Beta Curve configuration seems to work...

git-svn-id: svn+ssh://svn.code.sf.net/p/facetracknoir/code@22 19e81ba0-9b1a-49c3-bd6c-561e1906d5fb

1 files changed, 160 insertions, 113 deletions

diff --git a/FaceTrackNoIR/tracker.cpp b/FaceTrackNoIR/tracker.cpp
index ce928d66..82f26fc2 100644
--- a/FaceTrackNoIR/tracker.cpp
+++ b/FaceTrackNoIR/tracker.cpp
@@ -48,7 +48,6 @@ bool Tracker::do_tracking = true;
 bool Tracker::do_center = false;

 bool Tracker::useFilter = false;

 

-float Tracker::rotNeutralZone = 0.087f;					// Neutral Zone for rotations (rad)

 long Tracker::prevHeadPoseTime = 0;

 THeadPoseDOF Tracker::Pitch;							// One structure for each of 6DOF's

 THeadPoseDOF Tracker::Yaw;

@@ -231,16 +230,15 @@ void Tracker::run() {
 	bool lastBackKey = false;						// Remember state, to detect rising edge

 	bool lastEqualsKey = false;

 

+	float rawrotX, rawrotY, rawrotZ;				// Locals...

+	float rawposX, rawposY, rawposZ;

+	float rotX, rotY, rotZ;							// Locals...

+	float posX, posY, posZ;

+

 	SYSTEMTIME now;

 	long newHeadPoseTime;

 	float dT;

 

-	//QFile data("output.txt");

-	//if (data.open(QFile::WriteOnly | QFile::Truncate)) {

-	//	QTextStream out(&data);

-	//	out << "Polling results";

-	//}

-

 	//

 	// Setup the DirectInput for keyboard strokes

 	//

@@ -364,45 +362,41 @@ void Tracker::run() {
 			// to substract that later...

 			//

 			if(Tracker::set_initial == false) {

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

+				Tracker::X.initial_headPos = Tracker::X.headPos;

+				Tracker::Y.initial_headPos = Tracker::Y.headPos;

+				Tracker::Z.initial_headPos = Tracker::Z.headPos;

 				MessageBeep (MB_ICONASTERISK);

 				Tracker::set_initial = true;

 			}

 

-			headXLine->setText(QString("%1").arg(Tracker::getHeadPosX()*100, 0, 'f', 1));

-			headYLine->setText(QString("%1").arg(Tracker::getHeadPosY()*100, 0, 'f', 1));

-			headZLine->setText(QString("%1").arg(Tracker::getHeadPosZ()*100, 0, 'f', 1));

+			rawrotX = Tracker::Pitch.headPos;									// degrees

+			rawrotY = Tracker::Yaw.headPos;

+			rawrotZ = Tracker::Roll.headPos;

+			rawposX = Tracker::X.headPos;										// centimeters

+			rawposY = Tracker::Y.headPos - Tracker::Y.initial_headPos;

+			rawposZ = Tracker::Z.headPos - Tracker::Z.initial_headPos;

+

+			headRotXLine->setText(QString("%1").arg( rawrotX, 0, 'f', 1));		// show degrees

+			headRotYLine->setText(QString("%1").arg( rawrotY, 0, 'f', 1));

+			headRotZLine->setText(QString("%1").arg( rawrotZ, 0, 'f', 1));

+

+			headXLine->setText(QString("%1").arg( rawposX, 0, 'f', 1));			// show centimeters

+			headYLine->setText(QString("%1").arg( rawposY, 0, 'f', 1));

+			headZLine->setText(QString("%1").arg( rawposZ, 0, 'f', 1));

 

-			headRotXLine->setText(QString("%1").arg(Tracker::getHeadRotX()*100, 0, 'f', 1));

-			headRotYLine->setText(QString("%1").arg(Tracker::getHeadRotY()*100, 0, 'f', 1));

-			headRotZLine->setText(QString("%1").arg(Tracker::getHeadRotZ()*100, 0, 'f', 1));

-////			listener.setTrackedPosition(QPoint(Tracker::getHeadPosX()-50, Tracker::getHeadPosY()-37.5));

 

