Don't use axes as class/struct members. Use an array instead, and iterate over them where applicable.

6 files changed, 209 insertions, 304 deletions

diff --git a/facetracknoir/facetracknoir.cpp b/facetracknoir/facetracknoir.cpp
index fd971c96..d5d24db1 100644
--- a/facetracknoir/facetracknoir.cpp
+++ b/facetracknoir/facetracknoir.cpp
@@ -743,26 +743,26 @@ void FaceTrackNoIR::startTracker( ) {
     QSettings settings("Abbequerque Inc.", "FaceTrackNoIR");	// Registry settings (in HK_USER)

     QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();

     QSettings iniFile( currentFile, QSettings::IniFormat );		// Application settings (in INI-file)

-    GlobalPose->X.curvePtr->loadSettings(iniFile);

-    GlobalPose->Y.curvePtr->loadSettings(iniFile);

-    GlobalPose->Z.curvePtr->loadSettings(iniFile);

-    GlobalPose->Yaw.curvePtr->loadSettings(iniFile);

-    GlobalPose->Pitch.curvePtr->loadSettings(iniFile);

-    GlobalPose->Roll.curvePtr->loadSettings(iniFile);

-

-    GlobalPose->X.curvePtrAlt->loadSettings(iniFile);

-    GlobalPose->Y.curvePtrAlt->loadSettings(iniFile);

-    GlobalPose->Z.curvePtrAlt->loadSettings(iniFile);

-    GlobalPose->Yaw.curvePtrAlt->loadSettings(iniFile);

-    GlobalPose->Pitch.curvePtrAlt->loadSettings(iniFile);

-    GlobalPose->Roll.curvePtrAlt->loadSettings(iniFile);

-

-    GlobalPose->Yaw.altp = iniFile.value("rx_alt", false).toBool();

-    GlobalPose->Pitch.altp = iniFile.value("ry_alt", false).toBool();

-    GlobalPose->Roll.altp = iniFile.value("rz_alt", false).toBool();

-    GlobalPose->X.altp = iniFile.value("tx_alt", false).toBool();

-    GlobalPose->Y.altp = iniFile.value("ty_alt", false).toBool();

-    GlobalPose->Z.altp = iniFile.value("tz_alt", false).toBool();

+

+    for (int i = 0; i < 6; i++)

+    {

+        GlobalPose->axes[i].curvePtr->loadSettings(iniFile);

+        GlobalPose->axes[i].curvePtrAlt->loadSettings(iniFile);

+    }

+

+    static const char* names[] = {

+        "rx_alt",

+        "ry_alt",

+        "rz_alt",

+        "tx_alt",

+        "ty_alt",

+        "tz_alt"

+    };

+

+    for (int i = 0; i < 6; i++)

+    {

+        GlobalPose->axes[i].altp = iniFile.value(names[i], false).toBool();

+    }

 

 	tracker = new Tracker ( this );

 

@@ -770,12 +770,12 @@ void FaceTrackNoIR::startTracker( ) {
 	// Setup the Tracker and send the settings.

 	// This is necessary, because the events are only triggered 'on change'

 	//

-	tracker->setInvertYaw (ui.chkInvertYaw->isChecked() );

-	tracker->setInvertPitch (ui.chkInvertPitch->isChecked() );

-	tracker->setInvertRoll (ui.chkInvertRoll->isChecked() );

-	tracker->setInvertX (ui.chkInvertX->isChecked() );

-	tracker->setInvertY (ui.chkInvertY->isChecked() );

-	tracker->setInvertZ (ui.chkInvertZ->isChecked() );

+    tracker->setInvertAxis(RX, ui.chkInvertYaw->isChecked() );

+    tracker->setInvertAxis(TY, ui.chkInvertPitch->isChecked() );

+    tracker->setInvertAxis(RZ, ui.chkInvertRoll->isChecked() );

+    tracker->setInvertAxis(TX, ui.chkInvertX->isChecked() );

+    tracker->setInvertAxis(TY, ui.chkInvertY->isChecked() );

+    tracker->setInvertAxis(TZ, ui.chkInvertZ->isChecked() );

 

     tracker->start();

 

@@ -930,50 +930,15 @@ void FaceTrackNoIR::stopTracker( ) {
 }

 

 /** set the invert from the checkbox **/

-void FaceTrackNoIR::setInvertYaw( int invert ) {

-    if (tracker)

-        tracker->setInvertYaw ( (invert != 0)?true:false );

-	settingsDirty = true;

-}

-

-/** set the invert from the checkbox **/

-void FaceTrackNoIR::setInvertPitch( int invert ) {

-    if (tracker)

-        tracker->setInvertPitch ( (invert != 0)?true:false );

-	settingsDirty = true;

-}

-

-/** set the invert from the checkbox **/

-void FaceTrackNoIR::setInvertRoll( int invert ) {

+void FaceTrackNoIR::setInvertAxis(Axis axis, int invert ) {

     if (tracker)

