Merge branch 'unstable' of https://github.com/opentrack/opentrack into dev/kalman

Conflicts:
	ftnoir_filter_kalman/ftnoir_filter_kalman.h

5 files changed, 39 insertions, 246 deletions

diff --git a/ftnoir_tracker_hydra/ftnoir_hydra_clientcontrols.ui b/ftnoir_tracker_hydra/ftnoir_hydra_clientcontrols.ui
index e5e41bec..7cfac075 100644
--- a/ftnoir_tracker_hydra/ftnoir_hydra_clientcontrols.ui
+++ b/ftnoir_tracker_hydra/ftnoir_hydra_clientcontrols.ui
@@ -9,8 +9,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>172</width>
-    <height>145</height>
+    <width>190</width>
+    <height>62</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -26,167 +26,15 @@
   <property name="autoFillBackground">
    <bool>false</bool>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout">
-   <item>
-    <widget class="QGroupBox" name="groupBox_3">
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>85</height>
-      </size>
+  <layout class="QFormLayout" name="formLayout">
+   <item row="0" column="0">
+    <widget class="QLabel" name="label">
+     <property name="text">
+      <string>None whatsoever</string>
      </property>
-     <property name="title">
-      <string>Enable Axis</string>
-     </property>
-     <layout class="QGridLayout" name="gridLayout">
-      <item row="0" column="0">
-       <widget class="QLabel" name="label_61">
-        <property name="text">
-         <string>Pitch:</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="1">
-       <widget class="QCheckBox" name="chkEnablePitch">
-        <property name="maximumSize">
-         <size>
-          <width>20</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="layoutDirection">
-         <enum>Qt::LeftToRight</enum>
-        </property>
-        <property name="styleSheet">
-         <string notr="true"/>
-        </property>
-        <property name="text">
-         <string/>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="2">
-       <widget class="QLabel" name="label_6">
-        <property name="text">
-         <string>X:</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="3">
-       <widget class="QCheckBox" name="chkEnableX">
-        <property name="maximumSize">
-         <size>
-          <width>20</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="layoutDirection">
-         <enum>Qt::LeftToRight</enum>
-        </property>
-        <property name="styleSheet">
-         <string notr="true"/>
-        </property>
-        <property name="text">
-         <string/>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="0">
-       <widget class="QLabel" name="label_91">
-        <property name="text">
-         <string>Yaw:</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="1">
-       <widget class="QCheckBox" name="chkEnableYaw">
-        <property name="maximumSize">
-         <size>
-          <width>20</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="layoutDirection">
-         <enum>Qt::LeftToRight</enum>
-        </property>
-        <property name="text">
-         <string/>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="2">
-       <widget class="QLabel" name="label_9">
-        <property name="text">
-         <string>Y:</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="3">
-       <widget class="QCheckBox" name="chkEnableY">
-        <property name="maximumSize">
-         <size>
-          <width>20</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="layoutDirection">
-         <enum>Qt::LeftToRight</enum>
-        </property>
-        <property name="text">
-         <string/>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="0">
-       <widget class="QLabel" name="label_111">
-        <property name="text">
-         <string>Roll:</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="1">
-       <widget class="QCheckBox" name="chkEnableRoll">
-        <property name="maximumSize">
-         <size>
-          <width>20</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="layoutDirection">
-         <enum>Qt::LeftToRight</enum>
-        </property>
-        <property name="text">
-         <string/>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="2">
-       <widget class="QLabel" name="label_11">
-        <property name="text">
-         <string>Z:</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="3">
-       <widget class="QCheckBox" name="chkEnableZ">
-        <property name="maximumSize">
-         <size>
-          <width>20</width>
-          <height>16777215</height>
-         </size>
-        </property>
-        <property name="layoutDirection">
-         <enum>Qt::LeftToRight</enum>
-        </property>
-        <property name="text">
-         <string/>
-        </property>
-       </widget>
-      </item>
-     </layout>
     </widget>
    </item>
-   <item>
+   <item row="1" column="0">
     <widget class="QDialogButtonBox" name="buttonBox">
      <property name="standardButtons">
       <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp
index 70af2893..b7d078c2 100644
--- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp
+++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp
@@ -1,20 +1,17 @@
 /* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */
 #include "ftnoir_tracker_hydra.h"
-#include "facetracknoir/global-settings.h"
-#include "facetracknoir/rotation.h"
+#include "facetracknoir/plugin-support.h"
 #include <cstdio>
 #ifdef _WIN32
 #   define SIXENSE_STATIC_LIB
 #   define SIXENSE_UTILS_STATIC_LIB
 #endif
 #include <sixense.h>
-#include <sixense_math.hpp>
 