 			//

 			// Copy the Raw values directly to Free-track server

 			//

 			if (server_FT) {

-				server_FT->setHeadRotX( Tracker::Pitch.headPos );			// rads

-				server_FT->setHeadRotY( Tracker::Yaw.headPos );

-				server_FT->setHeadRotZ( Tracker::Roll.headPos);

+				//server_FT->setHeadRotX( rawrotX );								// degrees

+				//server_FT->setHeadRotY( rawrotY );

+				//server_FT->setHeadRotZ( rawrotZ );

 

-				server_FT->setHeadPosX( Tracker::X.headPos * 1000.0f);		// From m to mm

-				server_FT->setHeadPosY( Tracker::Y.headPos * 1000.0f);

-				server_FT->setHeadPosZ( ( Tracker::Z.headPos - Tracker::Z.initial_headPos ) * 1000.0f);

+				//server_FT->setHeadPosX( rawposX );								// meters

+				//server_FT->setHeadPosY( rawposY );

+				//server_FT->setHeadPosZ( rawposZ );

 			}

-

-			//

-			// Copy the Raw values directly to Fake-trackIR server

-			//

-			//if (server_FTIR) {

-			//	server_FTIR->setHeadRotX( Tracker::Pitch.headPos );			// rads

-			//	server_FTIR->setHeadRotY( Tracker::Yaw.headPos );

-			//	server_FTIR->setHeadRotZ( Tracker::Roll.headPos);

-

-			//	server_FTIR->setHeadPosX( Tracker::X.headPos * 1000.0f);		// From m to mm

-			//	server_FTIR->setHeadPosY( Tracker::Y.headPos * 1000.0f);

-			//	server_FTIR->setHeadPosZ( ( Tracker::Z.headPos - Tracker::Z.initial_headPos ) * 1000.0f);

-			//}

 		}

 

 		//

@@ -413,99 +407,147 @@ void Tracker::run() {
 			Yaw.offset_headPos = getSmoothFromList( &Yaw.rawList );

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

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

-			Y.offset_headPos = getSmoothFromList( &Y.rawList );

 

 			//

 			// Reset the initial distance to the camera

 			//

+			Y.offset_headPos = getSmoothFromList( &Y.rawList ) - Tracker::Y.initial_headPos;

 			Z.offset_headPos = getSmoothFromList( &Z.rawList ) - Tracker::Z.initial_headPos;

 			Tracker::do_center = false;

 		}

 

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

+

+//////		Use this for some debug-output to file...

+////		QFile data("output.txt");

+////		if (data.open(QFile::WriteOnly | QFile::Append)) {

+////			QTextStream out(&data);

+////				out << Pitch.NeutralZone << " " << getDegreesFromRads(rotX) << " " << getOutputFromCurve(&Pitch.curve, getDegreesFromRads(rotX), Pitch.NeutralZone, Pitch.MaxInput)  << '\n';

+//////			out << dT << " " << getSmoothFromList( &Pitch.rawList ) << " " << Pitch.offset_headPos << '\n';

+////		}

+

 			// Pitch

 			if (Tracker::useFilter) {

-				Pitch.newPos = lowPassFilter ( getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos, 

+				rotX = lowPassFilter ( getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos, 

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

 			}

 			else {

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

+				rotX = getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos;

 			}

-

-		QFile data("output.txt");

-		if (data.open(QFile::WriteOnly | QFile::Append)) {

-			QTextStream out(&data);

-			out << "Input = " << getDegreesFromRads(Pitch.newPos) << " Output = " << getOutputFromCurve(&Pitch.curve, getDegreesFromRads(Pitch.newPos))  << '\n';

-		}

+			rotX = Pitch.invert * getOutputFromCurve(&Pitch.curve, rotX, Pitch.NeutralZone, Pitch.MaxInput);

 

 			// Yaw

 			if (Tracker::useFilter) {

-				Yaw.newPos = lowPassFilter ( getSmoothFromList( &Yaw.rawList ) - Yaw.offset_headPos, 

+				rotY = lowPassFilter ( getSmoothFromList( &Yaw.rawList ) - Yaw.offset_headPos, 

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

 			}

 			else {

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

+				rotY = getSmoothFromList( &Yaw.rawList ) - Yaw.offset_headPos;