-        tracker->setInvertRoll ( (invert != 0)?true:false );

-	settingsDirty = true;

-}

-

-/** set the invert from the checkbox **/

-void FaceTrackNoIR::setInvertX( int invert ) {

-    if (tracker)

-        tracker->setInvertX ( (invert != 0)?true:false );

-	settingsDirty = true;

-}

-

-/** set the invert from the checkbox **/

-void FaceTrackNoIR::setInvertY( int invert ) {

-    if (tracker)

-        tracker->setInvertY ( (invert != 0)?true:false );

-	settingsDirty = true;

-}

-

-/** set the invert from the checkbox **/

-void FaceTrackNoIR::setInvertZ( int invert ) {

-    if (tracker)

-        tracker->setInvertZ ( (invert != 0)?true:false );

+        tracker->setInvertAxis (axis, (invert != 0)?true:false );

 	settingsDirty = true;

 }

 

 /** Show the headpose in the widget (triggered by timer) **/

 void FaceTrackNoIR::showHeadPose() {

-THeadPoseData newdata;

+    double newdata[6];

 

 	ui.lblX->setVisible(true);

 	ui.lblY->setVisible(true);

@@ -993,14 +958,14 @@ 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(QString("%1").arg(newdata.x, 0, 'f', 1));

-	ui.lcdNumY->display(QString("%1").arg(newdata.y, 0, 'f', 1));

-	ui.lcdNumZ->display(QString("%1").arg(newdata.z, 0, 'f', 1));

+    tracker->getHeadPose(newdata);

+    ui.lcdNumX->display(QString("%1").arg(newdata[TX], 0, 'f', 1));

+    ui.lcdNumY->display(QString("%1").arg(newdata[TY], 0, 'f', 1));

+    ui.lcdNumZ->display(QString("%1").arg(newdata[TZ], 0, 'f', 1));

 

-	ui.lcdNumRotX->display(QString("%1").arg(newdata.yaw, 0, 'f', 1));

-	ui.lcdNumRotY->display(QString("%1").arg(newdata.pitch, 0, 'f', 1));

-	ui.lcdNumRotZ->display(QString("%1").arg(newdata.roll, 0, 'f', 1));

+    ui.lcdNumRotX->display(QString("%1").arg(newdata[RX], 0, 'f', 1));

+    ui.lcdNumRotY->display(QString("%1").arg(newdata[RY], 0, 'f', 1));

+    ui.lcdNumRotZ->display(QString("%1").arg(newdata[RZ], 0, 'f', 1));

 

     ui.txtTracking->setVisible(tracker->getTrackingActive());

     ui.txtAxisReverse->setVisible(tracker->getAxisReverse());

@@ -1009,16 +974,16 @@ THeadPoseData newdata;
 	// Get the output-pose and also display it.

 	//

 	if (_pose_display) {

-        tracker->getOutputHeadPose(&newdata);

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

+        tracker->getOutputHeadPose(newdata);

+        _pose_display->rotateBy(newdata[RY], newdata[RX], newdata[RZ]);

 

-		ui.lcdNumOutputPosX->display(QString("%1").arg(newdata.x, 0, 'f', 1));

-		ui.lcdNumOutputPosY->display(QString("%1").arg(newdata.y, 0, 'f', 1));

-		ui.lcdNumOutputPosZ->display(QString("%1").arg(newdata.z, 0, 'f', 1));

+        ui.lcdNumOutputPosX->display(QString("%1").arg(newdata[TX], 0, 'f', 1));

+        ui.lcdNumOutputPosY->display(QString("%1").arg(newdata[TY], 0, 'f', 1));

+        ui.lcdNumOutputPosZ->display(QString("%1").arg(newdata[TZ], 0, 'f', 1));

 

-		ui.lcdNumOutputRotX->display(QString("%1").arg(newdata.yaw, 0, 'f', 1));

-		ui.lcdNumOutputRotY->display(QString("%1").arg(newdata.pitch, 0, 'f', 1));

-		ui.lcdNumOutputRotZ->display(QString("%1").arg(newdata.roll, 0, 'f', 1));

+        ui.lcdNumOutputRotX->display(QString("%1").arg(newdata[RX], 0, 'f', 1));

+        ui.lcdNumOutputRotY->display(QString("%1").arg(newdata[RY], 0, 'f', 1));

+        ui.lcdNumOutputRotZ->display(QString("%1").arg(newdata[RZ], 0, 'f', 1));

 	}

 }

 

@@ -1866,45 +1831,46 @@ QWidget( parent , f)
 	QSettings settings("Abbequerque Inc.", "FaceTrackNoIR");	// Registry settings (in HK_USER)

 	QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();

 

-    ui.txconfig->setConfig(GlobalPose->X.curvePtr, currentFile);

-    ui.tyconfig->setConfig(GlobalPose->Y.curvePtr, currentFile);