-Hydra_Tracker::Hydra_Tracker() : should_quit(false)
-{
-    for (int i = 0; i < 6; i++)
-        newHeadPose[i] = 0;
-}
+Hydra_Tracker::Hydra_Tracker() : should_quit(false) {}
+
+#pragma GCC diagnostic ignored "-Wreorder"
+#include <sixense_math.hpp>
 
 Hydra_Tracker::~Hydra_Tracker()
 {
@@ -38,36 +35,16 @@ void Hydra_Tracker::GetHeadPoseData(double *data)
 	float ypr[3];
 	
 	mat.getEulerAngles().fill(ypr);
-    newHeadPose[Yaw] = ypr[0];
-    newHeadPose[Pitch] = ypr[1];
-	newHeadPose[Roll] = ypr[2];
-
-	
-	newHeadPose[TX] = acd.controllers[0].pos[0]/50.0f;
-	newHeadPose[TY] = acd.controllers[0].pos[1]/50.0f;
-	newHeadPose[TZ] = acd.controllers[0].pos[2]/50.0f;
-		
-    if (s.bEnableX) {
-        data[TX] = newHeadPose[TX];
-    }
-    if (s.bEnableY) {
-        data[TY] = newHeadPose[TY];
-    }
-    if (s.bEnableY) {
-        data[TZ] = newHeadPose[TZ];
-    }
-    if (s.bEnableYaw) {
-        data[Yaw] = newHeadPose[Yaw] * 57.295781f;
-    }
-    if (s.bEnablePitch) {
-        data[Pitch] = newHeadPose[Pitch] * 57.295781f;
-    }
-    if (s.bEnableRoll) {
-        data[Roll] = newHeadPose[Roll] * 57.295781f;
-    }
+    data[TX] = acd.controllers[0].pos[0]/50.0;
+    data[TY] = acd.controllers[0].pos[1]/50.0;
+    data[TZ] = acd.controllers[0].pos[2]/50.0;
+    static constexpr double r2d = 57.295781;
+    data[Yaw] = ypr[0] * r2d;
+    data[Pitch] = ypr[1] * r2d;
+    data[Roll] = ypr[2] * r2d;
 }
 
-extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor()
+extern "C" OPENTRACK_EXPORT ITracker* GetConstructor()
 {
     return new Hydra_Tracker;
 }
diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h
index 05a8b076..672efa28 100644
--- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h
+++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h
@@ -1,65 +1,49 @@
-#include "ftnoir_tracker_base/ftnoir_tracker_base.h"
 #include "ui_ftnoir_hydra_clientcontrols.h"
-#include <QMessageBox>
-#include <QWaitCondition>
-#include <math.h>
-#include "facetracknoir/global-settings.h"
+#include "facetracknoir/plugin-api.hpp"
 #include "facetracknoir/options.h"
 using namespace options;
 
 struct settings {
     pbundle b;
-    value<bool> bEnableRoll, bEnablePitch, bEnableYaw, bEnableX, bEnableY, bEnableZ;
     settings() :
-        b(bundle("tracker-hydra")),
-        bEnableRoll(b, "enable-rz", true),
-        bEnablePitch(b, "enable-ry", true),
-        bEnableYaw(b, "enable-rx", true),
-        bEnableX(b, "enable-tx", true),
-        bEnableY(b, "enable-ty", true),
-        bEnableZ(b, "enable-tz", true)
+        b(bundle("tracker-hydra"))
     {}
 };
 
