Added the display for the output-pose, with the 'man in black'.

git-svn-id: svn+ssh://svn.code.sf.net/p/facetracknoir/code@59 19e81ba0-9b1a-49c3-bd6c-561e1906d5fb

6 files changed, 434 insertions, 114 deletions

diff --git a/FaceTrackNoIR/FaceTrackNoIR.cpp b/FaceTrackNoIR/FaceTrackNoIR.cpp
index 029ed5b7..51acf6ec 100644
--- a/FaceTrackNoIR/FaceTrackNoIR.cpp
+++ b/FaceTrackNoIR/FaceTrackNoIR.cpp
@@ -23,6 +23,7 @@
 *********************************************************************************/

 /*

 	Modifications (last one on top):

+		20110328 - WVR: Added the display for output-pose.

 		20110207 - WVR: RadioButtons for 'Stop engine' added. It is now possible to choose Stop or Keep tracking.

 		20110109 - WVR: Added minimizeTaskBar option added. It is now possible to choose minimized or tray.

 */

@@ -34,6 +35,7 @@
 #include "FGServer.h"

 #include "FTNServer.h"

 

+

 //

 // Setup the Main Dialog

 //

@@ -67,6 +69,14 @@ QMainWindow(parent, flags)
 		startTracker();

 		showMinimized();

 	}

+

+    Q_INIT_RESOURCE(PoseWidget);

+	_pose_display = new GLWidget(ui.widget4logo, 0);

+    _pose_display->rotateBy(0, 0, 0);

+

+	ui.lcdNumOutputRotX->setVisible(false);

+	ui.lcdNumOutputRotY->setVisible(false);

+	ui.lcdNumOutputRotZ->setVisible(false);

 }

 

 /** sets up all objects and connections to buttons */

@@ -148,7 +158,6 @@ void FaceTrackNoIR::setupFaceTrackNoIR() {
 	//Setup the timer for showing the headpose.

 	timUpdateHeadPose = new QTimer(this);

     connect(timUpdateHeadPose, SIGNAL(timeout()), this, SLOT(showHeadPose()));

-	timUpdateHeadPose->start(10);

 }

 

 /** destructor stops the engine and quits the faceapi **/

@@ -180,7 +189,6 @@ FaceTrackNoIR::~FaceTrackNoIR() {
 			break;

 		}

 	}

-

 }

 

 //

@@ -562,16 +570,31 @@ void FaceTrackNoIR::startTracker( ) {
 		timMinimizeFTN->setSingleShot( true );

 		timMinimizeFTN->start(timevalue);

 	}

+

+	//

+	// Start the timer to update the head-pose (digits and 'man in black')

+	//

+	timUpdateHeadPose->start(10);

+	ui.lcdNumOutputRotX->setVisible(true);

+	ui.lcdNumOutputRotY->setVisible(true);

+	ui.lcdNumOutputRotZ->setVisible(true);

 }

 

 /** stop tracking the face **/

 void FaceTrackNoIR::stopTracker( ) {	

 

 	//

-	// Delete the video-display.

+	// Stop displaying the head-pose.

 	//

-//	ui.video_frame->hide();

+	timUpdateHeadPose->stop();

+    _pose_display->rotateBy(0, 0, 0);

+	ui.lcdNumOutputRotX->setVisible(false);

+	ui.lcdNumOutputRotY->setVisible(false);

+	ui.lcdNumOutputRotZ->setVisible(false);

 

+	//

+	// Delete the tracker (after stopping things and all).

+	//

 	if ( tracker ) {

 		qDebug() << "stopTracker says: Deleting tracker!";

 		delete tracker;

@@ -651,6 +674,10 @@ void FaceTrackNoIR::setUseFilter( int set ) {
 void FaceTrackNoIR::showHeadPose() {

 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((double) (((int)(newdata.x * 10.0f))/10.0f));

 	ui.lcdNumY->display((double) (((int)(newdata.y * 10.0f))/10.0f));

@@ -659,6 +686,18 @@ THeadPoseData newdata;
 	ui.lcdNumRotX->display((double) (((int)(newdata.yaw * 10.0f))/10.0f));

 	ui.lcdNumRotY->display((double) (((int)(newdata.pitch * 10.0f))/10.0f));

 	ui.lcdNumRotZ->display((double) (((int)(newdata.roll * 10.0f))/10.0f));

+

+	//

+	// Get the output-pose and also display it.