-    ui.tzconfig->setConfig(GlobalPose->Z.curvePtr, currentFile);

-    ui.rxconfig->setConfig(GlobalPose->Yaw.curvePtr, currentFile);

-    ui.ryconfig->setConfig(GlobalPose->Pitch.curvePtr, currentFile);

-    ui.rzconfig->setConfig(GlobalPose->Roll.curvePtr, currentFile);

-    ui.txconfig_alt->setConfig(GlobalPose->X.curvePtrAlt, currentFile);

-    ui.tyconfig_alt->setConfig(GlobalPose->Y.curvePtrAlt, currentFile);

-    ui.tzconfig_alt->setConfig(GlobalPose->Z.curvePtrAlt, currentFile);

-    ui.rxconfig_alt->setConfig(GlobalPose->Yaw.curvePtrAlt, currentFile);

-    ui.ryconfig_alt->setConfig(GlobalPose->Pitch.curvePtrAlt, currentFile);

-    ui.rzconfig_alt->setConfig(GlobalPose->Roll.curvePtrAlt, currentFile);

+    QFunctionConfigurator* configs[6] = {

+        ui.txconfig,

+        ui.tyconfig,

+        ui.tzconfig,

+        ui.rxconfig,

+        ui.ryconfig,

+        ui.rzconfig

+    };

+

+    QFunctionConfigurator* alt_configs[6] = {

+        ui.txconfig_alt,

+        ui.tyconfig_alt,

+        ui.tzconfig_alt,

+        ui.rxconfig_alt,

+        ui.ryconfig_alt,

+        ui.rzconfig_alt

+    };

+

+    QCheckBox* checkboxes[6] = {

+        ui.rx_altp,

+        ui.ry_altp,

+        ui.rz_altp,

+        ui.tx_altp,

+        ui.ty_altp,

+        ui.tz_altp

+    };

+

+    for (int i = 0; i < 6; i++)

+    {

+        configs[i]->setConfig(GlobalPose->axes[i].curvePtr, currentFile);

+        alt_configs[i]->setConfig(GlobalPose->axes[i].curvePtrAlt, currentFile);

+        connect(configs[i], SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

+        connect(alt_configs[i], SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

+        connect(checkboxes[i], SIGNAL(stateChanged(int)), this, SLOT(curveChanged(int)));

+    }

 

 	// Connect Qt signals to member-functions

 	connect(ui.btnOK, SIGNAL(clicked()), this, SLOT(doOK()));

 	connect(ui.btnCancel, SIGNAL(clicked()), this, SLOT(doCancel()));

 

-    connect(ui.txconfig, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

-    connect(ui.txconfig, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

-

-

-    connect(ui.tyconfig, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

-    connect(ui.tzconfig, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

-    connect(ui.rxconfig, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

-    connect(ui.ryconfig, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

-    connect(ui.rzconfig, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

-    connect(ui.txconfig_alt, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

-    connect(ui.tyconfig_alt, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

-    connect(ui.tzconfig_alt, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

-    connect(ui.rxconfig_alt, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

-    connect(ui.ryconfig_alt, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

-    connect(ui.rzconfig_alt, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));

-    connect(ui.rx_altp, SIGNAL(stateChanged(int)), this, SLOT(curveChanged(int)));

-    connect(ui.ry_altp, SIGNAL(stateChanged(int)), this, SLOT(curveChanged(int)));

-    connect(ui.rz_altp, SIGNAL(stateChanged(int)), this, SLOT(curveChanged(int)));

-    connect(ui.tx_altp, SIGNAL(stateChanged(int)), this, SLOT(curveChanged(int)));

-    connect(ui.ty_altp, SIGNAL(stateChanged(int)), this, SLOT(curveChanged(int)));

-    connect(ui.tz_altp, SIGNAL(stateChanged(int)), this, SLOT(curveChanged(int)));

-

 	// Load the settings from the current .INI-file

 	loadSettings();

 }

@@ -1974,22 +1940,31 @@ void CurveConfigurationDialog::loadSettings() {
 

 	qDebug() << "loadSettings says: iniFile = " << currentFile;

 

-    GlobalPose->Yaw.altp = iniFile.value("rx_alt", false).toBool();

-    GlobalPose->Pitch.altp = iniFile.value("ry_alt", false).toBool();

-    GlobalPose->Roll.altp = iniFile.value("rz_alt", false).toBool();

-    GlobalPose->X.altp = iniFile.value("tx_alt", false).toBool();

-    GlobalPose->Y.altp = iniFile.value("ty_alt", false).toBool();

-    GlobalPose->Z.altp = iniFile.value("tz_alt", false).toBool();

-

-    ui.rx_altp->setChecked(GlobalPose->Yaw.altp);

-    ui.ry_altp->setChecked(GlobalPose->Pitch.altp);

-    ui.rz_altp->setChecked(GlobalPose->Roll.altp);