 class Hydra_Tracker : public ITracker
 {
 public:
-	Hydra_Tracker();
+    Hydra_Tracker();
     ~Hydra_Tracker();
-    void StartTracker(QFrame *) virt_override;
-    void GetHeadPoseData(double *data) virt_override;
+    void StartTracker(QFrame *) override;
+    void GetHeadPoseData(double *data) override;
     volatile bool should_quit;
-protected:
-	void run();												// qthread override run method
 private:
     settings s;
-	bool isCalibrated;
-    double newHeadPose[6];								// Structure with new headpose
     QMutex mutex;
-    virtual int preferredHz() virt_override { return 250; }
 };
 
 class TrackerControls: public QWidget, public ITrackerDialog
 {
     Q_OBJECT
 public:
-	explicit TrackerControls();
+    explicit TrackerControls();
     void registerTracker(ITracker *) {}
     void unRegisterTracker() {}
 private:
     settings s;
-	Ui::UIHydraControls ui;
+    Ui::UIHydraControls ui;
 private slots:
-	void doOK();
-	void doCancel();
+    void doOK();
+    void doCancel();
 };
 
 class FTNoIR_TrackerDll : public Metadata
 {
 public:
-	void getFullName(QString *strToBeFilled);
-	void getShortName(QString *strToBeFilled);
-	void getDescription(QString *strToBeFilled);
-	void getIcon(QIcon *icon);
+    void getFullName(QString *strToBeFilled);
+    void getShortName(QString *strToBeFilled);
+    void getDescription(QString *strToBeFilled);
+    void getIcon(QIcon *icon);
 };
 
diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp
index 14be2c37..c81ddce7 100644
--- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp
+++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp
@@ -1,5 +1,5 @@
 #include "ftnoir_tracker_hydra.h"
-#include "facetracknoir/global-settings.h"
+#include "facetracknoir/plugin-support.h"
 
 TrackerControls::TrackerControls() :
 QWidget()
@@ -9,13 +9,6 @@ QWidget()
 	// Connect Qt signals to member-functions
     connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
     connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
-
-    tie_setting(s.bEnableYaw, ui.chkEnableYaw);
-    tie_setting(s.bEnablePitch, ui.chkEnablePitch);
-    tie_setting(s.bEnableRoll, ui.chkEnableRoll);
-    tie_setting(s.bEnableX, ui.chkEnableX);
-    tie_setting(s.bEnableY, ui.chkEnableY);
-    tie_setting(s.bEnableZ, ui.chkEnableZ);
 }
 
 void TrackerControls::doOK() {
@@ -24,11 +17,11 @@ void TrackerControls::doOK() {
 }
 
 void TrackerControls::doCancel() {
-    s.b->revert();
+    s.b->reload();
     close();
 }
 
-extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( )
+extern "C" OPENTRACK_EXPORT ITrackerDialog* GetDialog( )
 {
     return new TrackerControls;
 }
diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp
index a2cc7c01..18efea05 100644
--- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp
+++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp
@@ -1,7 +1,7 @@
 /* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */
 #include "ftnoir_tracker_hydra.h"
 #include <QDebug>
-#include "facetracknoir/global-settings.h"
+#include "facetracknoir/plugin-support.h"
 
 void FTNoIR_TrackerDll::getFullName(QString *strToBeFilled)
 {
@@ -23,16 +23,7 @@ void FTNoIR_TrackerDll::getIcon(QIcon *icon)
     *icon = QIcon(":/images/facetracknoir.png");
 }
 
-////////////////////////////////////////////////////////////////////////////////
-// Factory function that creates instances if the Tracker object.
-
-// Export both decorated and undecorated names.
-//   GetTrackerDll     - Undecorated name, which can be easily used with GetProcAddress
-//						Win32 API function.
-//   _GetTrackerDll@0  - Common name decoration for __stdcall functions in C language.
-//#pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0")
-
-extern "C" FTNOIR_TRACKER_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata()
+extern "C" OPENTRACK_EXPORT Metadata* GetMetadata()
 {
 	return new FTNoIR_TrackerDll;
 }