+	//

+	if (_pose_display) {

+		Tracker::getOutputHeadPose(&newdata);

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

+

+		ui.lcdNumOutputRotX->display((double) (((int)(newdata.yaw * 10.0f))/10.0f));

+		ui.lcdNumOutputRotY->display((double) (((int)(newdata.pitch * 10.0f))/10.0f));

+		ui.lcdNumOutputRotZ->display((double) (((int)(newdata.roll * 10.0f))/10.0f));

+	}

 }

 

 /** set the redhold from the slider **/

diff --git a/FaceTrackNoIR/FaceTrackNoIR.h b/FaceTrackNoIR/FaceTrackNoIR.h
index 7f73b5af..68c9a744 100644
--- a/FaceTrackNoIR/FaceTrackNoIR.h
+++ b/FaceTrackNoIR/FaceTrackNoIR.h
@@ -35,6 +35,8 @@
 #include <QDialog>

 #include <QUrl>

 

+#include "../FTNoIR_PoseWidget/glwidget.h"

+

 #include "ui_FaceTrackNoIR.h"

 #include "ui_FTNoIR_KeyboardShortcuts.h"

 #include "ui_FTNoIR_Preferences.h"

@@ -83,14 +85,14 @@ private:
 

 	ITrackerDialogPtr pTrackerDialog;			// Pointer to Tracker dialog instance (in DLL)

 

-	/** face api variables **/

-//	VideoDisplayWidget *_display;

+	/** Widget variables **/

 	QVBoxLayout *l;

 	QWidget *_engine_controls;

 	QWidget *_server_controls;

 	QWidget *_preferences;

 	QWidget *_keyboard_shortcuts;

 	QWidget *_curve_config;

+	GLWidget *_pose_display;

 

 	/** QT objects **/

 	QDialog aboutDialog;	

diff --git a/FaceTrackNoIR/FaceTrackNoIR.ui b/FaceTrackNoIR/FaceTrackNoIR.ui
index dd307544..48d231ac 100644
--- a/FaceTrackNoIR/FaceTrackNoIR.ui
+++ b/FaceTrackNoIR/FaceTrackNoIR.ui
@@ -11,7 +11,7 @@
     <x>0</x>

     <y>0</y>

     <width>925</width>

-    <height>398</height>

+    <height>396</height>

    </rect>

   </property>

   <property name="sizePolicy">

@@ -238,45 +238,89 @@ Support FaceTrackNoIR!</string>
               </size>

              </property>

             </widget>

-            <widget class="QFrame" name="logoInstitute">

+            <widget class="QLCDNumber" name="lcdNumOutputRotX">

              <property name="geometry">

               <rect>

-               <x>0</x>

-               <y>0</y>

-               <width>90</width>

-               <height>90</height>

+               <x>100</x>

+               <y>60</y>

+               <width>41</width>

+               <height>21</height>

               </rect>

              </property>

-             <property name="sizePolicy">

-              <sizepolicy hsizetype="Fixed" vsizetype="Fixed">

-               <horstretch>0</horstretch>

-               <verstretch>0</verstretch>

-              </sizepolicy>

+             <property name="autoFillBackground">

+              <bool>false</bool>

              </property>

-             <property name="minimumSize">

-              <size>

-               <width>90</width>

-               <height>90</height>

-              </size>

+             <property name="styleSheet">

+              <string notr="true">color: rgb(0, 255, 0);</string>

              </property>

-             <property name="maximumSize">

-              <size>

-               <width>16777215</width>

-               <height>90</height>

-              </size>

+             <property name="frameShape">

+              <enum>QFrame::NoFrame</enum>

+             </property>

+             <property name="frameShadow">

+              <enum>QFrame::Raised</enum>

+             </property>

+             <property name="numDigits">

+              <number>3</number>

+             </property>

+             <property name="segmentStyle">

+              <enum>QLCDNumber::Flat</enum>

+             </property>

+            </widget>

+            <widget class="QLCDNumber" name="lcdNumOutputRotY">

+             <property name="geometry">

+              <rect>

+               <x>150</x>

+               <y>60</y>

+               <width>41</width>

+               <height>21</height>

+              </rect>

+             </property>

+             <property name="autoFillBackground">

+              <bool>false</bool>

              </property>

              <property name="styleSheet">

-              <string notr="true">QFrame#logoInstitute {

-	background:#595959 url(UIElements/logoFaceTrackNoIR.png) no-repeat;

-border:none;

