;

 }