diff options
25 files changed, 281 insertions, 1621 deletions
diff --git a/ftnoir_tracker_aruco/aruco-trackercontrols.ui b/ftnoir_tracker_aruco/aruco-trackercontrols.ui index be237e3c..e5654bd5 100644 --- a/ftnoir_tracker_aruco/aruco-trackercontrols.ui +++ b/ftnoir_tracker_aruco/aruco-trackercontrols.ui @@ -10,7 +10,7 @@ <x>0</x> <y>0</y> <width>636</width> - <height>346</height> + <height>368</height> </rect> </property> <property name="sizePolicy"> @@ -19,243 +19,239 @@ <verstretch>0</verstretch> </sizepolicy> </property> - <property name="maximumSize"> - <size> - <width>6666</width> - <height>6666</height> - </size> - </property> <property name="windowTitle"> - <string>HT tracker settings</string> + <string>Tracker settings</string> </property> - <layout class="QGridLayout" name="gridLayout"> - <property name="spacing"> - <number>7</number> - </property> - <item row="9" column="1" rowspan="3"> - <widget class="QGroupBox" name="groupBox_2"> + <layout class="QGridLayout" name="gridLayout_3"> + <item row="0" column="0" rowspan="2" colspan="2"> + <widget class="QGroupBox" name="groupBox"> <property name="title"> - <string>Head position</string> + <string/> </property> - <property name="alignment"> - <set>Qt::AlignCenter</set> + <property name="flat"> + <bool>true</bool> </property> - <layout class="QGridLayout" name="gridLayout_2"> - <item row="2" column="0"> - <widget class="QLabel" name="label_7"> - <property name="text"> - <string>TY</string> - </property> - </widget> - </item> - <item row="1" column="0"> - <widget class="QLabel" name="label_5"> + <layout class="QGridLayout" name="gridLayout"> + <item row="0" column="0"> + <widget class="QLabel" name="label"> <property name="text"> - <string>TX</string> + <string>Horizontal FOV</string> </property> </widget> </item> - <item row="1" column="1"> - <widget class="QDoubleSpinBox" name="cx"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Minimum" vsizetype="Minimum"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> + <item row="0" column="1"> + <widget class="QDoubleSpinBox" name="cameraFOV"> + <property name="locale"> + <locale language="English" country="UnitedStates"/> </property> <property name="minimum"> - <double>-10000.000000000000000</double> + <double>35.000000000000000</double> </property> <property name="maximum"> - <double>10000.000000000000000</double> + <double>180.000000000000000</double> + </property> + <property name="value"> + <double>52.000000000000000</double> </property> </widget> </item> - <item row="3" column="0"> - <widget class="QLabel" name="label_8"> + <item row="1" column="0"> + <widget class="QLabel" name="label_2"> <property name="text"> - <string>TZ</string> + <string>Frames per second</string> </property> </widget> </item> - <item row="3" column="1"> - <widget class="QDoubleSpinBox" name="cz"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Minimum" vsizetype="Minimum"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="minimum"> - <double>-10000.000000000000000</double> - </property> - <property name="maximum"> - <double>10000.000000000000000</double> - </property> + <item row="1" column="1"> + <widget class="QComboBox" name="cameraFPS"> + <item> + <property name="text"> + <string notr="true">Default</string> + </property> + </item> + <item> + <property name="text"> + <string>30</string> + </property> + </item> + <item> + <property name="text"> + <string>60</string> + </property> + </item> + <item> + <property name="text"> + <string>120</string> + </property> + </item> + <item> + <property name="text"> + <string>180</string> + </property> + </item> </widget> </item> - <item row="2" column="1"> - <widget class="QDoubleSpinBox" name="cy"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Minimum" vsizetype="Minimum"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="minimum"> - <double>-10000.000000000000000</double> - </property> - <property name="maximum"> - <double>10000.000000000000000</double> + <item row="2" column="0"> + <widget class="QLabel" name="label_3"> + <property name="text"> + <string>Camera name</string> </property> </widget> </item> - <item row="4" column="1"> - <widget class="QPushButton" name="btn_calibrate"> + <item row="2" column="1"> + <widget class="QComboBox" name="cameraName"/> + </item> + <item row="3" column="0"> + <widget class="QLabel" name="label_4"> <property name="text"> - <string>Calibrate</string> + <string>Resolution</string> </property> </widget> </item> - </layout> - </widget> - </item> - <item row="0" column="3" rowspan="3" colspan="2"> - <widget class="QGroupBox" name="groupBox"> - <property name="title"> - <string>Enable axes</string> - </property> - <layout class="QFormLayout" name="formLayout"> - <property name="horizontalSpacing"> - <number>7</number> - </property> - <property name="leftMargin"> - <number>6</number> - </property> - <property name="topMargin"> - <number>0</number> - </property> - <property name="rightMargin"> - <number>6</number> - </property> - <property name="bottomMargin"> - <number>0</number> - </property> - <item row="0" column="0"> - <widget class="QCheckBox" name="rx"> - <property name="text"> - <string>RX</string> - </property> + <item row="3" column="1"> + <widget class="QComboBox" name="resolution"> + <item> + <property name="text"> + <string>640x480</string> + </property> + </item> + <item> + <property name="text"> + <string>320x240</string> + </property> + </item> + <item> + <property name="text"> + <string>320x200</string> + </property> + </item> + <item> + <property name="text"> + <string>Default (not recommended!)