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-rw-r--r--facetracknoir/curve-config.cpp12
-rw-r--r--facetracknoir/facetracknoir.cpp3
-rw-r--r--facetracknoir/ftnoir_curves.ui25
-rw-r--r--facetracknoir/tracker.cpp41
-rw-r--r--facetracknoir/tracker.h1
5 files changed, 77 insertions, 5 deletions
diff --git a/facetracknoir/curve-config.cpp b/facetracknoir/curve-config.cpp
index 50aa8acf..6da1730d 100644
--- a/facetracknoir/curve-config.cpp
+++ b/facetracknoir/curve-config.cpp
@@ -1,6 +1,7 @@
#include "facetracknoir/facetracknoir.h"
#include "facetracknoir/curve-config.h"
#include <QDebug>
+#include <QCheckBox>
CurveConfigurationDialog::CurveConfigurationDialog(FaceTrackNoIR *ftnoir, QWidget *parent) :
QWidget( parent, Qt::Dialog ), mainApp(ftnoir)
{
@@ -93,6 +94,8 @@ void CurveConfigurationDialog::loadSettings() {
iniFile.beginGroup("Tracking");
+ ui.checkBox->setChecked(iniFile.value("compensation", true).toBool());
+
for (int i = 0; i < 6; i++)
mainApp->axis(i).altp = iniFile.value(names[i], false).toBool();
@@ -179,6 +182,8 @@ void CurveConfigurationDialog::loadSettings() {
connect(checkboxes[i], SIGNAL(stateChanged(int)), this, SLOT(curveChanged(int)), Qt::UniqueConnection);
mainApp->axis(i).zero = widgets3[i]->value();
}
+
+ connect(ui.checkBox, SIGNAL(stateChanged(int)), this, SLOT(curveChanged(int)));
settingsDirty = false;
}
@@ -212,6 +217,13 @@ void CurveConfigurationDialog::save() {
iniFile.beginGroup("Tracking");
+ bool compensate = true;
+
+ iniFile.setValue("compensation", compensate = (bool) !!ui.checkBox->isChecked());
+
+ if (mainApp->tracker)
+ mainApp->tracker->compensate = compensate;
+
iniFile.setValue("rx_alt", ui.rx_altp->checkState() != Qt::Unchecked);
iniFile.setValue("ry_alt", ui.ry_altp->checkState() != Qt::Unchecked);
iniFile.setValue("rz_alt", ui.rz_altp->checkState() != Qt::Unchecked);
diff --git a/facetracknoir/facetracknoir.cpp b/facetracknoir/facetracknoir.cpp
index 8028d0ca..73daca70 100644
--- a/facetracknoir/facetracknoir.cpp
+++ b/facetracknoir/facetracknoir.cpp
@@ -257,6 +257,7 @@ void FaceTrackNoIR::save() {
QSettings iniFile( currentFile, QSettings::IniFormat );
iniFile.beginGroup ( "Tracking" );
+
iniFile.setValue ( "invertYaw", ui.chkInvertYaw->isChecked() );
iniFile.setValue ( "invertPitch", ui.chkInvertPitch->isChecked() );
iniFile.setValue ( "invertRoll", ui.chkInvertRoll->isChecked() );
@@ -489,6 +490,8 @@ void FaceTrackNoIR::startTracker( ) {
tracker = new Tracker ( this );
+ tracker->compensate = iniFile.value("compensate", true).toBool();
+
tracker->setInvertAxis(Yaw, ui.chkInvertYaw->isChecked() );
tracker->setInvertAxis(Pitch, ui.chkInvertPitch->isChecked() );
tracker->setInvertAxis(Roll, ui.chkInvertRoll->isChecked() );
diff --git a/facetracknoir/ftnoir_curves.ui b/facetracknoir/ftnoir_curves.ui
index d0c1b2cd..0c269c70 100644
--- a/facetracknoir/ftnoir_curves.ui
+++ b/facetracknoir/ftnoir_curves.ui
@@ -99,7 +99,7 @@
<rect>
<x>0</x>
<y>0</y>
- <width>984</width>
+ <width>971</width>
<height>621</height>
</rect>
</property>