-}</string>

+              <string notr="true">color: rgb(0, 255, 0);</string>

              </property>

              <property name="frameShape">

-              <enum>QFrame::StyledPanel</enum>

+              <enum>QFrame::NoFrame</enum>

              </property>

              <property name="frameShadow">

               <enum>QFrame::Raised</enum>

              </property>

+             <property name="numDigits">

+              <number>3</number>

+             </property>

+             <property name="segmentStyle">

+              <enum>QLCDNumber::Flat</enum>

+             </property>

+            </widget>

+            <widget class="QLCDNumber" name="lcdNumOutputRotZ">

+             <property name="geometry">

+              <rect>

+               <x>200</x>

+               <y>60</y>

+               <width>41</width>

+               <height>21</height>

+              </rect>

+             </property>

+             <property name="autoFillBackground">

+              <bool>false</bool>

+             </property>

+             <property name="styleSheet">

+              <string notr="true">color: rgb(0, 255, 0);</string>

+             </property>

+             <property name="frameShape">

+              <enum>QFrame::NoFrame</enum>

+             </property>

+             <property name="frameShadow">

+              <enum>QFrame::Raised</enum>

+             </property>

+             <property name="numDigits">

+              <number>3</number>

+             </property>

+             <property name="segmentStyle">

+              <enum>QLCDNumber::Flat</enum>

+             </property>

             </widget>

            </widget>

           </item>

@@ -1019,7 +1063,7 @@ color:white;</string>
              </item>

             </layout>

            </item>

-           <item row="3" column="0">

+           <item row="4" column="0">

             <widget class="QWidget" name="bubbleBigWidget" native="true">

              <property name="minimumSize">

               <size>

diff --git a/FaceTrackNoIR/FaceTrackNoIR.vcproj b/FaceTrackNoIR/FaceTrackNoIR.vcproj
index 10245e4b..10d2f8c7 100644
--- a/FaceTrackNoIR/FaceTrackNoIR.vcproj
+++ b/FaceTrackNoIR/FaceTrackNoIR.vcproj
@@ -70,7 +70,7 @@
 			/>

 			<Tool

 				Name="VCLinkerTool"

-				AdditionalDependencies="QtMain.lib QtCore4.lib QtGui4.lib QtNetwork4.lib Strmiids.lib Ws2_32.lib QBezierConfigurator.lib FSUIPC_User.lib"

+				AdditionalDependencies="opengl32.lib QtMain.lib QtCore4.lib QtGui4.lib QtOpenGL4.lib QtNetwork4.lib Strmiids.lib Ws2_32.lib QBezierConfigurator.lib FSUIPC_User.lib"

 				OutputFile="$(OutDir)\$(ProjectName).exe"

 				AdditionalLibraryDirectories=""

 				GenerateManifest="true"

@@ -151,7 +151,7 @@
 			/>

 			<Tool

 				Name="VCLinkerTool"

-				AdditionalDependencies="qtmaind.lib QtCored4.lib QtGuid4.lib QtNetworkd4.lib Strmiids.lib QBezierConfigurator.lib FSUIPC_User.lib"

+				AdditionalDependencies="qtmaind.lib QtCored4.lib QtGuid4.lib QtOpenGL4.lib QtNetworkd4.lib Strmiids.lib QBezierConfigurator.lib FSUIPC_User.lib"

 				OutputFile="$(OutDir)\$(ProjectName).exe"

 				AdditionalLibraryDirectories="$(QTDIR)\lib"

 				IgnoreAllDefaultLibraries="false"

@@ -232,6 +232,10 @@
 				>

 			</File>

 			<File

+				RelativePath="..\FTNoIR_PoseWidget\glwidget.cpp"

+				>

+			</File>

+			<File

 				RelativePath=".\main.cpp"

 				>

 			</File>

@@ -500,6 +504,32 @@
 				>

 			</File>

 			<File

+				RelativePath="..\FTNoIR_PoseWidget\glwidget.h"

+				>

+				<FileConfiguration

+					Name="Release|Win32"

+					>

+					<Tool

+						Name="VCCustomBuildTool"

+						Description="Moc&apos;ing $(InputFileName)..."

+						CommandLine="&quot;$(QTDIR)\bin\moc.exe&quot;  &quot;$(InputPath)&quot; -o &quot;.\GeneratedFiles\$(ConfigurationName)\moc_$(InputName).cpp&quot; -DQT_CORE_LIB -DQT_DLL -DQT_GUI_LIB -DQT_LARGEFILE_SUPPORT -DQT_NETWORK_LIB -DQT_NO_DEBUG -DQT_OPENGL_LIB -DQT_THREAD_SUPPORT -DUNICODE -DWIN32 -I&quot;$(QTDIR)\include\.&quot; -I&quot;$(QTDIR)\include\QtCore\.&quot; -I&quot;$(QTDIR)\include\QtGui\.&quot; -I&quot;$(QTDIR)\include\QtNetwork\.&quot; -I&quot;$(QTDIR)\include\QtOpenGL\.&quot; -I&quot;$(QTDIR)\include\QtTest\.&quot; -I&quot;$(QTDIR)\include\QtWebKit\.&quot; -I&quot;$(SolutionDir)\FTNoIR_Filter_EWMA2\.&quot; -I&quot;$(SolutionDir)\FTNoIR_Tracker_UDP\.&quot; -I&quot;$(SolutionDir)\FTNoIR_Tracker_UDP\GeneratedFiles\.&quot; -I&quot;.\GeneratedFiles\$(ConfigurationName)\.&quot; -I&quot;.\GeneratedFiles\.&quot;&#x0D;&#x0A;"

+						AdditionalDependencies="&quot;$(QTDIR)\bin\moc.exe&quot;;$(InputPath)"

+						Outputs="&quot;.\GeneratedFiles\$(ConfigurationName)\moc_$(InputName).cpp&quot;"

+					/>

+				</FileConfiguration>

+				<FileConfiguration

+					Name="Debug|Win32"

+					>

+					<Tool

+						Name="VCCustomBuildTool"

+						Description="Moc&apos;ing $(InputFileName)..."