</string> + </property> + </item> </widget> </item> - <item row="0" column="1"> - <widget class="QCheckBox" name="tx"> + <item row="4" column="0"> + <widget class="QLabel" name="label_10"> <property name="text"> - <string>TX</string> + <string>Red channel only</string> </property> </widget> </item> - <item row="1" column="0"> - <widget class="QCheckBox" name="ry"> + <item row="4" column="1"> + <widget class="QCheckBox" name="red_only"> <property name="text"> - <string>RY</string> + <string>Mileage may vary</string> </property> </widget> </item> - <item row="1" column="1"> - <widget class="QCheckBox" name="ty"> + <item row="5" column="0"> + <widget class="QLabel" name="label_9"> <property name="text"> - <string>TY</string> + <string>Marker pitch</string> </property> </widget> </item> - <item row="2" column="0"> - <widget class="QCheckBox" name="rz"> - <property name="text"> - <string>RZ</string> + <item row="5" column="1"> + <widget class="QDoubleSpinBox" name="marker_pitch"> + <property name="minimum"> + <double>-180.000000000000000</double> + </property> + <property name="maximum"> + <double>180.000000000000000</double> </property> </widget> </item> - <item row="2" column="1"> - <widget class="QCheckBox" name="tz"> - <property name="text"> - <string>TZ</string> + <item row="6" column="1"> + <widget class="QGroupBox" name="groupBox_2"> + <property name="title"> + <string>Head center</string> </property> + <layout class="QGridLayout" name="gridLayout_2"> + <item row="4" column="1"> + <widget class="QPushButton" name="btn_calibrate"> + <property name="text"> + <string>Calibrate</string> + </property> + </widget> + </item> + <item row="1" column="0"> + <widget class="QLabel" name="label_5"> + <property name="text"> + <string>TX</string> + </property> + </widget> + </item> + <item row="2" column="1"> + <widget class="QDoubleSpinBox" name="cy"> + <property name="sizePolicy"> + <sizepolicy hsizetype="Minimum" vsizetype="Minimum"> + <horstretch>0</horstretch> + <verstretch>0</verstretch> + </sizepolicy> + </property> + <property name="minimum"> + <double>-10000.000000000000000</double> + </property> + <property name="maximum"> + <double>10000.000000000000000</double> + </property> + </widget> + </item> + <item row="1" column="1"> + <widget class="QDoubleSpinBox" name="cx"> + <property name="sizePolicy"> + <sizepolicy hsizetype="Minimum" vsizetype="Minimum"> + <horstretch>0</horstretch> + <verstretch>0</verstretch> + </sizepolicy> + </property> + <property name="minimum"> + <double>-10000.000000000000000</double> + </property> + <property name="maximum"> + <double>10000.000000000000000</double> + </property> + </widget> + </item> + <item row="3" column="1"> + <widget class="QDoubleSpinBox" name="cz"> + <property name="sizePolicy"> + <sizepolicy hsizetype="Minimum" vsizetype="Minimum"> + <horstretch>0</horstretch> + <verstretch>0</verstretch> + </sizepolicy> + </property> + <property name="minimum"> + <double>-10000.000000000000000</double> + </property> + <property name="maximum"> + <double>10000.000000000000000</double> + </property> + </widget> + </item> + <item row="3" column="0"> + <widget class="QLabel" name="label_8"> + <property name="text"> + <string>TZ</string> + </property> + </widget> + </item> + <item row="2" column="0"> + <widget class="QLabel" name="label_7"> + <property name="text"> + <string>TY</string> + </property> + </widget> + </item> + </layout> </widget> </item> </layout> </widget> </item> - <item row="1" column="0"> - <widget class="QLabel" name="label_2"> - <property name="text"> - <string>Frames per second</string> - </property> - </widget> - </item> - <item row="2" column="1" colspan="2"> - <widget class="QComboBox" name="cameraName"/> - </item> - <item row="1" column="1" colspan="2"> - <widget class="QComboBox" name="cameraFPS"> - <item> - <property name="text"> - <string notr="true">Default</string> - </property> - </item> - <item> - <property name="text"> - <string>30</string> - </property> - </item> - <item> - <property name="text"> - <string>60</string> - </property> - </item> - <item> - <property name="text"> - <string>120</string> - </property> - </item> - <item> - <property name="text"> - <string>180</string> - </property> - </item> - </widget> - </item> - <item row="7" column="1"> - <widget class="QCheckBox" name="red_only"> - <property name="text"> - <string>Recommended!</string> - </property> - </widget> - </item> - <item row="2" column="0"> - <widget class="QLabel" name="label_3"> - <property name="text"> - <string>Camera name</string> - </property> - </widget> - </item> - <item row="0" column="1" colspan="2"> - <widget class="QDoubleSpinBox" name="cameraFOV"> - <property name="locale"> - <locale language="English" country="UnitedStates"/> - </property> - <property name="minimum"> - <double>35.000000000000000</double> - </property> - <property name="maximum"> - <double>180.000000000000000</double> - </property> - <property name="value"> - <double>52.000000000000000</double> - </property> - </widget> - </item> - <item row="6" column="2" rowspan="5" colspan="3"> + <item row="0" column="2"> <widget class="QLabel" name="label_6"> <property name="sizePolicy"> <sizepolicy hsizetype="Expanding" vsizetype="Preferred"> @@ -270,7 +266,7 @@ <enum>Qt::RichText</enum> </property> <property name="alignment"> - <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set> + <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set> </property> <property name="wordWrap"> <bool>true</bool> @@ -286,93 +282,16 @@ </property> </widget> </item> - <item row="7" column="0"> - <widget class="QLabel" name="label_10"> - <property name="text"> - <string>Red channel only</string> - </property> - </widget> - </item> - <item row="6" column="1"> - <widget class="QComboBox" name="resolution"> - <item> - <property name="text"> - <string>640x480</string> - </property> - </item> - <item> - <property name="text"> - <string>320x240</string> - </property> - </item> - <item> - <property name="text"> - <string>320x200</string> - </property> - </item> - <item> - <property name="text"> - <string>Default (not recommended!)