Added Start/stop/reset, started with anti-jitter-campaign

git-svn-id: svn+ssh://svn.code.sf.net/p/facetracknoir/code@4 19e81ba0-9b1a-49c3-bd6c-561e1906d5fb

7 files changed, 245 insertions, 46 deletions

diff --git a/FaceTrackNoIR/FTServer.cpp b/FaceTrackNoIR/FTServer.cpp
index 854b091a..578317a1 100644
--- a/FaceTrackNoIR/FTServer.cpp
+++ b/FaceTrackNoIR/FTServer.cpp
@@ -40,6 +40,7 @@
 //

 /*

 	Modifications (last one on top):

+		20100601 - WVR: Added Mutex-bit in run(). Thought it wasn't so important (still do...). 

 		20100523 - WVR: Implemented the Freetrack-protocol just like Freetrack does. Earlier 

 						FaceTrackNoIR only worked with an adapted DLL, with a putdata function.

 						Now it works direcly in shared memory!

@@ -99,7 +100,7 @@ void FTServer::run() {
 			return;

 		}

 

-		if (pMemData != NULL) {

+		if ( (pMemData != NULL) && (WaitForSingleObject(hFTMutex, 100) == WAIT_OBJECT_0) ) {

 

 			//

 			// Copy the Raw measurements directly to the client.

@@ -135,6 +136,7 @@ void FTServer::run() {
 

 			qDebug() << "FTServer says: pMemData.DataID =" << pMemData->data.DataID;

 			qDebug() << "FTServer says: ProgramName =" << pMemData->ProgramName;

+			ReleaseMutex(hFTMutex);

 		}

 

 		// just for lower cpu load

diff --git a/FaceTrackNoIR/FaceTrackNoIR.cpp b/FaceTrackNoIR/FaceTrackNoIR.cpp
index c9e1e76d..f68dcfe1 100644
--- a/FaceTrackNoIR/FaceTrackNoIR.cpp
+++ b/FaceTrackNoIR/FaceTrackNoIR.cpp
@@ -82,6 +82,14 @@ void FaceTrackNoIR::setupFaceTrackNoIR() {
 	connect(ui.chkInvertY, SIGNAL(stateChanged(int)), this, SLOT(setInvertY(int)));

 	connect(ui.chkInvertZ, SIGNAL(stateChanged(int)), this, SLOT(setInvertZ(int)));

 

+	// Connect sliders for threshold

+	connect(ui.thresYaw, SIGNAL(valueChanged(int)), this, SLOT(setThreshYaw(int)));

+	connect(ui.thresRoll, SIGNAL(valueChanged(int)), this, SLOT(setThreshRoll(int)));

+	connect(ui.thresPitch, SIGNAL(valueChanged(int)), this, SLOT(setThreshPitch(int)));

+	connect(ui.thresX, SIGNAL(valueChanged(int)), this, SLOT(setThreshX(int)));

+	connect(ui.thresY, SIGNAL(valueChanged(int)), this, SLOT(setThreshY(int)));

+	connect(ui.thresZ, SIGNAL(valueChanged(int)), this, SLOT(setThreshZ(int)));

+

 	connect(ui.slideNeutralZone, SIGNAL(valueChanged(int)), this, SLOT(setNeutralZone(int)));

 

 	// Connect slider for smoothing

@@ -261,6 +269,12 @@ void FaceTrackNoIR::save() {
 	iniFile.setValue ( "invertX", ui.chkInvertX->isChecked() );

 	iniFile.setValue ( "invertY", ui.chkInvertY->isChecked() );

 	iniFile.setValue ( "invertZ", ui.chkInvertZ->isChecked() );

+	iniFile.setValue ( "thresYaw", ui.thresYaw->value() );

+	iniFile.setValue ( "thresPitch", ui.thresPitch->value() );

+	iniFile.setValue ( "thresRoll", ui.thresRoll->value() );

+	iniFile.setValue ( "thresX", ui.thresX->value() );

+	iniFile.setValue ( "thresY", ui.thresY->value() );

+	iniFile.setValue ( "thresZ", ui.thresZ->value() );

 	iniFile.endGroup ();