@@ -110,7 +110,7 @@
<enum>QTabWidget::North</enum>
</property>
<property name="currentIndex">
- <number>0</number>
+ <number>6</number>
</property>
<widget class="QWidget" name="tabWidgetPage1">
<attribute name="title">
@@ -648,7 +648,7 @@
</widget>
<widget class="QWidget" name="tabWidgetPage7">
<attribute name="title">
- <string>Defaults</string>
+ <string>Options</string>
</attribute>
<widget class="QLabel" name="label">
<property name="geometry">
@@ -860,6 +860,25 @@
<string>TZ</string>
</property>
</widget>
+ <widget class="QCheckBox" name="checkBox">
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>100</y>
+ <width>192</width>
+ <height>21</height>
+ </rect>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Translation compensation</string>
+ </property>
+ </widget>
</widget>
</widget>
</widget>
diff --git a/facetracknoir/tracker.cpp b/facetracknoir/tracker.cpp
index 980415c8..ac9de5cb 100644
--- a/facetracknoir/tracker.cpp
+++ b/facetracknoir/tracker.cpp
@@ -23,16 +23,18 @@
*********************************************************************************/
#include "tracker.h"
#include "facetracknoir.h"
+#include <opencv2/core/core.hpp>
+#include <cmath>
#if defined(_WIN32)
# include <windows.h>
#endif
-/** constructor **/
Tracker::Tracker( FaceTrackNoIR *parent ) :
should_quit(false),
do_center(false),
- enabled(true)
+ enabled(true),
+ compensate(true)
{
// Retieve the pointer to the parent
mainApp = parent;
@@ -124,6 +126,41 @@ void Tracker::run() {
get_curve(new_camera.axes[i], output_camera.axes[i], mainApp->axis(i));
}
+ if (compensate)
+ {
+ const auto H = output_camera.axes[Yaw] * M_PI / 180;
+ const auto P = output_camera.axes[Pitch] * M_PI / 180;
+ const auto B = output_camera.axes[Roll] * M_PI / 180;
+
+ const auto cosH = cos(H);
+ const auto sinH = sin(H);
+ const auto cosP = cos(P);
+ const auto sinP = sin(P);
+ const auto cosB = cos(B);
+ const auto sinB = sin(B);
+
+ double foo[] = {
+ cosH * cosB - sinH * sinP * sinB,
+ - sinB * cosP,
+ sinH * cosB + cosH * sinP * sinB,
+ cosH * sinB + sinH * sinP * cosB,
+ cosB * cosP,
+ sinB * sinH - cosH * sinP * cosB,
+ - sinH * cosP,
+ - sinP,
+ cosH * cosP,
+ };
+
+ cv::Mat rmat(3, 3, CV_64F, foo);
+ cv::Mat tvec(3, 1, CV_64F, output_camera.axes);
+ cv::Mat ret = rmat * tvec;
+
+ cv::Mat junk1(3, 3, CV_64FC1), junk2(3, 3, CV_64FC1);
+
+ for (int i = 0; i < 3; i++)
+ output_camera.axes[i] = ret.at<double>(i);
+ }
+
if (Libraries->pProtocol) {
gameoutput_camera = output_camera;
Libraries->pProtocol->sendHeadposeToGame( gameoutput_camera.axes ); // degrees & centimeters
diff --git a/facetracknoir/tracker.h b/facetracknoir/tracker.h
index 24a22c16..a7951ceb 100644
--- a/facetracknoir/tracker.h
+++ b/facetracknoir/tracker.h
@@ -109,6 +109,7 @@ public:
// following are now protected by hTrackMutex
volatile bool do_center; // Center head-position, using the shortkey
volatile bool enabled;
+ volatile bool compensate;
T6DOF output_camera;
};
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-21 20:23:31 +0000