</string> - </property> - </item> - </widget> - </item> - <item row="0" column="0"> - <widget class="QLabel" name="label"> - <property name="text"> - <string>Horizontal FOV</string> - </property> - </widget> - </item> - <item row="11" column="4"> + <item row="1" column="2"> <widget class="QDialogButtonBox" name="buttonBox"> <property name="standardButtons"> <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set> </property> </widget> </item> - <item row="8" column="1"> - <widget class="QDoubleSpinBox" name="marker_pitch"> - <property name="minimum"> - <double>-180.000000000000000</double> - </property> - <property name="maximum"> - <double>180.000000000000000</double> - </property> - </widget> - </item> - <item row="6" column="0"> - <widget class="QLabel" name="label_4"> - <property name="text"> - <string>Resolution</string> - </property> - </widget> - </item> - <item row="8" column="0"> - <widget class="QLabel" name="label_9"> - <property name="text"> - <string>Marker pitch</string> - </property> - </widget> - </item> </layout> </widget> <tabstops> - <tabstop>cameraFOV</tabstop> - <tabstop>cameraFPS</tabstop> - <tabstop>cameraName</tabstop> - <tabstop>resolution</tabstop> - <tabstop>red_only</tabstop> - <tabstop>marker_pitch</tabstop> - <tabstop>cx</tabstop> - <tabstop>cy</tabstop> - <tabstop>cz</tabstop> - <tabstop>rx</tabstop> - <tabstop>ry</tabstop> - <tabstop>rz</tabstop> - <tabstop>tx</tabstop> - <tabstop>ty</tabstop> - <tabstop>tz</tabstop> <tabstop>buttonBox</tabstop> </tabstops> <resources/> diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index b70bef09..f469c7a4 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -380,18 +380,12 @@ void Tracker::GetHeadPoseData(double *data) { QMutexLocker lck(&mtx); - if (s.eyaw) - data[Yaw] = pose[Yaw]; - if (s.epitch) - data[Pitch] = pose[Pitch]; - if (s.eroll) - data[Roll] = pose[Roll]; - if (s.ex) - data[TX] = pose[TX] * .1; - if (s.ey) - data[TY] = pose[TY] * .1; - if (s.ez) - data[TZ] = pose[TZ] * .1; + data[Yaw] = pose[Yaw]; + data[Pitch] = pose[Pitch]; + data[Roll] = pose[Roll]; + data[TX] = pose[TX] * .1; + data[TY] = pose[TY] * .1; + data[TZ] = pose[TZ] * .1; } class TrackerDll : public Metadata @@ -456,12 +450,6 @@ TrackerControls::TrackerControls() tie_setting(s.resolution, ui.resolution); tie_setting(s.force_fps, ui.cameraFPS); tie_setting(s.fov, ui.cameraFOV); - tie_setting(s.eyaw, ui.rx); - tie_setting(s.epitch, ui.ry); - tie_setting(s.eroll, ui.rz); - tie_setting(s.ex, ui.tx); - tie_setting(s.ey, ui.ty); - tie_setting(s.ez, ui.tz); tie_setting(s.headpos_x, ui.cx); tie_setting(s.headpos_y, ui.cy); tie_setting(s.headpos_z, ui.cz); diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h index f2207aef..c431d27a 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h @@ -28,7 +28,6 @@ struct settings { value<double> fov, headpos_x, headpos_y, headpos_z; value<int> camera_index, force_fps, resolution; value<bool> red_only; - value<bool> eyaw, epitch, eroll, ex, ey, ez; value<double> marker_pitch; settings() : b(bundle("aruco-tracker")), @@ -40,12 +39,6 @@ struct settings { force_fps(b, "force-fps", 0), resolution(b, "force-resolution", 0), red_only(b, "red-only", false), - eyaw(b, "enable-y", true), - epitch(b, "enable-p", true), - eroll(b, "enable-r", true), - ex(b, "enable-x", true), - ey(b, "enable-y", true), - ez(b, "enable-z", true), marker_pitch(b, "marker-pitch", 0) {} }; diff --git a/ftnoir_tracker_freepie-udp/freepie-udp-controls.ui b/ftnoir_tracker_freepie-udp/freepie-udp-controls.ui index 937dafaa..9870372a 100644 --- a/ftnoir_tracker_freepie-udp/freepie-udp-controls.ui +++ b/ftnoir_tracker_freepie-udp/freepie-udp-controls.ui @@ -9,8 +9,8 @@ <rect>
<x>0</x>
<y>0</y>
- <width>208</width>
- <height>240</height>
+ <width>198</width>
+ <height>71</height>
</rect>
</property>
<property name="windowTitle">
@@ -26,145 +26,31 @@ <property name="autoFillBackground">
<bool>false</bool>
</property>
- <layout class="QGridLayout" name="gridLayout_3">
- <property name="topMargin">
- <number>0</number>
- </property>
- <item row="0" column="0" colspan="3">
- <widget class="QGroupBox" name="groupbox_port">
- <layout class="QGridLayout" name="gridLayout">
- <item row="0" column="1">
- <widget class="QSpinBox" name="port">
- <property name="minimum">
- <number>0</number>
- </property>
- <property name="maximum">
- <number>65535</number>
- </property>
- </widget>
- </item>
- <item row="0" column="0">
- <widget class="QLabel" name="label_5">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>UDP port</string>
- </property>
- </widget>
- </item>
- </layout>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_5">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>UDP port</string>
+ </property>
</widget>
</item>
- <item row="1" column="0" rowspan="2" colspan="3">
- <widget class="QGroupBox" name="groupBox_3">
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>85</height>
- </size>
+ <item row="0" column="1">
+ <widget class="QSpinBox" name="port">
+ <property name="minimum">
+ <number>0</number>
</property>
- <property name="title">
- <string>Enable axis</string>
+ <property name="maximum">
+ <number>65535</number>
</property>
- <layout class="QGridLayout" name="gridLayout_2">
- <item row="2" column="0">
- <widget class="QLabel" name="label_6">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Roll</string>
