Making Filter-DLL into plug-in

git-svn-id: svn+ssh://svn.code.sf.net/p/facetracknoir/code@97 19e81ba0-9b1a-49c3-bd6c-561e1906d5fb

1 files changed, 84 insertions, 82 deletions

diff --git a/FaceTrackNoIR/tracker.cpp b/FaceTrackNoIR/tracker.cpp
index 5f67352a..59f6680b 100644
--- a/FaceTrackNoIR/tracker.cpp
+++ b/FaceTrackNoIR/tracker.cpp
@@ -74,6 +74,11 @@ bool Tracker::setZero = true;
 bool Tracker::setEngineStop = true;

 HANDLE Tracker::hTrackMutex = 0;

 

+bool Tracker::useAxisReverse = false;						// Use Axis Reverse

+float Tracker::YawAngle4ReverseAxis = 40.0f;				// Axis Reverse settings

+float Tracker::Z_Pos4ReverseAxis = -20.0f;

+float Tracker::Z_PosWhenReverseAxis = 50.0f;

+

 

 T6DOF Tracker::current_camera(0,0,0,0,0,0);				// Used for filtering

 T6DOF Tracker::target_camera(0,0,0,0,0,0);

@@ -91,7 +96,7 @@ TShortKey Tracker::CenterKey;							// ShortKey to Center headposition
 TShortKey Tracker::StartStopKey;						// ShortKey to Start/stop tracking

 TShortKey Tracker::InhibitKey;							// ShortKey to inhibit axis while tracking

 TShortKey Tracker::GameZeroKey;							// ShortKey to Set Game Zero

-TShortKey Tracker::AxisReverseKey;						// ShortKey to start/stop axis reverse while tracking

+//TShortKey Tracker::AxisReverseKey;						// ShortKey to start/stop axis reverse while tracking

 

 ITrackerPtr Tracker::pTracker;							// Pointer to Tracker instance (in DLL)

 IProtocolPtr Tracker::pProtocol;						// Pointer to Protocol instance (in DLL)

@@ -496,28 +501,20 @@ T6DOF gameoutput_camera(0,0,0,0,0,0);
 					}

 				}

 				lastInhibitKey = isShortKeyPressed( &InhibitKey, &keystate[0] );		// Remember

-

-				//

-				// Check the state of the Axis Reverse key

-				//

-				////if ( isShortKeyPressed( &AxisReverseKey, &keystate[0] ) ) {

-				////	if ((fabs(actualYaw) > 90.0f) && (!waitAxisReverse)) {

-				////		Tracker::do_axis_reverse = !Tracker::do_axis_reverse;

-				////		waitAxisReverse = true;

-				////	}

-				////}

 		   }

 		}

 

 		//

 		// Reset the 'wait' flag. Moving above 90 with the key pressed, will (de-)activate Axis Reverse.

 		//

-		//////if (fabs(actualYaw) < 85.0f) {

-		//////	waitAxisReverse = false;

-		//////}

-				////	if  {

-//		qDebug() << "Tracker::run() says actualZ = " << actualZ;

-		Tracker::do_axis_reverse = ((fabs(actualYaw) > 90.0f) && (actualZ < -20.0f));

+		qDebug() << "Tracker::run() says actualZ = " << actualZ << ", terwijl Z_Pos4 = " << Z_Pos4ReverseAxis;

+		if (useAxisReverse) {

+			Tracker::do_axis_reverse = ((fabs(actualYaw) > YawAngle4ReverseAxis) && (actualZ < Z_Pos4ReverseAxis));

+		}

+		else {

+			Tracker::do_axis_reverse = false;

+		}

+

 

 		if (WaitForSingleObject(Tracker::hTrackMutex, 100) == WAIT_OBJECT_0) {

 

@@ -587,7 +584,7 @@ T6DOF gameoutput_camera(0,0,0,0,0,0);
 				actualYaw = output_camera.position.yaw;					// Save the actual Yaw, otherwise we can't check for +90

 				actualZ = output_camera.position.z;						// Also the Z

 				if (Tracker::do_axis_reverse) {

-					output_camera.position.z = 100;						// Max.

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

 				}

 

 				//

@@ -777,7 +774,7 @@ void Tracker::setPowCurve( int x ) {
 }

 

 //

-// Set the filter-value from the GUI.

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

 //

 void Tracker::getHeadPose( THeadPoseData *data ) {

 	data->x = Tracker::X.headPos - Tracker::X.offset_headPos;				// centimeters

@@ -790,7 +787,7 @@ void Tracker::getHeadPose( THeadPoseData *data ) {
 }

 

 //

-// Set the filter-value from the GUI.

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

 //

 void Tracker::getOutputHeadPose( THeadPoseData *data ) {

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

@@ -822,27 +819,27 @@ float sum = 0;
 //

 // Correct the Raw value, with the Neutral Zone supplied

 //

-float Tracker::getCorrectedNewRaw ( float NewRaw, float rotNeutral ) {

-

-	//

-	// Return 0, if NewRaw is within the Neutral Zone

-	//

-	if ( fabs( NewRaw ) < rotNeutral ) {

-		return 0.0f;

-	}

-

-	//

-	// NewRaw is outside the zone.