 			}

+			rotY = Yaw.invert * getOutputFromCurve(&Yaw.curve, rotY, Yaw.NeutralZone, Yaw.MaxInput);

 

 			// Roll

 			if (Tracker::useFilter) {

-				Roll.newPos = lowPassFilter ( getSmoothFromList( &Roll.rawList ) - Roll.offset_headPos, 

+				rotZ = lowPassFilter ( getSmoothFromList( &Roll.rawList ) - Roll.offset_headPos, 

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

 			}

 			else {

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

+				rotZ = getSmoothFromList( &Roll.rawList ) - Roll.offset_headPos;

+			}

+			rotZ = Roll.invert * getOutputFromCurve(&Roll.curve, rotZ, Roll.NeutralZone, Roll.MaxInput);

+

+			// X

+			if (Tracker::useFilter) {

+				posX = lowPassFilter ( getSmoothFromList( &X.rawList ) - X.offset_headPos, 

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

+			}

+			else {

+				posX = getSmoothFromList( &X.rawList ) - X.offset_headPos;

+			}

+			posX = X.invert * getOutputFromCurve(&X.curve, posX, X.NeutralZone, X.MaxInput);

+

+			// Y

+			if (Tracker::useFilter) {

+				posY = lowPassFilter ( getSmoothFromList( &Y.rawList ) - Y.offset_headPos - Y.initial_headPos, 

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

+			}

+			else {

+				posY = getSmoothFromList( &Y.rawList ) - Y.offset_headPos - Y.initial_headPos;

+			}

+			posY = Y.invert * getOutputFromCurve(&Y.curve, posY, Y.NeutralZone, Y.MaxInput);

+

+			// Z

+			if (Tracker::useFilter) {

+				posZ = lowPassFilter ( getSmoothFromList( &Z.rawList ) - Z.offset_headPos - Z.initial_headPos, 

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

+			}

+			else {

+				posZ = getSmoothFromList( &Z.rawList ) - Z.offset_headPos - Z.initial_headPos;

 			}

+			posZ = Z.invert * getOutputFromCurve(&Z.curve, posZ, Z.NeutralZone, Z.MaxInput);

+

 

 			//

 			// Also send the Virtual Pose to selected Protocol-Server

 			//

 			// Free-track

 			if (server_FT) {

-				server_FT->setVirtRotX ( Tracker::Pitch.invert * Tracker::Pitch.sens * Pitch.newPos );

-				server_FT->setVirtRotY ( Tracker::Yaw.invert   * Tracker::Yaw.sens   *  Yaw.newPos );

-				server_FT->setVirtRotZ ( Tracker::Roll.invert  * Tracker::Roll.sens  * Roll.newPos );

+				server_FT->setVirtRotX ( rotX );				// degrees

+				server_FT->setVirtRotY ( rotY );

+				server_FT->setVirtRotZ ( rotZ );

+

+				server_FT->setVirtPosX ( posX );				// centimeters

+				server_FT->setVirtPosY ( posY );

+				server_FT->setVirtPosZ ( posZ );

+

+				server_FT->setHeadRotX( rotX );					// degrees

+				server_FT->setHeadRotY( rotY );

+				server_FT->setHeadRotZ( rotZ );

+

+				server_FT->setHeadPosX( posX );					// centimeters

+				server_FT->setHeadPosY( posY );

+				server_FT->setHeadPosZ( posZ );

 

-				server_FT->setVirtPosX ( ( Tracker::X.invert   * Tracker::X.sens     * (getSmoothFromList( &X.rawList ) - X.offset_headPos) ) * 1000.0f);

-				server_FT->setVirtPosY ( ( Tracker::Y.invert   * Tracker::Y.sens     * (getSmoothFromList( &Y.rawList ) - Y.offset_headPos) ) * 1000.0f );

-				server_FT->setVirtPosZ ( ( Tracker::Z.invert   * Tracker::Z.sens     * (getSmoothFromList( &Z.rawList ) - Z.offset_headPos - Tracker::Z.initial_headPos) ) * 1000.0f );

 			}

 

 			// FlightGear

 			if (server_FG) {

-				server_FG->setVirtRotX ( getDegreesFromRads ( Tracker::Pitch.invert * Tracker::Pitch.sens * (getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos) ) );