+						CommandLine="&quot;$(QTDIR)\bin\moc.exe&quot;  &quot;$(InputPath)&quot; -o &quot;.\GeneratedFiles\$(ConfigurationName)\moc_$(InputName).cpp&quot; -DQT_CORE_LIB -DQT_DLL -DQT_GUI_LIB -DQT_LARGEFILE_SUPPORT -DQT_OPENGL_LIB -DQT_THREAD_SUPPORT -DUNICODE -DWIN32 -I&quot;$(QTDIR)\include\.&quot; -I&quot;$(QTDIR)\include\QtCore\.&quot; -I&quot;$(QTDIR)\include\QtGui\.&quot; -I&quot;$(QTDIR)\include\QtNetwork\.&quot; -I&quot;$(QTDIR)\include\QtOpenGL\.&quot; -I&quot;$(QTDIR)\include\QtTest\.&quot; -I&quot;$(QTDIR)\include\QtWebKit\.&quot; -I&quot;.\.&quot; -I&quot;.\GeneratedFiles\$(ConfigurationName)\.&quot; -I&quot;.\GeneratedFiles\.&quot;&#x0D;&#x0A;"

+						AdditionalDependencies="&quot;$(QTDIR)\bin\moc.exe&quot;;$(InputPath)"

+						Outputs="&quot;.\GeneratedFiles\$(ConfigurationName)\moc_$(InputName).cpp&quot;"

+					/>

+				</FileConfiguration>

+			</File>

+			<File

 				RelativePath=".\PPJIoctl.h"

 				>

 			</File>

@@ -873,6 +903,26 @@
 				</FileConfiguration>

 			</File>

 			<File

+				RelativePath=".\GeneratedFiles\qrc_PoseWidget.cpp"

+				>

+				<FileConfiguration

+					Name="Release|Win32"

+					>

+					<Tool

+						Name="VCCLCompilerTool"

+						UsePrecompiledHeader="0"

+					/>

+				</FileConfiguration>

+				<FileConfiguration

+					Name="Debug|Win32"

+					>

+					<Tool

+						Name="VCCLCompilerTool"

+						UsePrecompiledHeader="0"

+					/>

+				</FileConfiguration>

+			</File>

+			<File

 				RelativePath=".\GeneratedFiles\ui_FaceTrackNoIR.h"

 				>

 			</File>

@@ -1022,6 +1072,18 @@
 					</FileConfiguration>

 				</File>

 				<File

+					RelativePath=".\GeneratedFiles\Release\moc_glwidget.cpp"

+					>

+					<FileConfiguration

+						Name="Debug|Win32"

+						ExcludedFromBuild="true"

+						>

+						<Tool

+							Name="VCCLCompilerTool"

+						/>

+					</FileConfiguration>

+				</File>

+				<File

 					RelativePath=".\GeneratedFiles\Release\moc_PPJoyServer.cpp"

 					>

 					<FileConfiguration

@@ -1205,6 +1267,29 @@
 					</FileConfiguration>

 				</File>

 				<File

+					RelativePath=".\GeneratedFiles\Debug\moc_glwidget.cpp"

+					>

+					<FileConfiguration

+						Name="Release|Win32"

+						ExcludedFromBuild="true"

+						>

+						<Tool

+							Name="VCCLCompilerTool"

+							ObjectFile="$(IntDir)\$(InputName)1.obj"

+							XMLDocumentationFileName="$(IntDir)\$(InputName)1.xdc"

+						/>

+					</FileConfiguration>

+					<FileConfiguration

+						Name="Debug|Win32"

+						>

+						<Tool

+							Name="VCCLCompilerTool"

+							ObjectFile="$(IntDir)\$(InputName)1.obj"

+							XMLDocumentationFileName="$(IntDir)\$(InputName)1.xdc"

+						/>

+					</FileConfiguration>

+				</File>

+				<File

 					RelativePath=".\GeneratedFiles\Debug\moc_PPJoyServer.cpp"

 					>

 					<FileConfiguration

@@ -1302,9 +1387,155 @@
 				>

 			</File>

 			<File

+				RelativePath="..\FTNoIR_PoseWidget\PoseWidget.qrc"

+				>

+				<FileConfiguration

+					Name="Release|Win32"

+					>

+					<Tool

+						Name="VCCustomBuildTool"

+						Description="Rcc&apos;ing $(InputFileName)..."