-    ui.tx_altp->setChecked(GlobalPose->X.altp);

-    ui.ty_altp->setChecked(GlobalPose->Y.altp);

-    ui.tz_altp->setChecked(GlobalPose->Z.altp);

-

-	settingsDirty = false;

+    static const char* names[] = {

+        "rx_alt",

+        "ry_alt",

+        "rz_alt",

+        "tx_alt",

+        "ty_alt",

+        "tz_alt"

+    };

+

+    for (int i = 0; i < 6; i++)

+        GlobalPose->axes[i].altp = iniFile.value(names[i], false).toBool();

+

+    static QCheckBox* widgets[] = {

+        ui.rx_altp,

+        ui.ry_altp,

+        ui.rz_altp,

+        ui.tx_altp,

+        ui.ty_altp,

+        ui.tz_altp

+    };

+

+    for (int i = 0; i < 6; i++)

+        widgets[i]->setChecked(GlobalPose->axes[i].altp);

 

+    settingsDirty = false;

 }

 

 //

diff --git a/facetracknoir/facetracknoir.h b/facetracknoir/facetracknoir.h
index e59c2190..40044ca5 100644
--- a/facetracknoir/facetracknoir.h
+++ b/facetracknoir/facetracknoir.h
@@ -211,12 +211,7 @@ private:
 		void showKeyboardShortcuts();

 		void showCurveConfiguration();

 

-		void setInvertYaw( int invert );

-		void setInvertPitch( int invert );

-		void setInvertRoll( int invert );

-		void setInvertX( int invert );

-		void setInvertY( int invert );

-		void setInvertZ( int invert );

+        void setInvertAxis( Axis axis, int invert );

 

 		void showHeadPose();

 

diff --git a/facetracknoir/tracker.cpp b/facetracknoir/tracker.cpp
index ed39765d..7f1201cc 100644
--- a/facetracknoir/tracker.cpp
+++ b/facetracknoir/tracker.cpp
@@ -80,26 +80,18 @@ Tracker::Tracker( FaceTrackNoIR *parent ) :
     should_quit(false),

     do_tracking(true),

     do_center(false),

-    do_inhibit(false),

     do_game_zero(false),

-    do_axis_reverse(false),

-    inhibit_rx(false),

-    inhibit_ry(false),

-    inhibit_rz(false),

-    inhibit_tx(false),

-    inhibit_ty(false),

-    inhibit_tz(false)

+    do_axis_reverse(false)

 {

     // Retieve the pointer to the parent

 	mainApp = parent;

 	// Load the settings from the INI-file

 	loadSettings();

-    GlobalPose->Yaw.headPos = 0;

-    GlobalPose->Pitch.headPos = 0;

-    GlobalPose->Roll.headPos = 0;

-    GlobalPose->X.headPos = 0;

-    GlobalPose->Y.headPos = 0;

-    GlobalPose->Z.headPos = 0;

+    for (int i = 0; i < 6; i++)

+    {

+        GlobalPose->axes[i].headPos = 0;

+        inhibit[i] = false;

+    }

 }

 

 Tracker::~Tracker()

@@ -142,53 +134,34 @@ void Tracker::run() {
     bool bTracker1Confid = false;

     bool bTracker2Confid = false;

     

-    THeadPoseData last;

-    THeadPoseData newpose;

-    THeadPoseData last_post_filter;

+    double newpose[6];

+    double last_post_filter[6];

     

     forever

 	{

         if (should_quit)

             break;

 

-        newpose.pitch = 0.0f;

-        newpose.roll = 0.0f;

-        newpose.yaw = 0.0f;

-        newpose.x = 0.0f;

-        newpose.y = 0.0f;

-        newpose.z = 0.0f;

+        for (int i = 0; i < 6; i++)

+            newpose[i] = 0;

 

         //

         // The second tracker serves as 'secondary'. So if an axis is written by the second tracker it CAN be overwritten by the Primary tracker.

         // This is enforced by the sequence below.

         //

         if (Libraries->pSecondTracker) {

-            bTracker2Confid = Libraries->pSecondTracker->GiveHeadPoseData(&newpose);

+            bTracker2Confid = Libraries->pSecondTracker->GiveHeadPoseData(newpose);

         }

 

         if (Libraries->pTracker) {

-            bTracker1Confid = Libraries->pTracker->GiveHeadPoseData(&newpose);

+            bTracker1Confid = Libraries->pTracker->GiveHeadPoseData(newpose);

         }

 

         confid = (bTracker1Confid || bTracker2Confid);

-        

-        bool newp = last.yaw != newpose.yaw ||

-                               last.pitch != newpose.pitch ||

-                               last.roll != newpose.roll ||

-                               last.x != newpose.x ||

-                               last.y != newpose.y ||

-                               last.z != newpose.z;

-        

-        if (newp)

-            last = newpose;