- </property>
- </widget>
- </item>
- <item row="1" 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="text">
- <string/>
- </property>
- </widget>
- </item>
- <item row="0" column="0">
- <widget class="QLabel" name="label_11">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Yaw</string>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_9">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Pitch</string>
- </property>
- </widget>
- </item>
- <item row="0" 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="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="styleSheet">
- <string notr="true"/>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- </layout>
</widget>
</item>
- <item row="3" column="1">
+ <item row="1" column="0" colspan="2">
<widget class="QDialogButtonBox" name="buttonBox">
<property name="standardButtons">
<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
@@ -173,9 +59,6 @@ </item>
</layout>
</widget>
- <tabstops>
- <tabstop>port</tabstop>
- </tabstops>
<resources/>
<connections/>
<slots>
diff --git a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.cpp b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.cpp index 7223a33f..718ec510 100644 --- a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.cpp +++ b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.cpp @@ -92,12 +92,9 @@ void TrackerImpl::GetHeadPoseData(double *data) if (s.enable_z) data[TZ] = pose[TZ]; #endif - if (s.enable_yaw) - data[Yaw] = pose[Yaw]; - if (s.enable_pitch) - data[Pitch] = pose[Pitch]; - if (s.enable_roll) - data[Roll] = pose[Roll]; + data[Yaw] = pose[Yaw]; + data[Pitch] = pose[Pitch]; + data[Roll] = pose[Roll]; } extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor() diff --git a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.h b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.h index 8cefb509..b3f028fc 100644 --- a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.h +++ b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.h @@ -16,13 +16,9 @@ using namespace options; struct settings { pbundle b; value<int> port; - value<bool> enable_roll, enable_pitch, enable_yaw; settings() : b(bundle("freepie-udp-tracker")), - port(b, "port", 4237), - enable_roll(b, "enable-roll", true), - enable_pitch(b, "enable-pitch", true), - enable_yaw(b, "enable-yaw", true) + port(b, "port", 4237) {} }; diff --git a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dialog.cpp b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dialog.cpp index d845ff4a..1489e336 100644 --- a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dialog.cpp +++ b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dialog.cpp @@ -9,9 +9,6 @@ TrackerDialog::TrackerDialog() connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel())); tie_setting(s.port, ui.port); - tie_setting(s.enable_yaw, ui.chkEnableYaw); - tie_setting(s.enable_pitch, ui.chkEnablePitch); - tie_setting(s.enable_roll, ui.chkEnableRoll); } void TrackerDialog::doOK() { diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp index ef7e185d..7d6fc24e 100644 --- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp @@ -197,24 +197,16 @@ void Tracker::GetHeadPoseData(double *data) shm->frame.width = 0; } if (shm->result.filled) { - if (s.enableRX) - data[Yaw] = shm->result.rotx; - if (s.enableRY) { - data[Pitch] = shm->result.roty; - } - if (s.enableRZ) { - data[Roll] = shm->result.rotz; - } - if (s.enableTX) - data[TX] = shm->result.tx; - if (s.enableTY) - data[TY] = shm->result.ty; - if (s.enableTZ) - data[TZ] = shm->result.tz; if (fabs(data[Yaw]) > 60 || fabs(data[Pitch]) > 50 || fabs(data[Roll]) > 40) { shm->pause = true; } + data[Yaw] = shm->result.rotx; + data[Pitch] = shm->result.roty; + data[Roll] = shm->result.rotz; + data[TX] = shm->result.tx; + data[TY] = shm->result.ty; + data[TZ] = shm->result.tz; } else { shm->pause = false; } @@ -267,12 +259,6 @@ TrackerControls::TrackerControls() tie_setting(s.camera_idx, ui.cameraName); tie_setting(s.fps, ui.cameraFPS); tie_setting(s.fov, ui.cameraFOV); - tie_setting(s.enableTX, ui.tx); - tie_setting(s.enableTY, ui.ty); - tie_setting(s.enableTZ, ui.tz); - tie_setting(s.enableRX, ui.rx); - tie_setting(s.enableRY, ui.ry); - tie_setting(s.enableRZ, ui.rz); tie_setting(s.resolution, ui.resolution); connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel())); connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK())); diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.h b/ftnoir_tracker_ht/ftnoir_tracker_ht.h index 583249dc..418137bc 100644 --- a/ftnoir_tracker_ht/ftnoir_tracker_ht.h +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.h @@ -20,17 +20,10 @@ using namespace options; struct settings { pbundle b; - value<bool> enableTX, enableTY, enableTZ, enableRX, enableRY, enableRZ; value<double> fov; value<int> fps, camera_idx, resolution; settings() : b(bundle("HT-Tracker")), - enableTX(b, "enable-tx", true), - enableTY(b, "enable-ty", true), - enableTZ(b, "enable-tz", true), - enableRX(b, "enable-rx", true), - enableRY(b, "enable-ry", true), - enableRZ(b, "enable-rz", true), fov(b, "fov", 56), fps(b, "fps", 0), camera_idx(b, "camera-index", 0), diff --git a/ftnoir_tracker_ht/ht-trackercontrols.ui b/ftnoir_tracker_ht/ht-trackercontrols.ui index f57022c8..0b94ffc5 100644 --- a/ftnoir_tracker_ht/ht-trackercontrols.ui +++ b/ftnoir_tracker_ht/ht-trackercontrols.ui @@ -9,8 +9,8 @@ <rect> <x>0</x> <y>0</y> - <width>531</width> - <height>166</height> + <width>354</width> + <height>158</height> </rect> </property> <property name="sizePolicy"> @@ -52,91 +52,6 @@ </property> </widget> </item> - <item row="0" column="2" rowspan="3"> - <widget