-				server_FG->setVirtRotY ( getDegreesFromRads ( Tracker::Yaw.invert   * Tracker::Yaw.sens   * (getSmoothFromList( &Yaw.rawList )   - Yaw.offset_headPos) ) );

-				server_FG->setVirtRotZ ( getDegreesFromRads ( Tracker::Roll.invert  * Tracker::Roll.sens  * (getSmoothFromList( &Roll.rawList )  - Roll.offset_headPos) ) );

-				server_FG->setVirtPosX ( Tracker::X.invert * Tracker::X.sens * (getSmoothFromList( &X.rawList ) - X.offset_headPos) );

-				server_FG->setVirtPosY ( Tracker::Y.invert * Tracker::Y.sens * (getSmoothFromList( &Y.rawList ) - Y.offset_headPos) );

-				server_FG->setVirtPosZ ( Tracker::Z.invert * Tracker::Z.sens * (getSmoothFromList( &Z.rawList ) - Z.offset_headPos - Tracker::Z.initial_headPos) );

+				server_FG->setVirtRotX ( rotX );				// degrees

+				server_FG->setVirtRotY ( rotY );

+				server_FG->setVirtRotZ ( rotZ );

+				server_FG->setVirtPosX ( posX );				// centimeters

+				server_FG->setVirtPosY ( posY );

+				server_FG->setVirtPosZ ( posZ );

 			}

 

 			// PPJoy virtual joystick

 			if (server_PPJoy) {

-				server_PPJoy->setVirtRotX ( getDegreesFromRads (Tracker::Pitch.invert * Tracker::Pitch.sens * Pitch.newPos ) );

-				server_PPJoy->setVirtRotY ( getDegreesFromRads (Tracker::Yaw.invert   * Tracker::Yaw.sens   *  Yaw.newPos ) );

-				server_PPJoy->setVirtRotZ ( getDegreesFromRads (Tracker::Roll.invert  * Tracker::Roll.sens  * Roll.newPos ) );

+				server_PPJoy->setVirtRotX ( rotX );				// degrees

+				server_PPJoy->setVirtRotY ( rotY );

+				server_PPJoy->setVirtRotZ ( rotZ );

 

-				server_PPJoy->setVirtPosX ( ( Tracker::X.invert   * Tracker::X.sens     * (getSmoothFromList( &X.rawList ) - X.offset_headPos) ) * 100.0f);

-				server_PPJoy->setVirtPosY ( ( Tracker::Y.invert   * Tracker::Y.sens     * (getSmoothFromList( &Y.rawList ) - Y.offset_headPos) ) * 100.0f );

-				server_PPJoy->setVirtPosZ ( ( Tracker::Z.invert   * Tracker::Z.sens     * (getSmoothFromList( &Z.rawList ) - Z.offset_headPos - Tracker::Z.initial_headPos) ) * 100.0f );

+				server_PPJoy->setVirtPosX ( posX );				// centimeters

+				server_PPJoy->setVirtPosY ( posY );

+				server_PPJoy->setVirtPosZ ( posZ );

 			}

 

 			// Fake-trackIR

 			if (server_FTIR) {

 

-				float rotX = getDegreesFromRads ( Tracker::Pitch.invert * Tracker::Pitch.sens * Pitch.newPos );

-				float rotY = getDegreesFromRads ( Tracker::Yaw.invert   * Tracker::Yaw.sens   *  Yaw.newPos );

-				float rotZ = getDegreesFromRads ( Tracker::Roll.invert  * Tracker::Roll.sens  * Roll.newPos );

-//				qDebug() << "Tracker::run() says: virtRotX =" << rotX << " virtRotY =" << rotY;

+				// For some reason (not yet understood) the values only came through after being copied to locals...

+				// Trying again?!

