Improvements

git-svn-id: svn+ssh://svn.code.sf.net/p/facetracknoir/code@7 19e81ba0-9b1a-49c3-bd6c-561e1906d5fb

1 files changed, 38 insertions, 10 deletions

diff --git a/FaceTrackNoIR/tracker.cpp b/FaceTrackNoIR/tracker.cpp
index fc4a8d20..be428fac 100644
--- a/FaceTrackNoIR/tracker.cpp
+++ b/FaceTrackNoIR/tracker.cpp
@@ -23,6 +23,8 @@
 *********************************************************************************/

 /*

 	Modifications (last one on top):

+		20100607 - WVR: Re-installed Rotation Neutral Zone and improved reaction

+						after 'start/stop'. MessageBeep when confidence is back...

 		20100604 - WVR: Created structure for DOF-data and changed timing of

 						ReceiveHeadPose end run().

 		20100602 - WVR: Implemented EWMA-filtering, according to the example of

@@ -120,7 +122,7 @@ void Tracker::setup(QWidget *head, FaceTrackNoIR *parent) {
 	registerHeadPoseCallback();

 

 	// some parameteres [optional]

-	smHTSetHeadPosePredictionEnabled( _engine->handle(), true);

+	smHTSetHeadPosePredictionEnabled( _engine->handle(), false);

 	smHTSetLipTrackingEnabled( _engine->handle(), false);

 	smLoggingSetFileOutputEnable( false );

 

@@ -221,10 +223,31 @@ void Tracker::run() {
 					Tracker::do_tracking = !Tracker::do_tracking;

 

 					//

-					// To start tracking again and be '0', execute Center command too

+					// To start tracking again and to be at '0', execute Center command too

 					//

 					if (Tracker::do_tracking) {

 						Tracker::do_center = true;

+

+						Tracker::set_initial = false;

+						Tracker::confid = false;

+

+						Pitch.rawList.clear();

+						Pitch.prevPos = 0.0f;

+						Yaw.rawList.clear();

+						Yaw.prevPos = 0.0f;

+						Roll.rawList.clear();

+						Roll.prevPos = 0.0f;

+						X.rawList.clear();

+						X.prevPos = 0.0f;

+						Y.rawList.clear();

+						Y.prevPos = 0.0f;

+						Z.rawList.clear();

+						Z.prevPos = 0.0f;

+

+						_engine->start();

+					}

+					else {

+						_engine->stop();

 					}

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

 				}

@@ -248,6 +271,7 @@ void Tracker::run() {
 			//

 			if(Tracker::set_initial == false) {

 				Tracker::Z.initial_headPos = Tracker::getHeadPosZ();

+				MessageBeep (MB_ICONASTERISK);

 				Tracker::set_initial = true;

 			}

 

@@ -276,7 +300,7 @@ void Tracker::run() {
 		//

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

 		//

-		if (Tracker::do_center) {

+		if (Tracker::do_center && Tracker::set_initial) {

 			Pitch.offset_headPos = getSmoothFromList( &Pitch.rawList );

 			Yaw.offset_headPos = getSmoothFromList( &Yaw.rawList );

 			Roll.offset_headPos = getSmoothFromList( &Roll.rawList );

@@ -290,7 +314,7 @@ void Tracker::run() {
 			Tracker::do_center = false;

 		}

 

-		if (Tracker::do_tracking) {

+		if (Tracker::do_tracking && Tracker::confid) {

 			//

 			// Also send the Virtual Pose to FT-server and FG-server

 			//

@@ -388,28 +412,31 @@ void Tracker::receiveHeadPose(void *,smEngineHeadPoseData head_pose, smCameraVid
 		//

 		// Pitch

 		if (Tracker::useFilter) {

-			Pitch.newPos = lowPassFilter ( Tracker::Pitch.headPos, &Pitch.prevPos, dT, Tracker::Pitch.red );

+			Pitch.newPos = lowPassFilter ( getCorrectedNewRaw ( Tracker::Pitch.headPos, rotNeutralZone ), 

+				                           &Pitch.prevPos, dT, Tracker::Pitch.red );

 		}

 		else {

-			Pitch.newPos = Tracker::Pitch.headPos;

+			Pitch.newPos = getCorrectedNewRaw ( Tracker::Pitch.headPos, rotNeutralZone );

 		}

 		addRaw2List ( &Pitch.rawList, Pitch.maxItems, Pitch.newPos );

 

 		// Yaw

 		if (Tracker::useFilter) {

-			Yaw.newPos = lowPassFilter ( Tracker::Yaw.headPos, &Yaw.prevPos, dT, Tracker::Yaw.red );

+			Yaw.newPos = lowPassFilter ( getCorrectedNewRaw ( Tracker::Yaw.headPos, rotNeutralZone ), 

+										 &Yaw.prevPos, dT, Tracker::Yaw.red );

 		}

 		else {

-			Yaw.newPos = Tracker::Yaw.headPos;

+			Yaw.newPos = getCorrectedNewRaw ( Tracker::Yaw.headPos, rotNeutralZone );

 		}

 		addRaw2List ( &Yaw.rawList, Yaw.maxItems, Yaw.newPos );

 

 		// Roll

 		if (Tracker::useFilter) {

-			Roll.newPos = lowPassFilter ( Tracker::Roll.headPos, &Roll.prevPos, dT, Tracker::Roll.red );

+			Roll.newPos = lowPassFilter ( getCorrectedNewRaw (Tracker::Roll.headPos, rotNeutralZone ),

+										  &Roll.prevPos, dT, Tracker::Roll.red );

 		}

 		else {

-			Roll.newPos = Tracker::Roll.headPos;

+			Roll.newPos = getCorrectedNewRaw (Tracker::Roll.headPos, rotNeutralZone );

 		}

 		addRaw2List ( &Roll.rawList, Roll.maxItems, Roll.newPos );

 

@@ -474,6 +501,7 @@ bool Tracker::handleGameCommand ( int command ) {
 		case 1:										// reset headtracker

 			if ( _engine ) {

 				_engine->stop();

+				Tracker::set_initial = false;

 				_engine->start();

 			}

 			break;