 

 	iniFile.beginGroup ( "GameProtocol" );

@@ -317,6 +331,12 @@ void FaceTrackNoIR::loadSettings() {
 	ui.chkInvertX->setChecked (iniFile.value ( "invertX", 0 ).toBool());

 	ui.chkInvertY->setChecked (iniFile.value ( "invertY", 0 ).toBool());

 	ui.chkInvertZ->setChecked (iniFile.value ( "invertZ", 0 ).toBool());

+	ui.thresYaw->setValue (iniFile.value ( "thresYaw", 100 ).toInt());

+	ui.thresPitch->setValue (iniFile.value ( "thresPitch", 100 ).toInt());

+	ui.thresRoll->setValue (iniFile.value ( "thresRoll", 100 ).toInt());

+	ui.thresX->setValue (iniFile.value ( "thresX", 100 ).toInt());

+	ui.thresY->setValue (iniFile.value ( "thresY", 100 ).toInt());

+	ui.thresZ->setValue (iniFile.value ( "thresZ", 100 ).toInt());

 	iniFile.endGroup ();

 

 	iniFile.beginGroup ( "GameProtocol" );

@@ -365,8 +385,18 @@ void FaceTrackNoIR::startTracker( ) {
 	l->setSpacing(0);

 	l->addWidget(_display);

 

+	//

+	// Setup the Tracker and send the settings, just to be sure...

+	//

 	tracker->setup( ui.headPoseWidget , this);

 	tracker->setSmoothing ( ui.slideSmoothing->value() );

+	tracker->setNeutralZone ( ui.slideNeutralZone->value() );

+	tracker->setSensYaw (ui.sensYaw->value() );

+	tracker->setSensPitch (ui.sensPitch->value() );

+	tracker->setSensRoll (ui.sensRoll->value() );

+	tracker->setSensX (ui.sensX->value() );

+	tracker->setSensY (ui.sensY->value() );

+	tracker->setSensZ (ui.sensZ->value() );

 

 	ui.headPoseWidget->show();

 

@@ -480,6 +510,42 @@ void FaceTrackNoIR::setInvertZ( int invert ) {
 	settingsDirty = true;

 }

 

+/** set the threshold from the slider **/

+void FaceTrackNoIR::setThreshYaw( int thresh ) {

+	Tracker::setThresYaw ( thresh );

+	settingsDirty = true;

+}

+

+/** set the threshold from the slider **/

+void FaceTrackNoIR::setThreshPitch( int thresh ) {

+	Tracker::setThresPitch ( thresh );

+	settingsDirty = true;

+}

+

+/** set the threshold from the slider **/

+void FaceTrackNoIR::setThreshRoll( int thresh ) {

+	Tracker::setThresRoll ( thresh );

+	settingsDirty = true;

+}

+

+/** set the threshold from the slider **/

+void FaceTrackNoIR::setThreshX( int thresh ) {

+	Tracker::setThresX ( thresh );

+	settingsDirty = true;

+}

+

+/** set the threshold from the slider **/

+void FaceTrackNoIR::setThreshY( int thresh ) {

+	Tracker::setThresY ( thresh );

+	settingsDirty = true;

+}

+

+/** set the threshold from the slider **/

+void FaceTrackNoIR::setThreshZ( int thresh ) {

+	Tracker::setThresZ ( thresh );

+	settingsDirty = true;

+}

+

 /** set the Neutral Zone for rotations from the slider **/

 void FaceTrackNoIR::setNeutralZone( int angle ) {

 	Tracker::setNeutralZone ( angle );

diff --git a/FaceTrackNoIR/FaceTrackNoIR.h b/FaceTrackNoIR/FaceTrackNoIR.h
index 16a432a3..f5f87fc9 100644
--- a/FaceTrackNoIR/FaceTrackNoIR.h
+++ b/FaceTrackNoIR/FaceTrackNoIR.h
@@ -102,7 +102,7 @@ private:
 		void showHeadPoseWidget();

 		void showEngineControls();

 