+				//float rotX = getDegreesFromRads ( Tracker::Pitch.invert * Tracker::Pitch.sens * rotX );

+				//float rotY = getDegreesFromRads ( Tracker::Yaw.invert   * Tracker::Yaw.sens   *  rotY );

+				//float rotZ = getDegreesFromRads ( Tracker::Roll.invert  * Tracker::Roll.sens  * rotZ );

+				qDebug() << "Tracker::run() says: virtRotX =" << rotX << " virtRotY =" << rotY;

 

-				server_FTIR->setVirtRotX ( rotX );

+				server_FTIR->setVirtRotX ( rotX );				// degrees

 				server_FTIR->setVirtRotY ( rotY );

 				server_FTIR->setVirtRotZ ( rotZ );

 

-				server_FTIR->setVirtPosX ( ( Tracker::X.invert * Tracker::X.sens * (getSmoothFromList( &X.rawList ) - X.offset_headPos) ) * 1000.0f);

-				server_FTIR->setVirtPosY ( ( Tracker::Y.invert * Tracker::Y.sens * (getSmoothFromList( &Y.rawList ) - Y.offset_headPos) ) * 1000.0f );

-				server_FTIR->setVirtPosZ ( ( Tracker::Z.invert * Tracker::Z.sens * (getSmoothFromList( &Z.rawList ) - Z.offset_headPos - Tracker::Z.initial_headPos) ) * 1000.0f );

+				server_FTIR->setVirtPosX ( posX );				// centimeters

+				server_FTIR->setVirtPosY ( posY );

+				server_FTIR->setVirtPosZ ( posZ );

 			}

 

 		}

@@ -568,52 +610,34 @@ void Tracker::receiveHeadPose(void *,smEngineHeadPoseData head_pose, smCameraVid
 {

 	//

 	// Perform actions, when valid data is received from faceAPI.

+	// Write the Raw headpose-data and add it to the RawList, for processing...

 	//

 	if( head_pose.confidence > 0 ) {

 		Tracker::confid = true;

-		Tracker::setHeadPosX(head_pose.head_pos.x);

-		Tracker::setHeadPosY(head_pose.head_pos.y);

-		Tracker::setHeadPosZ(head_pose.head_pos.z);	

-

-		Tracker::setHeadRotX(head_pose.head_rot.x_rads);

-		Tracker::setHeadRotY(head_pose.head_rot.y_rads);

-		Tracker::setHeadRotZ(head_pose.head_rot.z_rads);	

 

 		// Pitch

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

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

+		Tracker::Pitch.headPos = head_pose.head_rot.x_rads * 57.295781f;			// degrees

+		addRaw2List ( &Pitch.rawList, Pitch.maxItems, Tracker::Pitch.headPos );

 

 		// Yaw

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

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

+		Tracker::Yaw.headPos = head_pose.head_rot.y_rads * 57.295781f;				// degrees

+		addRaw2List ( &Yaw.rawList, Yaw.maxItems, Tracker::Yaw.headPos );

 

 		// Roll

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

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

-

-		//

-		// Log something

-		//

-		//rate = rateLimiter ( Tracker::Pitch.headPos, &Tracker::Pitch.prevRawPos, dT, 1.0f );

-		//QFile data("output.txt");

-		//if (data.open(QFile::WriteOnly | QFile::Append)) {

-		//	QTextStream out(&data);

-		//	out << "Limited Raw= " << rate << " dT= " << dT << " Raw= " << Tracker::Pitch.headPos << " Filtered= " << Pitch.newPos << '\n';

-		//}

-

-

+		Tracker::Roll.headPos = head_pose.head_rot.z_rads * 57.295781f;				// degrees

+		addRaw2List ( &Roll.rawList, Roll.maxItems, Tracker::Roll.headPos );

 

 		// X-position

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

-		addRaw2List ( &X.rawList, X.maxItems, X.newPos );

+		Tracker::X.headPos = head_pose.head_pos.x * 100.0f;							// centimeters

+		addRaw2List ( &X.rawList, X.maxItems, Tracker::X.headPos );

 

 		// Y-position

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

-		addRaw2List ( &Y.rawList, Y.maxItems, Y.newPos );

+		Tracker::Y.headPos = head_pose.head_pos.y * 100.0f;							// centimeters

+		addRaw2List ( &Y.rawList, Y.maxItems, Tracker::Y.headPos );

 

 		// Z-position (distance to camera, absolute!)