class="QGroupBox" name="groupBox"> - <property name="title"> - <string>Enable axes</string> - </property> - <widget class="QCheckBox" name="rx"> - <property name="geometry"> - <rect> - <x>10</x> - <y>20</y> - <width>70</width> - <height>17</height> - </rect> - </property> - <property name="text"> - <string>RX</string> - </property> - </widget> - <widget class="QCheckBox" name="ry"> - <property name="geometry"> - <rect> - <x>10</x> - <y>40</y> - <width>70</width> - <height>17</height> - </rect> - </property> - <property name="text"> - <string>RY</string> - </property> - </widget> - <widget class="QCheckBox" name="rz"> - <property name="geometry"> - <rect> - <x>10</x> - <y>60</y> - <width>70</width> - <height>17</height> - </rect> - </property> - <property name="text"> - <string>RZ</string> - </property> - </widget> - <widget class="QCheckBox" name="tx"> - <property name="geometry"> - <rect> - <x>60</x> - <y>20</y> - <width>70</width> - <height>17</height> - </rect> - </property> - <property name="text"> - <string>TX</string> - </property> - </widget> - <widget class="QCheckBox" name="ty"> - <property name="geometry"> - <rect> - <x>60</x> - <y>40</y> - <width>70</width> - <height>17</height> - </rect> - </property> - <property name="text"> - <string>TY</string> - </property> - </widget> - <widget class="QCheckBox" name="tz"> - <property name="geometry"> - <rect> - <x>60</x> - <y>60</y> - <width>70</width> - <height>17</height> - </rect> - </property> - <property name="text"> - <string>TZ</string> - </property> - </widget> - </widget> - </item> <item row="1" column="0"> <widget class="QLabel" name="label_2"> <property name="text"> @@ -214,7 +129,7 @@ </item> </widget> </item> - <item row="4" column="2"> + <item row="4" column="1"> <widget class="QDialogButtonBox" name="buttonBox"> <property name="standardButtons"> <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set> 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 6345ac57..5770f015 100644 --- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp @@ -8,13 +8,10 @@ # define SIXENSE_UTILS_STATIC_LIB #endif #include <sixense.h> -#include <sixense_math.hpp> +Hydra_Tracker::Hydra_Tracker() : should_quit(false) {} -Hydra_Tracker::Hydra_Tracker() : should_quit(false) -{ - for (int i = 0; i < 6; i++) - newHeadPose[i] = 0; -} +#pragma GCC diagnostic ignored "-Wreorder" +#include <sixense_math.hpp> Hydra_Tracker::~Hydra_Tracker() { @@ -38,33 +35,13 @@ 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; + 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() diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h index fdfc2643..2b3c84a7 100644 --- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h @@ -6,15 +6,8 @@ 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")) {} }; @@ -25,15 +18,11 @@ public: ~Hydra_Tracker(); void StartTracker(QFrame *) override; void GetHeadPoseData(double *data) override; + virtual int preferredHz() override { return 250; } 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() override { return 250; } }; class TrackerControls: public QWidget, public ITrackerDialog diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp index 6c98a0a1..3df77d15 100644 --- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp @@ -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() { diff --git a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui index 0bbec7e1..44dfc060 100644 --- a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui +++ b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui @@ -130,245 +130,6 @@ </widget>
</item>
<item>
- <widget class="QGroupBox" name="groupBox_3">
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>85</height>
- </size>
- </property>
- <property name="title">
- <string>Enable Axis</string>
- </property>
- <layout class="QHBoxLayout" name="horizontalLayout_5">
- <item>
- <layout class="QGridLayout" name="gridLayout_2">
- <item row="0" column="0">
- <widget class="QLabel" name="label_6">
- <property name="text">
- <string>Roll:</string>
- </property>
- <property name="buddy">
- <cstring>chkEnableRoll</cstring>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_9">
- <property name="text">
- <string>Pitch:</string>
- </property>
- <property name="buddy">
- <cstring>chkEnablePitch</cstring>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QLabel" name="label_11">
- <property name="text">
- <string>Yaw:</string>
- </property>
- <property name="buddy">
- <cstring>chkEnableYaw</cstring>
- </property>
- </widget>
- </item>
- <item row="0" 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="styleSheet">
- <string notr="true"/>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- <item row="1" 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="text">
- <string/>
- </property>
- </widget>
- </item>
- <item row="2" 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="0" column="3">
- <widget class="QLabel" name="label_14">
- <property name="text">
- <string>X:</string>
- </property>
- <property name="buddy">
- <cstring>chkEnableX</cstring>
- </property>
- </widget>
- </item>
- <item row="0" column="4">
- <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="text">
- <string/>
- </property>
- </widget>
- </item>
- <item row="1" column="3">
- <widget class="QLabel" name="label_15">
- <property name="text">
- <string>Y:</string>
- </property>
- <property name="buddy">
- <cstring>chkEnableY</cstring>
- </property>
- </widget>
- </item>
- <item row="1" column="4">
- <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="3">
- <widget class="QLabel" name="label_16">
- <property name="text">
- <string>Z:</string>
- </property>
- <property name="buddy">