+						CommandLine="&quot;$(QTDIR)\bin\rcc.exe&quot; -name &quot;$(InputName)&quot; -no-compress &quot;$(InputPath)&quot; -o .\GeneratedFiles\qrc_$(InputName).cpp&#x0D;&#x0A;"

+						AdditionalDependencies="$(InputPath);..\FTNoIR_PoseWidget\images\side1.png;..\FTNoIR_PoseWidget\images\side2.png;..\FTNoIR_PoseWidget\images\side3.png;..\FTNoIR_PoseWidget\images\side4.png;..\FTNoIR_PoseWidget\images\side5.png;..\FTNoIR_PoseWidget\images\side6.png"

+						Outputs=".\GeneratedFiles\qrc_$(InputName).cpp"

+					/>

+				</FileConfiguration>

+				<FileConfiguration

+					Name="Debug|Win32"

+					>

+					<Tool

+						Name="VCCustomBuildTool"

+						Description="Rcc&apos;ing $(InputFileName)..."

+						CommandLine="&quot;$(QTDIR)\bin\rcc.exe&quot; -name &quot;$(InputName)&quot; -no-compress &quot;$(InputPath)&quot; -o .\GeneratedFiles\qrc_$(InputName).cpp&#x0D;&#x0A;"

+						AdditionalDependencies="$(InputPath);..\FTNoIR_PoseWidget\images\side1.png;..\FTNoIR_PoseWidget\images\side2.png;..\FTNoIR_PoseWidget\images\side3.png;..\FTNoIR_PoseWidget\images\side4.png;..\FTNoIR_PoseWidget\images\side5.png;..\FTNoIR_PoseWidget\images\side6.png"

+						Outputs=".\GeneratedFiles\qrc_$(InputName).cpp"

+					/>

+				</FileConfiguration>

+			</File>

+			<File

 				RelativePath=".\images\SeeingMachines.ico"

 				>

 			</File>

+			<File

+				RelativePath="..\FTNoIR_PoseWidget\images\side1.png"

+				>

+				<FileConfiguration

+					Name="Release|Win32"

+					ExcludedFromBuild="true"

+					>

+					<Tool

+						Name="VCCustomBuildTool"

+					/>

+				</FileConfiguration>

+				<FileConfiguration

+					Name="Debug|Win32"

+					ExcludedFromBuild="true"

+					>

+					<Tool

+						Name="VCCustomBuildTool"

+					/>

+				</FileConfiguration>

+			</File>

+			<File

+				RelativePath="..\FTNoIR_PoseWidget\images\side2.png"

+				>

+				<FileConfiguration

+					Name="Release|Win32"

+					ExcludedFromBuild="true"

+					>

+					<Tool

+						Name="VCCustomBuildTool"

+					/>

+				</FileConfiguration>

+				<FileConfiguration

+					Name="Debug|Win32"

+					ExcludedFromBuild="true"

+					>

+					<Tool

+						Name="VCCustomBuildTool"

+					/>

+				</FileConfiguration>

+			</File>

+			<File

+				RelativePath="..\FTNoIR_PoseWidget\images\side3.png"

+				>

+				<FileConfiguration

+					Name="Release|Win32"

+					ExcludedFromBuild="true"

+					>

+					<Tool

+						Name="VCCustomBuildTool"

+					/>

+				</FileConfiguration>

+				<FileConfiguration

+					Name="Debug|Win32"

+					ExcludedFromBuild="true"

+					>

+					<Tool

+						Name="VCCustomBuildTool"

+					/>

+				</FileConfiguration>

+			</File>

+			<File

+				RelativePath="..\FTNoIR_PoseWidget\images\side4.png"

+				>

+				<FileConfiguration

+					Name="Release|Win32"

+					ExcludedFromBuild="true"

+					>

+					<Tool

+						Name="VCCustomBuildTool"

+					/>

+				</FileConfiguration>

+				<FileConfiguration

+					Name="Debug|Win32"

+					ExcludedFromBuild="true"

+					>

+					<Tool

+						Name="VCCustomBuildTool"

+					/>

+				</FileConfiguration>

+			</File>

+			<File

+				RelativePath="..\FTNoIR_PoseWidget\images\side5.png"

+				>

+				<FileConfiguration

+					Name="Release|Win32"

+					ExcludedFromBuild="true"

+					>

+					<Tool

+						Name="VCCustomBuildTool"

+					/>

+				</FileConfiguration>

+				<FileConfiguration

+					Name="Debug|Win32"

+					ExcludedFromBuild="true"

+					>

+					<Tool

+						Name="VCCustomBuildTool"

+					/>

+				</FileConfiguration>

+			</File>

+			<File

+				RelativePath="..\FTNoIR_PoseWidget\images\side6.png"

+				>

+				<FileConfiguration

+					Name="Release|Win32"

+					ExcludedFromBuild="true"

+					>

+					<Tool

+						Name="VCCustomBuildTool"

+					/>

+				</FileConfiguration>

+				<FileConfiguration

+					Name="Debug|Win32"

+					ExcludedFromBuild="true"

+					>

+					<Tool

+						Name="VCCustomBuildTool"

+					/>

+				</FileConfiguration>

+			</File>

 		</Filter>

 		<File

 			RelativePath=".\FaceTrackNoIR.rc"

diff --git a/FaceTrackNoIR/tracker.cpp b/FaceTrackNoIR/tracker.cpp
index 01739389..38c72437 100644
--- a/FaceTrackNoIR/tracker.cpp
+++ b/FaceTrackNoIR/tracker.cpp
@@ -23,6 +23,8 @@
 *********************************************************************************/

 /*

 	Modifications (last one on top):

+		20110328 - WVR: Changed the camera-structs into class-instances. This makes initialisation

+						easier and hopefully solves the remaining 'start-up problem'.