-		//sensibility sliders

+		// sensibility sliders

 		void setSensYaw( int sens );

 		void setSensPitch( int sens );

 		void setSensRoll( int sens );

@@ -110,6 +110,7 @@ private:
 		void setSensY( int sens );

 		void setSensZ( int sens );

 

+		// invert checkboxes

 		void setInvertYaw( int invert );

 		void setInvertPitch( int invert );

 		void setInvertRoll( int invert );

@@ -117,6 +118,14 @@ private:
 		void setInvertY( int invert );

 		void setInvertZ( int invert );

 

+		// threshold sliders

+		void setThreshYaw( int thresh );

+		void setThreshPitch( int thresh );

+		void setThreshRoll( int thresh );

+		void setThreshX( int thresh );

+		void setThreshY( int thresh );

+		void setThreshZ( int thresh );

+

 		void setNeutralZone( int angle );

 

 		//smoothing slider

diff --git a/FaceTrackNoIR/FaceTrackNoIR.ui b/FaceTrackNoIR/FaceTrackNoIR.ui
index 13a0aac8..47f6475c 100644
--- a/FaceTrackNoIR/FaceTrackNoIR.ui
+++ b/FaceTrackNoIR/FaceTrackNoIR.ui
@@ -1211,7 +1211,7 @@ opacity:100;</string>
                  <widget class="QLabel" name="lblSensitivity">

                   <property name="minimumSize">

                    <size>

-                    <width>100</width>

+                    <width>110</width>

                     <height>0</height>

                    </size>

                   </property>

@@ -2034,7 +2034,7 @@ background:none;</string>
                  <widget class="QLabel" name="lblSensitivity_4">

                   <property name="minimumSize">

                    <size>

-                    <width>100</width>

+                    <width>110</width>

                     <height>0</height>

                    </size>

                   </property>

diff --git a/FaceTrackNoIR/GeneratedFiles/ui_FaceTrackNoIR.h b/FaceTrackNoIR/GeneratedFiles/ui_FaceTrackNoIR.h
index 4a3a78b1..1f36d463 100644
--- a/FaceTrackNoIR/GeneratedFiles/ui_FaceTrackNoIR.h
+++ b/FaceTrackNoIR/GeneratedFiles/ui_FaceTrackNoIR.h
@@ -1,7 +1,7 @@
 /********************************************************************************

 ** Form generated from reading UI file 'FaceTrackNoIR.ui'

 **

-** Created: Fri 28. May 20:44:32 2010

+** Created: Tue 1. Jun 21:00:16 2010

 **      by: Qt User Interface Compiler version 4.6.2

 **

 ** WARNING! All changes made in this file will be lost when recompiling UI file!

@@ -654,7 +654,7 @@ public:
         gridLayout->setObjectName(QString::fromUtf8("gridLayout"));

         lblSensitivity = new QLabel(bubbleBigWidget);

         lblSensitivity->setObjectName(QString::fromUtf8("lblSensitivity"));

-        lblSensitivity->setMinimumSize(QSize(100, 0));

+        lblSensitivity->setMinimumSize(QSize(110, 0));

         lblSensitivity->setMaximumSize(QSize(150, 16777215));

         lblSensitivity->setStyleSheet(QString::fromUtf8("color:#ccc;\n"

 "background:none;"));

@@ -1023,7 +1023,7 @@ public:
 

         lblSensitivity_4 = new QLabel(bubbleBigWidget);

         lblSensitivity_4->setObjectName(QString::fromUtf8("lblSensitivity_4"));

-        lblSensitivity_4->setMinimumSize(QSize(100, 0));

+        lblSensitivity_4->setMinimumSize(QSize(110, 0));

         lblSensitivity_4->setMaximumSize(QSize(150, 16777215));

         lblSensitivity_4->setStyleSheet(QString::fromUtf8("color:#ccc;\n"

 "background:none;"));

diff --git a/FaceTrackNoIR/tracker.cpp b/FaceTrackNoIR/tracker.cpp
index 30247cd9..c22961bd 100644
--- a/FaceTrackNoIR/tracker.cpp
+++ b/FaceTrackNoIR/tracker.cpp
@@ -23,6 +23,8 @@
 *********************************************************************************/

 /*

 	Modifications (last one on top):

+		20100601 - WVR: Added DirectInput keyboard-handling. '=' used for center,

+						'BACK' for start (+center)/stop.