- <cstring>chkEnableZ</cstring>
- </property>
- </widget>
- </item>
- <item row="2" column="4">
- <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>
- <item row="0" column="2">
- <spacer name="horizontalSpacer_3">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeType">
- <enum>QSizePolicy::Minimum</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item row="1" column="2">
- <spacer name="horizontalSpacer_5">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeType">
- <enum>QSizePolicy::Minimum</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item row="2" column="2">
- <spacer name="horizontalSpacer_8">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeType">
- <enum>QSizePolicy::Minimum</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- </layout>
- </item>
- <item>
- <spacer name="horizontalSpacer_4">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- </layout>
- </widget>
- </item>
- <item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
@@ -1723,12 +1484,6 @@ <tabstops>
<tabstop>tabWidget</tabstop>
<tabstop>reset_spin</tabstop>
- <tabstop>chkEnableRoll</tabstop>
- <tabstop>chkEnablePitch</tabstop>
- <tabstop>chkEnableYaw</tabstop>
- <tabstop>chkEnableX</tabstop>
- <tabstop>chkEnableY</tabstop>
- <tabstop>chkEnableZ</tabstop>
<tabstop>camdevice_combo</tabstop>
<tabstop>res_x_spin</tabstop>
<tabstop>res_y_spin</tabstop>
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp index 00d10d13..4ba981a5 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp @@ -57,13 +57,6 @@ TrackerDialog::TrackerDialog() tie_setting(s.threshold_secondary, ui.threshold_secondary_slider);
tie_setting(s.threshold, ui.threshold_slider);
- 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);
-
tie_setting(s.min_point_size, ui.mindiam_spin);
tie_setting(s.max_point_size, ui.maxdiam_spin);
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h index 109090b3..1eca1e35 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h @@ -38,9 +38,6 @@ struct settings value<int> reset_time;
- value<bool> bEnableYaw, bEnablePitch, bEnableRoll;
- value<bool> bEnableX, bEnableY, bEnableZ;
-
value<int> clip_ty, clip_tz, clip_by, clip_bz;
value<int> active_model_panel, cap_x, cap_y, cap_z;
@@ -70,12 +67,6 @@ struct settings t_MH_y(b, "model-centroid-y", 0),
t_MH_z(b, "model-centroid-z", 0),
reset_time(b, "reset-time", 2000),
- bEnableYaw(b, "enable-yaw", true),
- bEnablePitch(b, "enable-pitch", true),
- bEnableRoll(b, "enable-roll", true),
- bEnableX(b, "enable-x", true),
- bEnableY(b, "enable-y", true),
- bEnableZ(b, "enable-z", true),
clip_ty(b, "clip-ty", 0),
clip_tz(b, "clip-tz", 0),
clip_by(b, "clip-by", 0),
diff --git a/ftnoir_tracker_rift/ftnoir_rift_clientcontrols.ui b/ftnoir_tracker_rift/ftnoir_rift_clientcontrols.ui index 62edbec5..20c8f00b 100644 --- a/ftnoir_tracker_rift/ftnoir_rift_clientcontrols.ui +++ b/ftnoir_tracker_rift/ftnoir_rift_clientcontrols.ui @@ -9,8 +9,8 @@ <rect> <x>0</x> <y>0</y> - <width>532</width> - <height>481</height> + <width>218</width> + <height>200</height> </rect> </property> <property name="sizePolicy"> @@ -33,7 +33,7 @@ <bool>false</bool> </property> <layout class="QGridLayout" name="gridLayout_2"> - <item row="2" column="0"> + <item row="0" column="0"> <widget class="QGroupBox" name="groupBox"> <property name="title"> <string>Yaw spring</string> @@ -151,7 +151,7 @@ </layout> </widget> </item> - <item row="3" column="0"> + <item row="1" column="0"> <widget class="QDialogButtonBox" name="buttonBox"> <property name="sizePolicy"> <sizepolicy hsizetype="Preferred" vsizetype="Preferred"> @@ -164,198 +164,6 @@ </property> </widget> </item> - <item row="0" column="0"> - <widget class="QGroupBox" name="groupBox_3"> - <property name="title"> - <string>Axes</string> - </property> - <property name="flat"> - <bool>false</bool> - </property> - <layout class="QFormLayout" name="formLayout_2"> - <property name="fieldGrowthPolicy"> - <enum>QFormLayout::ExpandingFieldsGrow</enum> - </property> - <item row="0" column="0"> - <widget class="QLabel" name="label_6"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Preferred" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>Pitch:</string> - </property> - </widget> - </item> - <item row="0" column="1"> - <widget class="QCheckBox" name="chkEnablePitch"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Minimum" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <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_9"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Preferred" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>Yaw:</string> - </property> - </widget> - </item> - <item row="1" column="1"> - <widget class="QCheckBox" name="chkEnableYaw"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Minimum" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <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_11"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Preferred" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>Roll:</string> - </property> - </widget> - </item> - <item row="2" column="1"> - <widget class="QCheckBox" name="chkEnableRoll"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Minimum" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <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="3" column="0"> - <widget class="QLabel" name="label_7"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Preferred" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>X</string> - </property> - </widget> - </item> - <item row="3" column="1"> - <widget class="QCheckBox" name="chkEnableX"> - <property name="layoutDirection"> - <enum>Qt::LeftToRight</enum> - </property> - <property