-                    

+

         if ( confid ) {

-            GlobalPose->Yaw.headPos = newpose.yaw;

-            GlobalPose->Pitch.headPos = newpose.pitch;

-            GlobalPose->Roll.headPos = newpose.roll;

-            GlobalPose->X.headPos = newpose.x;

-            GlobalPose->Y.headPos = newpose.y;

-            GlobalPose->Z.headPos = newpose.z;

+            for (int i = 0; i < 6; i++)

+                GlobalPose->axes[i].headPos = newpose[i];

         }

 

         //

@@ -199,12 +172,8 @@ void Tracker::run() {
             // Only copy valid values

             //

             if (confid) {

-                offset_camera.x     = GlobalPose->X.headPos;

-                offset_camera.y     = GlobalPose->Y.headPos;

-                offset_camera.z     = GlobalPose->Z.headPos;

-                offset_camera.pitch = GlobalPose->Pitch.headPos;

-                offset_camera.yaw   = GlobalPose->Yaw.headPos;

-                offset_camera.roll  = GlobalPose->Roll.headPos;

+                for (int i = 0; i < 6; i++)

+                    offset_camera.axes[i] = GlobalPose->axes[i].headPos;

             }

 

             Tracker::do_center = false;

@@ -212,8 +181,6 @@ void Tracker::run() {
             // for kalman

             if (Libraries->pFilter)

                 Libraries->pFilter->Initialize();

-            

-            last = newpose;

         }

         

         if (do_game_zero) {

@@ -223,12 +190,8 @@ void Tracker::run() {
 

         if (do_tracking && confid) {

             // get values

-            target_camera.x     = GlobalPose->X.headPos;

-            target_camera.y     = GlobalPose->Y.headPos;

-            target_camera.z     = GlobalPose->Z.headPos;

-            target_camera.pitch = GlobalPose->Pitch.headPos;

-            target_camera.yaw   = GlobalPose->Yaw.headPos;

-            target_camera.roll  = GlobalPose->Roll.headPos;

+            for (int i = 0; i < 6; i++)

+                target_camera.axes[i] = GlobalPose->axes[i].headPos;

 

             // do the centering

             target_camera = target_camera - offset_camera;

@@ -237,22 +200,19 @@ void Tracker::run() {
             // Use advanced filtering, when a filter was selected.

             //

             if (Libraries->pFilter) {

-                last_post_filter = gameoutput_camera;

-                Libraries->pFilter->FilterHeadPoseData(&current_camera, &target_camera, &new_camera, &last_post_filter, newp);

+                for (int i = 0; i < 6; i++)

+                    last_post_filter[i] = gameoutput_camera.axes[i];

+                Libraries->pFilter->FilterHeadPoseData(current_camera.axes, target_camera.axes, new_camera.axes, last_post_filter);

             }

             else {

                 new_camera = target_camera;

             }

 

-            get_curve(do_inhibit && inhibit_rx, inhibit_zero, new_camera.yaw, output_camera.yaw, GlobalPose->Yaw);

-            get_curve(do_inhibit && inhibit_ry, inhibit_zero, new_camera.pitch, output_camera.pitch, GlobalPose->Pitch);

-            get_curve(do_inhibit && inhibit_rz, inhibit_zero, new_camera.roll, output_camera.roll, GlobalPose->Roll);

-            get_curve(do_inhibit && inhibit_tx, inhibit_zero, new_camera.x, output_camera.x, GlobalPose->X);

-            get_curve(do_inhibit && inhibit_ty, inhibit_zero, new_camera.y, output_camera.y, GlobalPose->Y);

-            get_curve(do_inhibit && inhibit_tz, inhibit_zero, new_camera.z, output_camera.z, GlobalPose->Z);

+            for (int i = 0; i < 6; i++)

+                get_curve(do_inhibit && inhibit[i], inhibit_zero, new_camera.axes[i], output_camera.axes[i], GlobalPose->axes[i]);

 

             if (useAxisReverse) {

-                do_axis_reverse = ((fabs(output_camera.yaw) > YawAngle4ReverseAxis) && (output_camera.z < Z_Pos4ReverseAxis));

+                do_axis_reverse = ((fabs(output_camera.axes[RX]) > YawAngle4ReverseAxis) && (output_camera.axes[TZ] < Z_Pos4ReverseAxis));

             } else {

                 do_axis_reverse = false;

             }

@@ -261,7 +221,7 @@ void Tracker::run() {
             // Reverse Axis.