 		20100517 - WVR: Added upstream command(s) from FlightGear

 		20100523 - WVR: Checkboxes to invert 6DOF's was implemented. Multiply by

 						1 or (-1).

@@ -30,10 +32,6 @@
 #include "tracker.h"

 #include "FaceTrackNoIR.h"

 

-void initDInput(HINSTANCE hInstance, HWND hWnd);    // sets up and initializes DirectInput

-void detect_input(void);							// gets the current input state

-void cleanDInput(void);								// closes DirectInput and releases memory

-

 using namespace sm::faceapi;

 using namespace sm::faceapi::qt;

 

@@ -45,8 +43,21 @@ float Tracker::initial_headPosZ = 0.0f;
 float Tracker::headRotX = 0.0f;

 float Tracker::headRotY = 0.0f;

 float Tracker::headRotZ = 0.0f;

+

+// Offsets, to center headpos while tracking

+float Tracker::offset_headPosX = 0.0f;

+float Tracker::offset_headPosY = 0.0f;

+float Tracker::offset_headPosZ = 0.0f;

+

+float Tracker::offset_headRotX = 0.0f;

+float Tracker::offset_headRotY = 0.0f;

+float Tracker::offset_headRotZ = 0.0f;

+

+// Flags

 bool Tracker::confid = false;

 bool Tracker::set_initial = false;

+bool Tracker::do_tracking = true;

+bool Tracker::do_center = false;

 

 float Tracker::sensYaw = 1.0f;

 float Tracker::sensPitch = 1.0f;

@@ -62,6 +73,13 @@ float Tracker::invertX = 1.0f;
 float Tracker::invertY = 1.0f;

 float Tracker::invertZ = 1.0f;

 

+float Tracker::thresYaw = 1.0f;

+float Tracker::thresPitch = 1.0f;

+float Tracker::thresRoll = 1.0f;

+float Tracker::thresX = 1.0f;

+float Tracker::thresY = 1.0f;

+float Tracker::thresZ = 1.0f;

+

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

 

 /** constructor empty **/

@@ -165,6 +183,22 @@ void Tracker::run() {
 	LPDIRECTINPUTDEVICE8 dinkeyboard;				// the pointer to the keyboard device

 	BYTE keystate[256];								// the storage for the key-information

 	HRESULT retAcquire;

+	bool lastMinusKey = false;						// Remember state, to detect rising edge

+	bool lastEqualsKey = false;

+

+	float prevYaw = 0.0f;							// Remember previous Raw, to filter jitter

+	float prevPitch = 0.0f;

+	float prevRoll = 0.0f;

+	float prevX = 0.0f;

+	float prevY = 0.0f;

+	float prevZ = 0.0f;

+

+	float newYaw = 0.0f;							// Local new Raw, to filter jitter

+	float newPitch = 0.0f;

+	float newRoll = 0.0f;

+	float newX = 0.0f;

+	float newY = 0.0f;

+	float newZ = 0.0f;

 

 	//

 	// Setup the DirectInput for keyboard strokes

@@ -174,33 +208,21 @@ void Tracker::run() {
 						   (void**)&din, NULL) != DI_OK) {    // COM stuff, so we'll set it to NULL

 		   qDebug() << "Tracker::setup DirectInput8 Creation failed!" << GetLastError();

 	}

-	else {

-		   qDebug() << "Tracker::setup DirectInput8 Creation OK!";

-	}

 

     // create the keyboard device

 	if (din->CreateDevice(GUID_SysKeyboard, &dinkeyboard, NULL) != DI_OK) {

 		   qDebug() << "Tracker::setup CreateDevice function failed!" << GetLastError();

 	}

-	else {

-		   qDebug() << "Tracker::setup CreateDevice function OK!";

-	}

 