name="text"> - <string/> - </property> - </widget> - </item> - <item row="4" column="0"> - <widget class="QLabel" name="label_8"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Preferred" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>Y</string> - </property> - </widget> - </item> - <item row="4" column="1"> - <widget class="QCheckBox" name="chkEnableY"> - <property name="layoutDirection"> - <enum>Qt::LeftToRight</enum> - </property> - <property name="text"> - <string/> - </property> - </widget> - </item> - <item row="5" column="0"> - <widget class="QLabel" name="label_10"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Preferred" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>Z</string> - </property> - </widget> - </item> - <item row="5" column="1"> - <widget class="QCheckBox" name="chkEnableZ"> - <property name="layoutDirection"> - <enum>Qt::LeftToRight</enum> - </property> - <property name="text"> - <string/> - </property> - </widget> - </item> - </layout> - </widget> - </item> </layout> </widget> <resources/> diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp index 33d8f418..46e8c29f 100644 --- a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp +++ b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp @@ -55,18 +55,13 @@ void Rift_Tracker::GetHeadPoseData(double *data) yaw += s.constant_drift; old_yaw=yaw; } - if (s.bEnableYaw) - data[Yaw] = yaw * 57.295781; - if (s.bEnablePitch) - data[Pitch] = pitch * -57.295781; - if (s.bEnableRoll) - data[Roll] = roll * 57.295781; - if (s.bEnableX) - data[TX] = pose.Position.x * -1e2; - if (s.bEnableY) - data[TY] = pose.Position.y * 1e2; - if (s.bEnableX) - data[TZ] = pose.Position.z * 1e2; + constexpr double d2r = 57.295781; + data[Yaw] = yaw * d2r; + data[Pitch] = pitch * -d2r; + data[Roll] = roll * d2r; + data[TX] = pose.Position.x * -1e2; + data[TY] = pose.Position.y * 1e2; + data[TZ] = pose.Position.z * 1e2; } } } diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift.h b/ftnoir_tracker_rift/ftnoir_tracker_rift.h index ee51b2cb..de224ca5 100644 --- a/ftnoir_tracker_rift/ftnoir_tracker_rift.h +++ b/ftnoir_tracker_rift/ftnoir_tracker_rift.h @@ -12,16 +12,10 @@ using namespace options; struct settings { pbundle b; - value<bool> bEnableYaw, bEnablePitch, bEnableRoll, bEnableX, bEnableY, bEnableZ, useYawSpring; + value<bool> useYawSpring; value<double> constant_drift, persistence, deadzone; settings() : b(bundle("Rift")), - bEnableYaw(b, "EnableYaw", true), - bEnablePitch(b, "EnablePitch", true), - bEnableRoll(b, "EnableRoll", true), - bEnableX(b, "EnableX", true), - bEnableY(b, "EnableY", true), - bEnableZ(b, "EnableZ", true), useYawSpring(b, "yaw-spring", false), constant_drift(b, "constant-drift", 0.000005), persistence(b, "persistence", 0.99999), diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp b/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp index cc8079bf..390eac0e 100644 --- a/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp +++ b/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp @@ -9,14 +9,6 @@ QWidget() 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); - tie_setting(s.constant_drift, ui.constantDrift); tie_setting(s.deadzone, ui.deadzone); tie_setting(s.persistence, ui.persistence); diff --git a/ftnoir_tracker_udp/ftnoir_ftnclientcontrols.ui b/ftnoir_tracker_udp/ftnoir_ftnclientcontrols.ui index 6f81a50b..f485e67f 100644 --- a/ftnoir_tracker_udp/ftnoir_ftnclientcontrols.ui +++ b/ftnoir_tracker_udp/ftnoir_ftnclientcontrols.ui @@ -9,8 +9,8 @@ <rect>
<x>0</x>
<y>0</y>
- <width>411</width>
- <height>232</height>
+ <width>216</width>
+ <height>71</height>
</rect>
</property>
<property name="windowTitle">
@@ -26,353 +26,35 @@ <property name="autoFillBackground">
<bool>false</bool>
</property>
- <layout class="QVBoxLayout" name="_vertical_layout">
- <item>
- <layout class="QGridLayout" name="gridLayout">
- <item row="1" column="0">
- <widget class="QLabel" name="label_5">
- <property name="text">
- <string>Port-number</string>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QSpinBox" name="spinPortNumber">
- <property name="minimum">
- <number>0</number>
- </property>
- <property name="maximum">
- <number>65535</number>
- </property>
- </widget>
- </item>
- <item row="1" column="2">
- <spacer name="horizontalSpacer_3">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- </layout>
- </item>
- <item>
- <widget class="QGroupBox" name="groupBox_3">
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>85</height>
- </size>
- </property>
- <property name="title">
- <string>Enable Axis</string>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_5">
+ <property name="text">
+ <string>Port</string>
</property>
- <widget class="QWidget" name="layoutWidget">
- <property name="geometry">
- <rect>
- <x>10</x>
- <y>20</y>
- <width>150</width>
- <height>73</height>
- </rect>
- </property>
- <layout class="QGridLayout" name="gridLayout_2">
- <item row="0" column="0">
- <widget class="QLabel" name="label_6">
- <property name="text">
- <string>Roll:</string>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_9">
- <property name="text">
- <string>Pitch:</string>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QLabel" name="label_11">
- <property name="text">
- <string>Yaw:</string>
- </property>
- </widget>
- </item>
- <item row="0" 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="styleSheet">
- <string notr="true"/>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- <item row="1" 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="text">
- <string/>
- </property>
- </widget>
- </item>
- <item row="2" 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="0" column="3">