             //

             if (do_axis_reverse) {

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

+                output_camera.axes[TZ] = Z_PosWhenReverseAxis;	// Set the desired Z-position

             }

 

             //

@@ -269,7 +229,7 @@ void Tracker::run() {
             //

             if (Libraries->pProtocol) {

                 gameoutput_camera = output_camera + gamezero_camera;

-                Libraries->pProtocol->sendHeadposeToGame( &gameoutput_camera, &newpose );	// degrees & centimeters

+                Libraries->pProtocol->sendHeadposeToGame( gameoutput_camera.axes, newpose );	// degrees & centimeters

             }

         }

         else {

@@ -277,27 +237,16 @@ void Tracker::run() {
             // Go to initial position

             //

             if (Libraries->pProtocol && inhibit_zero) {

-                output_camera.pitch = 0.0f;

-                output_camera.yaw = 0.0f;

-                output_camera.roll = 0.0f;

-                output_camera.x = 0.0f;

-                output_camera.y = 0.0f;

-                output_camera.z = 0.0f;

+                for (int i = 0; i < 6; i++)

+                    output_camera.axes[i] = 0;

                 gameoutput_camera = output_camera + gamezero_camera;

-                Libraries->pProtocol->sendHeadposeToGame( &gameoutput_camera, &newpose );				// degrees & centimeters

+                Libraries->pProtocol->sendHeadposeToGame( gameoutput_camera.axes, newpose );				// degrees & centimeters

+            }

+            for (int i = 0; i < 6; i++)

+            {

+                GlobalPose->axes[i].curvePtr->setTrackingActive(false);

+                GlobalPose->axes[i].curvePtrAlt->setTrackingActive(false);

             }

-            GlobalPose->X.curvePtr->setTrackingActive( false );

-            GlobalPose->Y.curvePtr->setTrackingActive( false );

-            GlobalPose->Z.curvePtr->setTrackingActive( false );

-            GlobalPose->Yaw.curvePtr->setTrackingActive( false );

-            GlobalPose->Pitch.curvePtr->setTrackingActive( false );

-            GlobalPose->Roll.curvePtr->setTrackingActive( false );

-            GlobalPose->X.curvePtrAlt->setTrackingActive( false );

-            GlobalPose->Y.curvePtrAlt->setTrackingActive( false );

-            GlobalPose->Z.curvePtrAlt->setTrackingActive( false );

-            GlobalPose->Yaw.curvePtrAlt->setTrackingActive( false );

-            GlobalPose->Pitch.curvePtrAlt->setTrackingActive( false );

-            GlobalPose->Roll.curvePtrAlt->setTrackingActive( false );

             if (Libraries->pFilter)

                 Libraries->pFilter->Initialize();

         }

@@ -306,13 +255,11 @@ void Tracker::run() {
         usleep(1000);

     }

 

-    GlobalPose->X.curvePtr->setTrackingActive( false );

-    GlobalPose->Y.curvePtr->setTrackingActive( false );

-    GlobalPose->Z.curvePtr->setTrackingActive( false );

-    GlobalPose->Yaw.curvePtr->setTrackingActive( false );

-    GlobalPose->Pitch.curvePtr->setTrackingActive( false );

-    GlobalPose->Pitch.curvePtrAlt->setTrackingActive( false );

-    GlobalPose->Roll.curvePtr->setTrackingActive( false );

+    for (int i = 0; i < 6; i++)

+    {

+        GlobalPose->axes[i].curvePtr->setTrackingActive(false);

+        GlobalPose->axes[i].curvePtrAlt->setTrackingActive(false);

+    }

 }

 

 //

@@ -352,27 +299,19 @@ bool Tracker::handleGameCommand ( int command ) {
 //

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

 //

-void Tracker::getHeadPose( THeadPoseData *data ) {

-    data->x = GlobalPose->X.headPos;				// centimeters

-    data->y = GlobalPose->Y.headPos;

-    data->z = GlobalPose->Z.headPos;

-

-    data->pitch = GlobalPose->Pitch.headPos;		// degrees

-    data->yaw = GlobalPose->Yaw.headPos;

-    data->roll = GlobalPose->Roll.headPos;

+void Tracker::getHeadPose( double *data ) {

+    for (int i = 0; i < 6; i++)

+    {

+        data[i] = GlobalPose->axes[i].headPos;

+    }

 }

 

 //

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

 //

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

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

-	data->y = output_camera.y;

-	data->z = output_camera.z;

-

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

-	data->yaw   = output_camera.yaw;

-	data->roll  = output_camera.roll;

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

+    for (int i = 0; i < 6; i++)

+        data[i] = output_camera.axes[i];

 }

 

 //

@@ -395,19 +334,22 @@ void Tracker::loadSettings() {
     YawAngle4ReverseAxis = iniFile.value ( "RA_Yaw", 40 ).toInt();

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

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

-    inhibit_rx = iniFile.value("Inhibit_Yaw", false).toBool();

-    inhibit_ry = iniFile.value("Inhibit_Pitch", false).toBool();

-    inhibit_rz = iniFile.value("Inhibit_Roll", false).toBool();

-    inhibit_tx = iniFile.value("Inhibit_X", false).toBool();

-    inhibit_ty = iniFile.value("Inhibit_Y", false).toBool();

-    inhibit_tz = iniFile.value("Inhibit_Z", false).toBool();