     // set the data format to keyboard format

 	if (dinkeyboard->SetDataFormat(&c_dfDIKeyboard) != DI_OK) {

 		   qDebug() << "Tracker::setup SetDataFormat function failed!" << GetLastError();

 	}

-	else {

-		   qDebug() << "Tracker::setup SetDataFormat function OK!";

-	}

 

     // set the control you will have over the keyboard

 	if (dinkeyboard->SetCooperativeLevel(mainApp->winId(), DISCL_NONEXCLUSIVE | DISCL_BACKGROUND) != DI_OK) {

 		   qDebug() << "Tracker::setup SetCooperativeLevel function failed!" << GetLastError();

 	}

-	else {

-		   qDebug() << "Tracker::setup SetCooperativeLevel function OK!";

-	}

 

 	forever

 	{

@@ -227,15 +249,32 @@ void Tracker::run() {
 			   qDebug() << "Tracker::run GetDeviceState function failed!" << GetLastError();

 		   }

 		   else {

-				qDebug() << "Tracker::run GetDeviceState function OK!";

-				if(keystate[DIK_HOME] & 0x80) {

-					qDebug() << "Tracker::run() says HOME pressed";

+				//

+				// Check the state of the MINUS key (= Start/Stop tracking) and EQUALS key (= Center)

+				//

+				if ( (keystate[DIK_BACK] & 0x80) && (!lastMinusKey) ) {

+					Tracker::do_tracking = !Tracker::do_tracking;

+

+					//

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

+					//

+					if (Tracker::do_tracking) {

+						Tracker::do_center = true;

+					}

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

 				}

+				lastMinusKey = (keystate[DIK_BACK] & 0x80);					// Remember

+

+				if ( (keystate[DIK_EQUALS] & 0x80) && (!lastEqualsKey) ) {

+					Tracker::do_center = true;

+					qDebug() << "Tracker::run() says EQUALS pressed";

+				}

+				lastEqualsKey = (keystate[DIK_EQUALS] & 0x80);					// Remember

 		   }

 		}

 

 		//if the confidence is good enough the headpose will be updated **/

-		if(Tracker::confid) {

+		if (Tracker::confid) {

 

 			//

 			// Most games need an offset to the initial position and NOT the

@@ -268,30 +307,87 @@ void Tracker::run() {
 			// Add the raw values to the QList, so they can be smoothed.

 			// The raw value that enters the QList is first (evt.) inverted and corrected for Neutral Zone.

 			//

-			addRaw2List ( &rawPitchList, intMaxPitchItems, getCorrectedNewRaw ( Tracker::invertPitch * Tracker::headRotX , Tracker::rotNeutralZone ) );

-			addRaw2List ( &rawYawList, intMaxYawItems, getCorrectedNewRaw ( Tracker::invertYaw * Tracker::headRotY , Tracker::rotNeutralZone ) );

-			addRaw2List ( &rawRollList, intMaxRollItems, getCorrectedNewRaw ( Tracker::invertRoll * Tracker::headRotZ , Tracker::rotNeutralZone ) );

+			newPitch = Tracker::headRotX;

+			if ( (fabs (newPitch - prevPitch) ) < Tracker::thresPitch ) {	// delta smaller than threshold?

+				newPitch = prevPitch;

+			}

+			else {

+				prevPitch = newPitch;

+			}

+			addRaw2List ( &rawPitchList, intMaxPitchItems, getCorrectedNewRaw ( Tracker::invertPitch * newPitch , Tracker::rotNeutralZone ) );

+

+			newYaw = Tracker::headRotY;

+			if ( (fabs (newYaw - prevYaw) ) < Tracker::thresYaw ) {			// delta smaller than threshold?

+				newYaw = prevYaw;

+			}

+			else {

+				prevYaw = newYaw;

+			}

+			addRaw2List ( &rawYawList, intMaxYawItems, getCorrectedNewRaw ( Tracker::invertYaw * newYaw, Tracker::rotNeutralZone ) );

+

+			newRoll = Tracker::headRotZ;

+			if ( (fabs (newRoll - prevRoll) ) < Tracker::thresRoll ) {	// delta smaller than threshold?