- <widget class="QLabel" name="label_14">
- <property name="text">
- <string>X:</string>
- </property>
- </widget>
- </item>
- <item row="0" column="4">
- <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="text">
- <string/>
- </property>
- </widget>
- </item>
- <item row="1" column="3">
- <widget class="QLabel" name="label_15">
- <property name="text">
- <string>Y:</string>
- </property>
- </widget>
- </item>
- <item row="1" column="4">
- <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="3">
- <widget class="QLabel" name="label_16">
- <property name="text">
- <string>Z:</string>
- </property>
- </widget>
- </item>
- <item row="2" column="4">
- <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>
- <item row="0" column="2">
- <spacer name="horizontalSpacer_4">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeType">
- <enum>QSizePolicy::Minimum</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- </layout>
- </widget>
</widget>
</item>
- <item>
- <spacer name="verticalSpacer">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
+ <item row="0" column="1">
+ <widget class="QSpinBox" name="spinPortNumber">
+ <property name="minimum">
+ <number>0</number>
</property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>40</height>
- </size>
+ <property name="maximum">
+ <number>65535</number>
</property>
- </spacer>
- </item>
- <item>
- <layout class="QVBoxLayout" name="verticalLayout">
- <item>
- <widget class="QLabel" name="label">
- <property name="text">
- <string>Enter the port-number for the remote PC.</string>
- </property>
- <property name="wordWrap">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_3">
- <property name="text">
- <string>Remember: you may have to change firewall-settings too!</string>
- </property>
- </widget>
- </item>
- </layout>
+ </widget>
</item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout">
- <item>
- <spacer name="horizontalSpacer_2">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_2">
- <property name="sizeConstraint">
- <enum>QLayout::SetDefaultConstraint</enum>
- </property>
- <item>
- <widget class="QPushButton" name="btnOK">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>100</width>
- <height>0</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>100</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="text">
- <string>OK</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="btnCancel">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>100</width>
- <height>0</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>100</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="text">
- <string>Cancel</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <spacer name="horizontalSpacer">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeType">
- <enum>QSizePolicy::Fixed</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>10</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- </layout>
+ <item row="1" column="1">
+ <widget class="QDialogButtonBox" name="buttonBox">
+ <property name="standardButtons">
+ <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+ </property>
+ </widget>
</item>
</layout>
</widget>
<tabstops>
<tabstop>spinPortNumber</tabstop>
- <tabstop>btnOK</tabstop>
- <tabstop>btnCancel</tabstop>
</tabstops>
<resources/>
<connections/>
diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp index 1b6d9ddd..335616d5 100644 --- a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp +++ b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp @@ -62,18 +62,8 @@ void FTNoIR_Tracker::StartTracker(QFrame*) void FTNoIR_Tracker::GetHeadPoseData(double *data) { QMutexLocker foo(&mutex); - if (s.enable_x) - data[TX] = newHeadPose[TX]; - if (s.enable_y) - data[TY] = newHeadPose[TY]; - if (s.enable_z) - data[TZ] = newHeadPose[TZ]; - if (s.enable_yaw) - data[Yaw] = newHeadPose[Yaw]; - if (s.enable_pitch) - data[Pitch] = newHeadPose[Pitch]; - if (s.enable_roll) - data[Roll] = newHeadPose[Roll]; + for (int i = 0; i < 6; i++) + data[i] = last_recv_pose[i]; } extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor() diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp.h b/ftnoir_tracker_udp/ftnoir_tracker_udp.h index 22c9c465..92d321b2 100644 --- a/ftnoir_tracker_udp/ftnoir_tracker_udp.h +++ b/ftnoir_tracker_udp/ftnoir_tracker_udp.h @@ -10,17 +10,9 @@ using namespace options; struct settings { pbundle b; value<int> port; - value<bool> enable_roll, enable_pitch, enable_yaw, - enable_x, enable_y, enable_z; settings() : b(bundle("udp-tracker")), - port(b, "port", 4242), - enable_roll(b, "enable-roll", true), - enable_pitch(b, "enable-pitch", true), - enable_yaw(b, "enable-yaw", true), - enable_x(b, "enable-x", true), - enable_y(b, "enable-y", true), - enable_z(b, "enable-y", true) + port(b, "port", 4242) {} }; diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp b/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp index 17b174e8..16a59292 100644 --- a/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp +++ b/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp @@ -30,15 +30,9 @@ QWidget() { ui.setupUi( this ); - connect(ui.btnOK, SIGNAL(clicked()), this, SLOT(doOK())); - connect(ui.btnCancel, SIGNAL(clicked()), this, SLOT(doCancel())); + connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK())); + connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel())); - tie_setting(s.enable_x, ui.chkEnableX); - tie_setting(s.enable_y, ui.chkEnableY); - tie_setting(s.enable_z, ui.chkEnableZ); - tie_setting(s.enable_yaw, ui.chkEnableYaw); - tie_setting(s.enable_pitch, ui.chkEnablePitch); - tie_setting(s.enable_roll, ui.chkEnableRoll); tie_setting(s.port, ui.spinPortNumber); } |