19 files changed, 28 insertions, 43 deletions

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
index 5cb7bdf3..a6aaa29c 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
@@ -233,12 +233,12 @@ void Tracker::StopTracker(bool exit)
 #define THeadPoseData double

 #endif

 

-bool Tracker::GiveHeadPoseData(THeadPoseData *data)

+void Tracker::GiveHeadPoseData(THeadPoseData *data)

 {

 	{

 		QMutexLocker lock(&mutex);

 

-		if (!tracking_valid) return false;

+        if (!tracking_valid) return;

 

 		FrameTrafo X_CM = point_tracker.get_pose();

 		FrameTrafo X_MH(Matx33f::eye(), t_MH);

@@ -280,7 +280,9 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data)
         if (bEnableRoll)  data[Roll]  =   rad2deg * gamma;

 #endif

 	}

-	return true;

+#ifndef OPENTRACK_API

+    return true;

+#endif

 }

 

 //-----------------------------------------------------------------------------

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h
index 64f282b6..5c8d35d2 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h
@@ -44,7 +44,7 @@ public:
 	virtual void Initialize(QFrame *videoframe);

 #ifdef OPENTRACK_API

     virtual void StartTracker(QFrame* parent_window);

-    virtual bool GiveHeadPoseData(double* data);

+    virtual void GiveHeadPoseData(double* data);

 #else

 	virtual void StartTracker(HWND parent_window);

     virtual void StopTracker(bool exit);

diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index 7581b77a..11916df5 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -375,7 +375,7 @@ void Tracker::run()
     }
 }
 
-bool Tracker::GiveHeadPoseData(double *data)
+void Tracker::GiveHeadPoseData(double *data)
 {
     QMutexLocker lck(&mtx);
     
@@ -391,8 +391,6 @@ bool Tracker::GiveHeadPoseData(double *data)
         data[TY] = pose[TY];
     if (enableTZ)
         data[TZ] = pose[TZ];
-    
-	return true;
 }
 
 class TrackerDll : public Metadata
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
index 1518ba4d..8a480d9f 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
@@ -26,7 +26,7 @@ public:
 	Tracker();
     virtual ~Tracker();
     void StartTracker(QFrame* frame);
-    bool GiveHeadPoseData(double *data);
+    void GiveHeadPoseData(double *data);
 	bool enableTX, enableTY, enableTZ, enableRX, enableRY, enableRZ;
     void run();
     void load_settings();
diff --git a/ftnoir_tracker_base/ftnoir_tracker_base.h b/ftnoir_tracker_base/ftnoir_tracker_base.h
index 38c24afe..e6e770ed 100644
--- a/ftnoir_tracker_base/ftnoir_tracker_base.h
+++ b/ftnoir_tracker_base/ftnoir_tracker_base.h
@@ -43,7 +43,7 @@ struct ITracker
 {
     virtual ~ITracker() = 0;
     virtual void StartTracker( QFrame* frame ) = 0;
-    virtual bool GiveHeadPoseData(double *data) = 0;
+    virtual void GiveHeadPoseData(double *data) = 0;
     virtual int preferredHz() { return 66; }
 };
 
diff --git a/ftnoir_tracker_hatire/ftnoir_tracker_hat.cpp b/ftnoir_tracker_hatire/ftnoir_tracker_hat.cpp
index b933dd14..bcef6753 100644
--- a/ftnoir_tracker_hatire/ftnoir_tracker_hat.cpp
+++ b/ftnoir_tracker_hatire/ftnoir_tracker_hat.cpp
@@ -323,7 +323,7 @@ void FTNoIR_Tracker::StartTracker(QFrame*)
 #define THeadPoseData double
 #endif
 
-bool FTNoIR_Tracker::GiveHeadPoseData(THeadPoseData *data)
+void FTNoIR_Tracker::GiveHeadPoseData(THeadPoseData *data)
 {
     QMutexLocker lck(&mutex);
 	while  (dataRead.length()>=30) {
@@ -354,7 +354,7 @@ bool FTNoIR_Tracker::GiveHeadPoseData(THeadPoseData *data)
 	if (CptError>50) {
 		emit sendMsgInfo("Can't find HAT frame")  ;
 		CptError=0;
-		return false;
+        return;
 	}
 #ifdef OPENTRACK_API
 	data[frame_cnt] = (long) HAT.Code;
@@ -425,9 +425,6 @@ bool FTNoIR_Tracker::GiveHeadPoseData(THeadPoseData *data)
 	// For debug
 	//data->x=dataRead.length();
 	//data->y=CptError;
-
-	return true;
-
 }
 
 
diff --git a/ftnoir_tracker_hatire/ftnoir_tracker_hat.h b/ftnoir_tracker_hatire/ftnoir_tracker_hat.h
index a1b4ecda..04c5fb61 100644
--- a/ftnoir_tracker_hatire/ftnoir_tracker_hat.h
+++ b/ftnoir_tracker_hatire/ftnoir_tracker_hat.h
@@ -29,7 +29,7 @@ public:
 