+				newRoll = prevRoll;

+			}

+			else {

+				prevRoll = newRoll;

+			}

+			addRaw2List ( &rawRollList, intMaxRollItems, getCorrectedNewRaw ( Tracker::invertRoll * newRoll , Tracker::rotNeutralZone ) );

+

 			addRaw2List ( &rawXList, intMaxXItems, Tracker::invertX * Tracker::headPosX * 1000.0f );

 			addRaw2List ( &rawYList, intMaxYItems, Tracker::invertY * Tracker::headPosY * 1000.0f );

 			addRaw2List ( &rawZList, intMaxZItems, ( Tracker::invertZ * Tracker::headPosZ - Tracker::initial_headPosZ ) * 1000.0f );

 		}

 

 		//

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

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

 		//

-		server_FT->setVirtRotX( Tracker::sensPitch * getSmoothFromList( &rawPitchList ) );

-		server_FT->setVirtRotY( Tracker::sensYaw * getSmoothFromList( &rawYawList ) );

-		server_FT->setVirtRotZ( Tracker::sensRoll * getSmoothFromList( &rawRollList ) );

-		server_FT->setVirtPosX ( Tracker::sensX * getSmoothFromList( &rawXList ) );

-		server_FT->setVirtPosY ( Tracker::sensY * getSmoothFromList( &rawYList ) );

-		server_FT->setVirtPosZ ( Tracker::sensZ * getSmoothFromList( &rawZList ) );

-

-		server_FG->setVirtRotX( getDegreesFromRads ( Tracker::sensPitch * getSmoothFromList( &rawPitchList ) ) );

-		server_FG->setVirtRotY( getDegreesFromRads ( Tracker::sensYaw * getSmoothFromList( &rawYawList ) ) );

-		server_FG->setVirtRotZ( getDegreesFromRads ( Tracker::sensRoll * getSmoothFromList( &rawRollList ) ) );

-		server_FG->setVirtPosX ( ( Tracker::sensX * getSmoothFromList( &rawXList ) ) / 1000.0f );

-		server_FG->setVirtPosY ( ( Tracker::sensY * getSmoothFromList( &rawYList ) ) / 1000.0f );

-		server_FG->setVirtPosZ ( ( Tracker::sensZ * getSmoothFromList( &rawZList ) ) / 1000.0f );

+		if (Tracker::do_center) {

+			offset_headRotX = getSmoothFromList( &rawPitchList );

+			offset_headRotY = getSmoothFromList( &rawYawList );

+			offset_headRotZ = getSmoothFromList( &rawRollList );

+			offset_headPosX = getSmoothFromList( &rawXList );

+			offset_headPosY = getSmoothFromList( &rawYList );

+			offset_headPosZ = getSmoothFromList( &rawZList );

+			Tracker::do_center = false;

+		}

+

+		if (Tracker::do_tracking) {

+			//

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

+			//

+			server_FT->setVirtRotX ( Tracker::sensPitch * getSmoothFromList( &rawPitchList ) - offset_headRotX );

+			server_FT->setVirtRotY ( Tracker::sensYaw * getSmoothFromList( &rawYawList ) - offset_headRotY );

+			server_FT->setVirtRotZ ( Tracker::sensRoll * getSmoothFromList( &rawRollList ) - offset_headRotZ );

+			server_FT->setVirtPosX ( Tracker::sensX * getSmoothFromList( &rawXList ) - offset_headPosX );

+			server_FT->setVirtPosY ( Tracker::sensY * getSmoothFromList( &rawYList ) - offset_headPosY );

+			server_FT->setVirtPosZ ( Tracker::sensZ * getSmoothFromList( &rawZList ) - offset_headPosZ );

+

+			server_FG->setVirtRotX ( getDegreesFromRads ( Tracker::sensPitch * getSmoothFromList( &rawPitchList ) - offset_headRotX ) );

+			server_FG->setVirtRotY ( getDegreesFromRads ( Tracker::sensYaw * getSmoothFromList( &rawYawList ) - offset_headRotY ) );