+

+    static const char* names[] = {

+        "Inhibit_Yaw",

+        "Inhibit_Pitch",

+        "Inhibit_Roll",

+        "Inhibit_X",

+        "Inhibit_Y",

+        "Inhibit_Z"

+    };

+

+    for (int i = 0; i < 6; i++)

+    {

+        inhibit[i] = iniFile.value(names[i], false).toBool();

+    }

     inhibit_zero = iniFile.value("SetZero", false).toBool(); 

 	iniFile.endGroup ();

 }

 

-void Tracker::setInvertPitch(bool invert) { GlobalPose->Pitch.invert = invert?-1.0f:1.0f; }

-void Tracker::setInvertYaw(bool invert) { GlobalPose->Yaw.invert = invert?-1.0f:+1.0f; }

-void Tracker::setInvertRoll(bool invert) { GlobalPose->Roll.invert = invert?-1.0f:+1.0f; }

-void Tracker::setInvertX(bool invert) { GlobalPose->X.invert = invert?-1.0f:+1.0f; }

-void Tracker::setInvertY(bool invert) { GlobalPose->Y.invert = invert?-1.0f:+1.0f; }

-void Tracker::setInvertZ(bool invert) { GlobalPose->Z.invert = invert?-1.0f:+1.0f; }

+void Tracker::setInvertAxis(Axis axis, bool invert) { GlobalPose->axes[axis].invert = invert?-1.0f:1.0f; }

diff --git a/facetracknoir/tracker.h b/facetracknoir/tracker.h
index e413c8d7..5dc48f60 100644
--- a/facetracknoir/tracker.h
+++ b/facetracknoir/tracker.h
@@ -37,6 +37,7 @@
 #include <QDebug>

 #include <QMutex>

 #include "global-settings.h"

+#include <ftnoir_tracker_base/ftnoir_tracker_types.h>

 

 //#define DIRECTINPUT_VERSION 0x0800

 //#include <Dinput.h>

@@ -101,13 +102,17 @@ extern HeadPoseData* GlobalPose;
 //

 class THeadPoseDOF {

 public:

-    THeadPoseDOF(QString primary, QString secondary, int maxInput1 = 50, int maxOutput1 = 180, int maxInput2 = 50, int maxOutput2 = 90) {

+    THeadPoseDOF(QString primary = "", QString secondary= "", int maxInput1 = 50, int maxOutput1 = 180, int maxInput2 = 50, int maxOutput2 = 90) {

         QSettings settings("Abbequerque Inc.", "FaceTrackNoIR");							// Registry settings (in HK_USER)

         QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();

         QSettings iniFile( currentFile, QSettings::IniFormat );								// Application settings (in INI-file)

 

-        curvePtr = new FunctionConfig(primary, maxInput1, maxOutput1);						// Create the Function-config for input-output translation

-        curvePtr->loadSettings(iniFile);													// Load the settings from the INI-file

+        if (primary != "")

+        {

+            curvePtr = new FunctionConfig(primary, maxInput1, maxOutput1);						// Create the Function-config for input-output translation

+            curvePtr->loadSettings(iniFile);													// Load the settings from the INI-file

+        }

+

         if (secondary != "")

         {

             curvePtrAlt = new FunctionConfig(secondary, maxInput2, maxOutput2);

@@ -133,7 +138,9 @@ private:
     float Z_Pos4ReverseAxis;

     float Z_PosWhenReverseAxis;

     

-    volatile bool inhibit_rx, inhibit_ry, inhibit_rz, inhibit_tx, inhibit_ty, inhibit_tz, inhibit_zero;

+

+    volatile bool inhibit[6];

+    volatile bool inhibit_zero;

 

     FaceTrackNoIR *mainApp;

 

@@ -157,15 +164,10 @@ public:
 

     bool getConfid() { return confid; }

 

-    void setInvertPitch(bool invert);

-    void setInvertYaw(bool invert);

-    void setInvertRoll(bool invert);

-    void setInvertX(bool invert);

-    void setInvertY(bool invert);

-    void setInvertZ(bool invert);

+    void setInvertAxis(Axis axis, bool invert);

 

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

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

+    void getHeadPose(double *data);				// Return the current headpose data

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

 

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

     float getRadsFromDegrees ( float degrees ) { return (degrees * 0.017453f); }

@@ -185,20 +187,15 @@ public:
 

 struct HeadPoseData {

 public:

-    THeadPoseDOF Pitch;

-    THeadPoseDOF Yaw;

-    THeadPoseDOF Roll;

-    THeadPoseDOF X;

-    THeadPoseDOF Y;

-    THeadPoseDOF Z;

-    HeadPoseData() :