 		20110313 - WVR: Removed 'set_initial'. Less is more.

 		20110109 - WVR: Added setZero option to define behaviour after STOP tracking via shortkey.

 		20110104 - WVR: Removed a few nasty bugs (it was impossible to stop tracker without crash).

@@ -66,6 +68,12 @@ bool Tracker::setZero = true;
 bool Tracker::setEngineStop = true;

 HANDLE Tracker::hTrackMutex = 0;

 

+

+T6DOF Tracker::current_camera;							// Used for filtering

+T6DOF Tracker::target_camera;

+T6DOF Tracker::new_camera;

+T6DOF Tracker::output_camera;							// Position sent to game protocol

+

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

 THeadPoseDOF Tracker::Yaw;

 THeadPoseDOF Tracker::Roll;

@@ -309,32 +317,12 @@ void Tracker::run() {
 	bool lastStartStopKey = false;

 	bool lastInhibitKey = false;

 

-	THeadPoseData current_camera_position;			// Used for filtering

-	THeadPoseData target_camera_position;

-	THeadPoseData new_camera_position;

-

 	Tracker::do_center = true;						// Center initially

 

-	current_camera_position.x = 0.0f;

-	current_camera_position.y = 0.0f;

-	current_camera_position.z = 0.0f;

-	current_camera_position.yaw = 0.0f;

-	current_camera_position.pitch = 0.0f;

-	current_camera_position.roll = 0.0f;

-

-	target_camera_position.x = 0.0f;

-	target_camera_position.y = 0.0f;

-	target_camera_position.z = 0.0f;

-	target_camera_position.yaw = 0.0f;

-	target_camera_position.pitch = 0.0f;

-	target_camera_position.roll = 0.0f;

-

-	new_camera_position.x = 0.0f;

-	new_camera_position.y = 0.0f;

-	new_camera_position.z = 0.0f;

-	new_camera_position.yaw = 0.0f;

-	new_camera_position.pitch = 0.0f;

-	new_camera_position.roll = 0.0f;

+	current_camera.initHeadPoseData();

+	target_camera.initHeadPoseData();

+	new_camera.initHeadPoseData();

+	output_camera.initHeadPoseData();

 

 	//

 	// Test some Filter-stuff

@@ -432,12 +420,9 @@ void Tracker::run() {
 						Z.rawList.clear();

 						Z.prevPos = 0.0f;

 

-						current_camera_position.x = 0.0f;

-						current_camera_position.y = 0.0f;

-						current_camera_position.z = 0.0f;

-						current_camera_position.yaw = 0.0f;

-						current_camera_position.pitch = 0.0f;

-						current_camera_position.roll = 0.0f;

+						current_camera.initHeadPoseData();

+						target_camera.initHeadPoseData();

+						new_camera.initHeadPoseData();

 

 						pTracker->StartTracker( mainApp->winId() );

 					}

@@ -503,41 +488,41 @@ void Tracker::run() {
 			if (Tracker::do_tracking && Tracker::confid) {

 

 				// Pitch

-				target_camera_position.x     = getSmoothFromList( &X.rawList ) - X.offset_headPos;

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

-				target_camera_position.z     = getSmoothFromList( &Z.rawList ) - Z.offset_headPos;

-				target_camera_position.pitch = getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos;

-				target_camera_position.yaw   = getSmoothFromList( &Yaw.rawList ) - Yaw.offset_headPos;

-				target_camera_position.roll  = getSmoothFromList( &Roll.rawList ) - Roll.offset_headPos;

+				target_camera.position.x     = getSmoothFromList( &X.rawList )     - X.offset_headPos;

+				target_camera.position.y     = getSmoothFromList( &Y.rawList )     - Y.offset_headPos;

+				target_camera.position.z     = getSmoothFromList( &Z.rawList )     - Z.offset_headPos;

+				target_camera.position.pitch = getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos;

+				target_camera.position.yaw   = getSmoothFromList( &Yaw.rawList )   - Yaw.offset_headPos;

+				target_camera.position.roll  = getSmoothFromList( &Roll.rawList )  - Roll.offset_headPos;

 

 				if (Tracker::useFilter && pFilter) {

-					pFilter->FilterHeadPoseData(&current_camera_position, &target_camera_position, &new_camera_position, Tracker::Pitch.newSample);