+			server_FG->setVirtRotZ ( getDegreesFromRads ( Tracker::sensRoll * getSmoothFromList( &rawRollList ) - offset_headRotZ ) );

+			server_FG->setVirtPosX ( ( Tracker::sensX * getSmoothFromList( &rawXList ) - offset_headPosX ) / 1000.0f );

+			server_FG->setVirtPosY ( ( Tracker::sensY * getSmoothFromList( &rawYList ) - offset_headPosY ) / 1000.0f );

+			server_FG->setVirtPosZ ( ( Tracker::sensZ * getSmoothFromList( &rawZList ) - offset_headPosZ ) / 1000.0f );

+		}

+		else {

+			//

+			// Go to initial position

+			//

+			server_FT->setVirtRotX ( 0.0f );

+			server_FT->setVirtRotY ( 0.0f );

+			server_FT->setVirtRotZ ( 0.0f );

+			server_FT->setVirtPosX ( 0.0f );

+			server_FT->setVirtPosY ( 0.0f );

+			server_FT->setVirtPosZ ( 0.0f );

+

+			server_FG->setVirtRotX( 0.0f );

+			server_FG->setVirtRotY( 0.0f );

+			server_FG->setVirtRotZ( 0.0f );

+			server_FG->setVirtPosX ( 0.0f );

+			server_FG->setVirtPosY ( 0.0f );

+			server_FG->setVirtPosZ ( 0.0f );

+		}

 

 		//for lower cpu load 

 		msleep(50);

diff --git a/FaceTrackNoIR/tracker.h b/FaceTrackNoIR/tracker.h
index a5126818..0103e8f2 100644
--- a/FaceTrackNoIR/tracker.h
+++ b/FaceTrackNoIR/tracker.h
@@ -39,8 +39,6 @@
 #include "FGServer.h"				// FlightGear-server

 

 // include the DirectX Library files

-//#pragma comment (lib, "d3d9.lib")

-//#pragma comment (lib, "d3dx9.lib")

 #pragma comment (lib, "dinput8.lib")

 #pragma comment (lib, "dxguid.lib")

 

@@ -75,8 +73,21 @@ private:
 	static float headRotX;

 	static float headRotY;

 	static float headRotZ;

+

+	// Offsets, used to center view while tracking

+	static float offset_headPosX;

+	static float offset_headPosY;

+	static float offset_headPosZ;					// Distance from camera

+

+	static float offset_headRotX;

+	static float offset_headRotY;

+	static float offset_headRotZ;

+

+	// Flags to start/stop/reset tracking

 	static bool confid;

 	static bool set_initial;						// initial headpose is set

+	static bool do_tracking;						// Start/stop tracking, using MINUS key on keyboard

+	static bool do_center;							// Center head-position, using EQUALS key on keyboard

 

 	/** static member varables for calculating the virtual head pose **/

 	static float sensYaw;

@@ -93,6 +104,14 @@ private:
 	static float invertY;

 	static float invertZ;

 

+	/** Thresholds to remove jitter **/

+	static float thresYaw;

+	static float thresPitch;

+	static float thresRoll;

+	static float thresX;

+	static float thresY;

+	static float thresZ;

+

 	static float rotNeutralZone;						// Neutral Zone for rotations (rad).

 	

 	//

@@ -177,6 +196,13 @@ public:
 	static void setInvertY(bool invert) { invertY = invert?-1.0f:+1.0f; }

 	static void setInvertZ(bool invert) { invertZ = invert?-1.0f:+1.0f; }

 

+	static void setThresYaw(int x) { thresYaw = x/100.0f; }

+	static void setThresPitch(int x) { thresPitch = x/100.0f; }

+	static void setThresRoll(int x) { thresRoll = x/100.0f; }

+	static void setThresX(int x) { thresX = x/100.0f; }

+	static void setThresY(int x) { thresY = x/100.0f; }

+	static void setThresZ(int x) { thresZ = x/100.0f; }

+

 	static void setNeutralZone(int x) { rotNeutralZone = (x * 2.0f * 3.14159)/360.0f; }

 

 	void addRaw2List ( QList<float> *rawList, float maxIndex, float raw );