-        Pitch("ry", "ry_alt", 60, 180, 60, 90),

-        Yaw("rx", "rx_alt", 60, 180, 60, 180),

-        Roll("rz", "rz_alt", 60, 180, 60, 180),

-        X("tx","tx_alt", 60, 200, 60, 200),

-        Y("ty","ty_alt", 60, 200, 60, 200),

-        Z("tz","tz_alt", 60, 200, 60, 200)

+    THeadPoseDOF axes[6];

+    HeadPoseData()

     {

+        axes[TX] = THeadPoseDOF("tx","tx_alt", 60, 200, 60, 200);

+        axes[TY] = THeadPoseDOF("ty","ty_alt", 60, 200, 60, 200);

+        axes[TZ] = THeadPoseDOF("tz","tz_alt", 60, 200, 60, 200);

+        axes[RX] = THeadPoseDOF("rx", "rx_alt", 60, 180, 60, 180);

+        axes[RY] = THeadPoseDOF("ry", "ry_alt", 60, 180, 60, 90);

+        axes[RZ] = THeadPoseDOF("rz", "rz_alt", 60, 180, 60, 180);

     }

 };

 

diff --git a/facetracknoir/tracker_types.cpp b/facetracknoir/tracker_types.cpp
index 5a6126ff..82109952 100644
--- a/facetracknoir/tracker_types.cpp
+++ b/facetracknoir/tracker_types.cpp
@@ -7,38 +7,38 @@
 

 T6DOF operator-(const T6DOF& A, const T6DOF& B)

 {

-	Rotation R_A(A.yaw*D2R, A.pitch*D2R, A.roll*D2R);

-	Rotation R_B(B.yaw*D2R, B.pitch*D2R, B.roll*D2R);

+    Rotation R_A(A.axes[RX]*D2R, A.axes[RY]*D2R, A.axes[RZ]*D2R);

+    Rotation R_B(B.axes[RX]*D2R, B.axes[RY]*D2R, B.axes[RZ]*D2R);

 	Rotation R_C = R_A * R_B.inv();

 

 	T6DOF C;

-	R_C.toEuler(C.yaw, C.pitch, C.roll);

-	C.yaw *= R2D;

-	C.pitch *= R2D;

-	C.roll *= R2D;

+    R_C.toEuler(C.axes[RX], C.axes[RY], C.axes[RZ]);

+    C.axes[RX] *= R2D;

+    C.axes[RY] *= R2D;

+    C.axes[RZ] *= R2D;

 

-	C.x = A.x - B.x;

-	C.y = A.y - B.y;

-	C.z = A.z - B.z;

+    C.axes[TX] = A.axes[TX] + B.axes[TX];

+    C.axes[TY] = A.axes[TY] + B.axes[TY];

+    C.axes[TZ] = A.axes[TZ] + B.axes[TZ];

 	//C.frame_number?

 	return C;

 }

 

 T6DOF operator+(const T6DOF& A, const T6DOF& B)

 {

-	Rotation R_A(A.yaw*D2R, A.pitch*D2R, A.roll*D2R);

-	Rotation R_B(B.yaw*D2R, B.pitch*D2R, B.roll*D2R);

+    Rotation R_A(A.axes[RX]*D2R, A.axes[RY]*D2R, A.axes[RZ]*D2R);

+    Rotation R_B(B.axes[RX]*D2R, B.axes[RY]*D2R, B.axes[RZ]*D2R);

 	Rotation R_C = R_A * R_B;

 

 	T6DOF C;

-	R_C.toEuler(C.yaw, C.pitch, C.roll);

-	C.yaw *= R2D;

-	C.pitch *= R2D;

-	C.roll *= R2D;

+    R_C.toEuler(C.axes[RX], C.axes[RY], C.axes[RZ]);

+    C.axes[RX] *= R2D;

+    C.axes[RY] *= R2D;

+    C.axes[RZ] *= R2D;

 

-	C.x = A.x + B.x;

-	C.y = A.y + B.y;

-	C.z = A.z + B.z;

+    C.axes[TX] = A.axes[TX] + B.axes[TX];

+    C.axes[TY] = A.axes[TY] + B.axes[TY];

+    C.axes[TZ] = A.axes[TZ] + B.axes[TZ];

 	//C.frame_number?

 	return C;

 }

diff --git a/facetracknoir/tracker_types.h b/facetracknoir/tracker_types.h
index d8e7ecee..94d96de5 100644
--- a/facetracknoir/tracker_types.h
+++ b/facetracknoir/tracker_types.h
@@ -30,13 +30,9 @@
 

 #include "ftnoir_tracker_base/ftnoir_tracker_types.h"

 

-class T6DOF : public THeadPoseData

-{

+struct T6DOF {

 public:

-    T6DOF() : THeadPoseData() {}

-

-	T6DOF(double x, double y, double z, double yaw, double pitch, double roll) 

-		:  THeadPoseData(x,y,z, yaw,pitch,roll) {}

+    double axes[6];

 };

 

 T6DOF operator-(const T6DOF& A, const T6DOF& B); // get new pose with respect to reference pose B