+					pFilter->FilterHeadPoseData(&current_camera.position, &target_camera.position, &new_camera.position, Tracker::Pitch.newSample);

 				}

 				else {

-					new_camera_position.x     = getSmoothFromList( &X.rawList ) - X.offset_headPos;

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

-					new_camera_position.z     = getSmoothFromList( &Z.rawList ) - Z.offset_headPos;

-					new_camera_position.pitch = getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos;

-					new_camera_position.yaw   = getSmoothFromList( &Yaw.rawList ) - Yaw.offset_headPos;

-					new_camera_position.roll  = getSmoothFromList( &Roll.rawList ) - Roll.offset_headPos;

+					output_camera.position.x     = getSmoothFromList( &X.rawList )     - X.offset_headPos;

+					output_camera.position.y     = getSmoothFromList( &Y.rawList )     - Y.offset_headPos;

+					output_camera.position.z     = getSmoothFromList( &Z.rawList )     - Z.offset_headPos;

+					output_camera.position.pitch = getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos;

+					output_camera.position.yaw   = getSmoothFromList( &Yaw.rawList )   - Yaw.offset_headPos;

+					output_camera.position.roll  = getSmoothFromList( &Roll.rawList )  - Roll.offset_headPos;

 				}

-				new_camera_position.x = X.invert * getOutputFromCurve(&X.curve, new_camera_position.x, X.NeutralZone, X.MaxInput);

-				new_camera_position.y = Y.invert * getOutputFromCurve(&Y.curve, new_camera_position.y, Y.NeutralZone, Y.MaxInput);

-				new_camera_position.z = Z.invert * getOutputFromCurve(&Z.curve, new_camera_position.z, Z.NeutralZone, Z.MaxInput);

-				new_camera_position.pitch = Pitch.invert * getOutputFromCurve(&Pitch.curve, new_camera_position.pitch, Pitch.NeutralZone, Pitch.MaxInput);

-				new_camera_position.yaw = Yaw.invert * getOutputFromCurve(&Yaw.curve, new_camera_position.yaw, Yaw.NeutralZone, Yaw.MaxInput);

-				new_camera_position.roll = Roll.invert * getOutputFromCurve(&Roll.curve, new_camera_position.roll, Roll.NeutralZone, Roll.MaxInput);

+				output_camera.position.x = X.invert * getOutputFromCurve(&X.curve, new_camera.position.x, X.NeutralZone, X.MaxInput);

+				output_camera.position.y = Y.invert * getOutputFromCurve(&Y.curve, new_camera.position.y, Y.NeutralZone, Y.MaxInput);

+				output_camera.position.z = Z.invert * getOutputFromCurve(&Z.curve, new_camera.position.z, Z.NeutralZone, Z.MaxInput);

+				output_camera.position.pitch = Pitch.invert * getOutputFromCurve(&Pitch.curve, new_camera.position.pitch, Pitch.NeutralZone, Pitch.MaxInput);

+				output_camera.position.yaw = Yaw.invert * getOutputFromCurve(&Yaw.curve, new_camera.position.yaw, Yaw.NeutralZone, Yaw.MaxInput);

+				output_camera.position.roll = Roll.invert * getOutputFromCurve(&Roll.curve, new_camera.position.roll, Roll.NeutralZone, Roll.MaxInput);

 

 				//

 				// Reset value for the selected axis, if inhibition is active

 				//

 				if (Tracker::do_inhibit) {

-					if (InhibitKey.doPitch) new_camera_position.pitch = 0.0f;

-					if (InhibitKey.doYaw) new_camera_position.yaw = 0.0f;

-					if (InhibitKey.doRoll) new_camera_position.roll = 0.0f;

-					if (InhibitKey.doX) new_camera_position.x = 0.0f;

-					if (InhibitKey.doY) new_camera_position.y = 0.0f;

-					if (InhibitKey.doZ) new_camera_position.z = 0.0f;

+					if (InhibitKey.doPitch) output_camera.position.pitch = 0.0f;

+					if (InhibitKey.doYaw) output_camera.position.yaw = 0.0f;

+					if (InhibitKey.doRoll) output_camera.position.roll = 0.0f;

+					if (InhibitKey.doX) output_camera.position.x = 0.0f;

+					if (InhibitKey.doY) output_camera.position.y = 0.0f;

+					if (InhibitKey.doZ) output_camera.position.z = 0.0f;

 				}

 

 				//

@@ -545,32 +530,32 @@ void Tracker::run() {
 				//

 				// Free-track

 				if (selectedClient == FREE_TRACK) {

-					server_Game->setHeadRotX( new_camera_position.pitch );					// degrees

-					server_Game->setHeadRotY( new_camera_position.yaw );

-					server_Game->setHeadRotZ( new_camera_position.roll );

+					server_Game->setHeadRotX( output_camera.position.pitch );					// degrees

+					server_Game->setHeadRotY( output_camera.position.yaw );