-	// Substract rotNeutral from the NewRaw

-	//

-	if ( NewRaw > 0.0f ) {

-		return (NewRaw - rotNeutral);

-	}

-	else {

-		return (NewRaw + rotNeutral);				// Makes sense?

-	}

-

-}

+//float Tracker::getCorrectedNewRaw ( float NewRaw, float rotNeutral ) {

+//

+//	//

+//	// Return 0, if NewRaw is within the Neutral Zone

+//	//

+//	if ( fabs( NewRaw ) < rotNeutral ) {

+//		return 0.0f;

+//	}

+//

+//	//

+//	// NewRaw is outside the zone.

+//	// Substract rotNeutral from the NewRaw

+//	//

+//	if ( NewRaw > 0.0f ) {

+//		return (NewRaw - rotNeutral);

+//	}

+//	else {

+//		return (NewRaw + rotNeutral);				// Makes sense?

+//	}

+//

+//}

 

 //

 // Implementation of an Exponentially Weighted Moving Average, used to serve as a low-pass filter.

@@ -851,48 +848,48 @@ float Tracker::getCorrectedNewRaw ( float NewRaw, float rotNeutral ) {
 // The function takes the new value, the delta-time (sec) and a weighing coefficient (>0 and <1)

 // All previous values are taken into account, the weight of this is determined by 'coeff'.

 //

-float Tracker::lowPassFilter ( float newvalue, float *oldvalue, float dt, float coeff) {

-float c = 0.0f;

-float fil = 0.0f;

-

-	c = dt / (coeff + dt);

-	fil = (newvalue * c) + (*oldvalue * (1 - c));

-	*oldvalue = fil;

-

-	return fil;

-}

+//float Tracker::lowPassFilter ( float newvalue, float *oldvalue, float dt, float coeff) {

+//float c = 0.0f;

+//float fil = 0.0f;

+//

+//	c = dt / (coeff + dt);

+//	fil = (newvalue * c) + (*oldvalue * (1 - c));

+//	*oldvalue = fil;

+//

+//	return fil;

+//}

 

 //

 // Implementation of a Rate Limiter, used to eliminate spikes in the raw data.

 //

 // The function takes the new value, the delta-time (sec) and the positive max. slew-rate (engineering units/sec)

 //

-float Tracker::rateLimiter ( float newvalue, float *oldvalue, float dt, float max_rate) {

-float rate = 0.0f;

-float clamped_value = 0.0f;

-

-	rate = (newvalue - *oldvalue) / dt;

-	clamped_value = newvalue;									// If all is well, the newvalue is returned

-

-	//

-	// One max-rate is used for ramp-up and ramp-down

-	// If the rate exceeds max_rate, return the maximum value that the max_rate allows

-	//

-	if (fabs(rate) > max_rate) {

-		//

-		// For ramp-down, apply a factor -1 to the max_rate

-		//

-		if (rate < 0.0f) {

-			clamped_value = (-1.0f * dt * max_rate) + *oldvalue;

-		}

-		else {

-			clamped_value = (dt * max_rate) + *oldvalue;

-		}

-	}

-	*oldvalue = clamped_value;

-

-	return clamped_value;

-}

+//float Tracker::rateLimiter ( float newvalue, float *oldvalue, float dt, float max_rate) {

+//float rate = 0.0f;

+//float clamped_value = 0.0f;

+//

+//	rate = (newvalue - *oldvalue) / dt;

+//	clamped_value = newvalue;									// If all is well, the newvalue is returned

+//

+//	//

+//	// One max-rate is used for ramp-up and ramp-down

+//	// If the rate exceeds max_rate, return the maximum value that the max_rate allows

+//	//

+//	if (fabs(rate) > max_rate) {

+//		//

+//		// For ramp-down, apply a factor -1 to the max_rate

+//		//

+//		if (rate < 0.0f) {

+//			clamped_value = (-1.0f * dt * max_rate) + *oldvalue;

+//		}

+//		else {

+//			clamped_value = (dt * max_rate) + *oldvalue;

+//		}

+//	}

+//	*oldvalue = clamped_value;

+//

+//	return clamped_value;

+//}

 

 //

 // Get the output from the curve.

@@ -1062,11 +1059,16 @@ QPointF point1, point2, point3, point4;
 	GameZeroKey.alt = iniFile.value ( "Alt_GameZero", 0 ).toBool();

 

 	// Axis Reverse key

-	AxisReverseKey.keycode = DIK_R;

-	AxisReverseKey.shift = false;

-	AxisReverseKey.ctrl = false;

-	AxisReverseKey.alt = false;

-

+	//AxisReverseKey.keycode = DIK_R;

+	//AxisReverseKey.shift = false;

+	//AxisReverseKey.ctrl = false;

+	//AxisReverseKey.alt = false;

+

+	// Reverse Axis

+	useAxisReverse = iniFile.value ( "Enable_ReverseAxis", 0 ).toBool();

+	YawAngle4ReverseAxis = iniFile.value ( "RA_Yaw", 40 ).toInt();

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

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

 

 	iniFile.endGroup ();

 }