diff options
4 files changed, 149 insertions, 5 deletions
diff --git a/ftnoir_tracker_freepie-udp/freepie-udp-controls.ui b/ftnoir_tracker_freepie-udp/freepie-udp-controls.ui index c0b1de8a..74e5a6f1 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>302</width> - <height>231</height> + <width>227</width> + <height>372</height> </rect> </property> <property name="windowTitle"> @@ -23,6 +23,12 @@ <layout class="QVBoxLayout" name="verticalLayout"> <item> <widget class="QFrame" name="frame"> + <property name="sizePolicy"> + <sizepolicy hsizetype="Preferred" vsizetype="Maximum"> + <horstretch>0</horstretch> + <verstretch>0</verstretch> + </sizepolicy> + </property> <property name="frameShape"> <enum>QFrame::NoFrame</enum> </property> @@ -144,6 +150,123 @@ </widget> </item> <item> + <widget class="QGroupBox" name="groupBox_2"> + <property name="title"> + <string>Add to axis</string> + </property> + <layout class="QGridLayout" name="gridLayout_2"> + <item row="0" column="0"> + <widget class="QLabel" name="label_4"> + <property name="text"> + <string>yaw</string> + </property> + </widget> + </item> + <item row="0" column="1"> + <widget class="QComboBox" name="add_yaw"> + <item> + <property name="text"> + <string>0</string> + </property> + </item> + <item> + <property name="text"> + <string>+90</string> + </property> + </item> + <item> + <property name="text"> + <string>-90</string> + </property> + </item> + <item> + <property name="text"> + <string>+180</string> + </property> + </item> + <item> + <property name="text"> + <string>-180</string> + </property> + </item> + </widget> + </item> + <item row="1" column="0"> + <widget class="QLabel" name="label_6"> + <property name="text"> + <string>pitch</string> + </property> + </widget> + </item> + <item row="2" column="0"> + <widget class="QLabel" name="label_9"> + <property name="text"> + <string>roll</string> + </property> + </widget> + </item> + <item row="1" column="1"> + <widget class="QComboBox" name="add_pitch"> + <item> + <property name="text"> + <string>0</string> + </property> + </item> + <item> + <property name="text"> + <string>+90</string> + </property> + </item> + <item> + <property name="text"> + <string>-90</string> + </property> + </item> + <item> + <property name="text"> + <string>+180</string> + </property> + </item> + <item> + <property name="text"> + <string>-180</string> + </property> + </item> + </widget> + </item> + <item row="2" column="1"> + <widget class="QComboBox" name="add_roll"> + <item> + <property name="text"> + <string>0</string> + </property> + </item> + <item> + <property name="text"> + <string>+90</string> + </property> + </item> + <item> + <property name="text"> + <string>-90</string> + </property> + </item> + <item> + <property name="text"> + <string>+180</string> + </property> + </item> + <item> + <property name="text"> + <string>-180</string> + </property> + </item> + </widget> + </item> + </layout> + </widget> + </item> + <item> <widget class="QDialogButtonBox" name="buttonBox"> <property name="standardButtons"> <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set> diff --git a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.cpp b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.cpp index 295cb65b..a0f3cf88 100644 --- a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.cpp +++ b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.cpp @@ -58,6 +58,7 @@ void TrackerImpl::run() { switch (flags) { + //default: case flag_Raw: continue; case flag_Raw | flag_Orient: @@ -76,11 +77,23 @@ void TrackerImpl::run() { if (filled) { + static const int add_cbx[] = { + 0, + 90, + -90, + 180, + -180, + }; + int indices[] = { s.add_yaw, s.add_pitch, s.add_roll }; QMutexLocker foo(&mtx); - static constexpr double d2r = 57.295781; + static constexpr double r2d = 57.295781; for (int i = 0; i < 3; i++) { - pose[Yaw + i] = d2r * orient[order[i]]; + int val = 0; + int idx = indices[order[i]]; + if (idx >= 0 && idx < (int)(sizeof(add_cbx) / sizeof(*add_cbx))) + val = add_cbx[idx]; + pose[Yaw + i] = r2d * orient[order[i]] + val; } } usleep(4000); diff --git a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.h b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.h index 2dfb4e8f..d56c9f52 100644 --- a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.h +++ b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.h @@ -16,12 +16,16 @@ using namespace options; struct settings { pbundle b; value<int> port, idx_x, idx_y, idx_z; + value<int> add_yaw, add_pitch, add_roll; settings() : b(bundle("freepie-udp-tracker")), port(b, "port", 4237), idx_x(b, "axis-index-x", 0), idx_y(b, "axis-index-y", 1), - idx_z(b, "axis-index-z", 2) + idx_z(b, "axis-index-z", 2), + add_yaw(b, "add-yaw-degrees", 0), + add_pitch(b, "add-pitch-degrees", 0), + add_roll(b, "add-roll-degrees", 0) {} }; 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 4840a56b..1f17355f 100644 --- a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dialog.cpp +++ b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dialog.cpp @@ -12,6 +12,10 @@ TrackerDialog::TrackerDialog() tie_setting(s.idx_x, ui.input_x); tie_setting(s.idx_y, ui.input_y); tie_setting(s.idx_z, ui.input_z); + + tie_setting(s.add_yaw, ui.add_yaw); + tie_setting(s.add_pitch, ui.add_pitch); + tie_setting(s.add_roll, ui.add_roll); } void TrackerDialog::doOK() { |