+					server_Game->setHeadRotZ( output_camera.position.roll );

 

-					server_Game->setHeadPosX( new_camera_position.x );						// centimeters

-					server_Game->setHeadPosY( new_camera_position.y );

-					server_Game->setHeadPosZ( new_camera_position.z );

+					server_Game->setHeadPosX( output_camera.position.x );						// centimeters

+					server_Game->setHeadPosY( output_camera.position.y );

+					server_Game->setHeadPosZ( output_camera.position.z );

 				}

 

 				// All Protocol server(s)

 				if (server_Game) {

-					server_Game->setVirtRotX ( new_camera_position.pitch );					// degrees

-					server_Game->setVirtRotY ( new_camera_position.yaw );

-					server_Game->setVirtRotZ ( new_camera_position.roll );

-					server_Game->setVirtPosX ( new_camera_position.x );						// centimeters

-					server_Game->setVirtPosY ( new_camera_position.y );

-					server_Game->setVirtPosZ ( new_camera_position.z );

+					server_Game->setVirtRotX ( output_camera.position.pitch );					// degrees

+					server_Game->setVirtRotY ( output_camera.position.yaw );

+					server_Game->setVirtRotZ ( output_camera.position.roll );

+					server_Game->setVirtPosX ( output_camera.position.x );						// centimeters

+					server_Game->setVirtPosY ( output_camera.position.y );

+					server_Game->setVirtPosZ ( output_camera.position.z );

 				}

 

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

-//				headRotYLine->setText(QString("%1").arg( new_camera_position.yaw, 0, 'f', 1));

-//				headRotZLine->setText(QString("%1").arg( new_camera_position.roll, 0, 'f', 1));

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

+//				headRotYLine->setText(QString("%1").arg( new_camera.position.yaw, 0, 'f', 1));

+//				headRotZLine->setText(QString("%1").arg( new_camera.position.roll, 0, 'f', 1));

 //

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

-//				headYLine->setText(QString("%1").arg( new_camera_position.y, 0, 'f', 1));

-//				headZLine->setText(QString("%1").arg( new_camera_position.z, 0, 'f', 1));

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

+//				headYLine->setText(QString("%1").arg( new_camera.position.y, 0, 'f', 1));

+//				headZLine->setText(QString("%1").arg( new_camera.position.z, 0, 'f', 1));

 

 

 #       ifdef USE_DEBUG_CLIENT

@@ -582,12 +567,12 @@ void Tracker::run() {
 				debug_Client->setHeadPosY( Tracker::Y.headPos );

 				debug_Client->setHeadPosZ( Tracker::Z.headPos );

 

-				debug_Client->setVirtRotX ( new_camera_position.pitch );				// degrees

-				debug_Client->setVirtRotY ( new_camera_position.yaw );

-				debug_Client->setVirtRotZ ( new_camera_position.roll );

-				debug_Client->setVirtPosX ( new_camera_position.x );				// centimeters

-				debug_Client->setVirtPosY ( new_camera_position.y );

-				debug_Client->setVirtPosZ ( new_camera_position.z );

+				debug_Client->setVirtRotX ( new_camera.position.pitch );				// degrees

+				debug_Client->setVirtRotY ( new_camera.position.yaw );

+				debug_Client->setVirtRotZ ( new_camera.position.roll );

+				debug_Client->setVirtPosX ( new_camera.position.x );				// centimeters

+				debug_Client->setVirtPosY ( new_camera.position.y );

+				debug_Client->setVirtPosZ ( new_camera.position.z );

 #       endif

 

 

@@ -749,6 +734,19 @@ void Tracker::getHeadPose( THeadPoseData *data ) {
 }

 

 //

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

+//

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

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

+	data->y = output_camera.position.y;

+	data->z = output_camera.position.z;

+

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

+	data->yaw   = output_camera.position.yaw;

+	data->roll  = output_camera.position.roll;

+}

+

+//

 // Get the Smoothed value from the QList.

 //

 float Tracker::getSmoothFromList ( QList<float> *rawList ) {

diff --git a/FaceTrackNoIR/tracker.h b/FaceTrackNoIR/tracker.h
index bd29bf9f..3b7d7ca8 100644
--- a/FaceTrackNoIR/tracker.h
+++ b/FaceTrackNoIR/tracker.h
@@ -151,6 +151,11 @@ private:
 	FTNoIR_Client selectedClient;

 	FTNoIR_Face_Tracker selectedTracker;

 

+	static T6DOF current_camera;					// Used for filtering

+	static T6DOF target_camera;

+	static T6DOF new_camera;

+	static T6DOF output_camera;

+

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

 	static IFilterPtr pFilter;						// Pointer to Filter instance (in DLL)

 

@@ -222,6 +227,7 @@ public:
 	static void setPowCurve(int x);

 

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

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

 

 	static float getSmoothFromList ( QList<float> *rawList );

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