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

-		addRaw2List ( &Z.rawList, Z.maxItems, Z.newPos );

+		Tracker::Z.headPos = head_pose.head_pos.z * 100.0f;							// centimeters

+		addRaw2List ( &Z.rawList, Z.maxItems, Tracker::Z.headPos );

 

 	} else {

 		Tracker::confid = false;

@@ -773,8 +797,25 @@ float clamped_value = 0.0f;
 //

 // Get the output from the curve.

 //

-float Tracker::getOutputFromCurve ( QPainterPath *curve, float input ) {

-	return curve->pointAtPercent(input/100.0f).x();

+float Tracker::getOutputFromCurve ( QPainterPath *curve, float input, float neutralzone, float maxinput ) {

+float sign;

+

+	sign = 1.0f;

+	if (input < 0.0f) {

+		sign = -1.0f;

+	}

+

+	//

+	// Always return 0 inside the NeutralZone

+	// Always return max. when input larger than expected

+	//

+	if (fabs(input) < neutralzone) return 0.0f;

+	if (fabs(input) > maxinput) return sign * curve->pointAtPercent(1.0).x();

+

+	//

+	// Return the value, derived from the Bezier-curve

+	//

+	return sign * curve->pointAtPercent((fabs(input) - neutralzone)/maxinput).x();

 }

 

 //

@@ -813,32 +854,38 @@ QPointF point1, point2, point3, point4;
 	iniFile.beginGroup ( "Curves" );

 	getCurvePoints( &iniFile, "Yaw_", &point1, &point2, &point3, &point4, NeutralZone, sensYaw, 50, 180 );

 	Yaw.curve.moveTo( QPointF(0,0) );

-	Yaw.curve.lineTo(point1);

+	Yaw.NeutralZone = point1.y();							// Get the Neutral Zone

+	Yaw.MaxInput = point4.y();								// Get Maximum Input

     Yaw.curve.cubicTo(point2, point3, point4);

 

 	getCurvePoints( &iniFile, "Pitch_", &point1, &point2, &point3, &point4, NeutralZone, sensPitch, 50, 180 );

 	Pitch.curve.moveTo( QPointF(0,0) );

-	Pitch.curve.lineTo(point1);

-    Pitch.curve.cubicTo(point2, point3, point4);

+	Pitch.NeutralZone = point1.y();							// Get the Neutral Zone

+	Pitch.MaxInput = point4.y();							// Get Maximum Input

+	Pitch.curve.cubicTo(point2, point3, point4);

 

 	getCurvePoints( &iniFile, "Roll_", &point1, &point2, &point3, &point4, NeutralZone, sensRoll, 50, 180 );

 	Roll.curve.moveTo( QPointF(0,0) );

-	Roll.curve.lineTo(point1);

+	Roll.NeutralZone = point1.y();							// Get the Neutral Zone

+	Roll.MaxInput = point4.y();								// Get Maximum Input

     Roll.curve.cubicTo(point2, point3, point4);

 

 	getCurvePoints( &iniFile, "X_", &point1, &point2, &point3, &point4, NeutralZone, sensX, 50, 180 );

 	X.curve.moveTo( QPointF(0,0) );

-	X.curve.lineTo(point1);

+	X.NeutralZone = point1.y();								// Get the Neutral Zone

+	X.MaxInput = point4.y();								// Get Maximum Input

     X.curve.cubicTo(point2, point3, point4);

 

 	getCurvePoints( &iniFile, "Y_", &point1, &point2, &point3, &point4, NeutralZone, sensY, 50, 180 );

 	Y.curve.moveTo( QPointF(0,0) );

-	Y.curve.lineTo(point1);

+	Y.NeutralZone = point1.y();								// Get the Neutral Zone

+	Y.MaxInput = point4.y();								// Get Maximum Input

     Y.curve.cubicTo(point2, point3, point4);

 

 	getCurvePoints( &iniFile, "Z_", &point1, &point2, &point3, &point4, NeutralZone, sensZ, 50, 180 );

 	Z.curve.moveTo( QPointF(0,0) );

-	Z.curve.lineTo(point1);

+	Z.NeutralZone = point1.y();								// Get the Neutral Zone

+	Z.MaxInput = point4.y();								// Get Maximum Input

     Z.curve.cubicTo(point2, point3, point4);

 

 	iniFile.endGroup ();