 #ifdef OPENTRACK_API
     virtual void StartTracker(QFrame*);
-    virtual bool GiveHeadPoseData(double* data);
+    virtual void GiveHeadPoseData(double* data);
 #else
     void Initialize( QFrame *videoframe );
 	virtual void StartTracker(HWND parent_window);
diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
index c08af00b..c3c12005 100644
--- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
+++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
@@ -186,10 +186,8 @@ void Tracker::StartTracker(QFrame* videoframe)
 #endif
 }
 
-bool Tracker::GiveHeadPoseData(double *data)
+void Tracker::GiveHeadPoseData(double *data)
 {
-	bool ret = false;
-
     lck_shm.lock();
     shm->timer = 0;
     if (shm->frame.width > 0)
@@ -213,7 +211,6 @@ bool Tracker::GiveHeadPoseData(double *data)
             data[TY] = shm->result.ty;
         if (enableTZ)
             data[TZ] = shm->result.tz;
-        ret = true;
         if (fabs(data[Yaw]) > 60 || fabs(data[Pitch]) > 50 || fabs(data[Roll]) > 40)
         {
             shm->pause = true;
@@ -222,8 +219,6 @@ bool Tracker::GiveHeadPoseData(double *data)
         shm->pause = false;
     }
     lck_shm.unlock();
-
-	return ret;
 }
 
 //-----------------------------------------------------------------------------
diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.h b/ftnoir_tracker_ht/ftnoir_tracker_ht.h
index c19e2d93..475d5a6c 100644
--- a/ftnoir_tracker_ht/ftnoir_tracker_ht.h
+++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.h
@@ -23,7 +23,7 @@ public:
 	Tracker();
     virtual ~Tracker();
     void StartTracker(QFrame* frame);
-    bool GiveHeadPoseData(double *data);
+    void GiveHeadPoseData(double *data);
 	bool enableTX, enableTY, enableTZ, enableRX, enableRY, enableRZ;
 	ht_shm_t* shm;
 private:
diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp
index 86ca8888..11a3e0fb 100644
--- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp
+++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp
@@ -66,7 +66,7 @@ void Hydra_Tracker::StartTracker(QFrame*)
 }
 
 
-bool Hydra_Tracker::GiveHeadPoseData(double *data)
+void Hydra_Tracker::GiveHeadPoseData(double *data)
 {
     
 	sixenseSetActiveBase(0);
@@ -109,8 +109,6 @@ bool Hydra_Tracker::GiveHeadPoseData(double *data)
     if (bEnableRoll) {
         data[Roll] = newHeadPose[Roll] * 57.295781f;
     }
-    
-	return true;
 }
 
 
diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h
index 3daaf239..6e40b710 100644
--- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h
+++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h
@@ -12,7 +12,7 @@ public:
     ~Hydra_Tracker();
 
     void StartTracker(QFrame *) virt_override;
-    bool GiveHeadPoseData(double *data) virt_override;
+    void GiveHeadPoseData(double *data) virt_override;
     void loadSettings();
     volatile bool should_quit;
 protected:
diff --git a/ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp b/ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp
index 66138e90..8f5ac162 100644
--- a/ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp
+++ b/ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp
@@ -175,13 +175,13 @@ fail:
     qDebug() << "joy init failure";
 }
 
-bool FTNoIR_Tracker::GiveHeadPoseData(double *data)
+void FTNoIR_Tracker::GiveHeadPoseData(double *data)
 {
     QMutexLocker foo(&mtx);
     DIJOYSTATE js = {0};
 
     if( !g_pDI || !g_pJoystick)
-        return false;
+        return;
 
     auto hr = g_pJoystick->Poll();
     if( FAILED( hr ))
@@ -190,11 +190,11 @@ bool FTNoIR_Tracker::GiveHeadPoseData(double *data)
         for (int i = 0; hr == DIERR_INPUTLOST && i < 200; i++)
             hr = g_pJoystick->Acquire();
         if (hr != DI_OK)
-            return false;
+            return;
     }
 
     if( FAILED( hr = g_pJoystick->GetDeviceState( sizeof( js ), &js ) ) )
-        return false;
+        return;
 
     const LONG values[] = {
         js.lRx,
@@ -232,8 +232,6 @@ bool FTNoIR_Tracker::GiveHeadPoseData(double *data)
             data[i] = val * limits[i] / (double) (val >= 0 ? max : min);
         }
     }
-
-	return true;
 }
 
 void FTNoIR_Tracker::loadSettings() {
diff --git a/ftnoir_tracker_joystick/ftnoir_tracker_joystick.h b/ftnoir_tracker_joystick/ftnoir_tracker_joystick.h
index cdf4fc7b..809d8c73 100644
--- a/ftnoir_tracker_joystick/ftnoir_tracker_joystick.h
+++ b/ftnoir_tracker_joystick/ftnoir_tracker_joystick.h
@@ -42,7 +42,7 @@ public:
 	~FTNoIR_Tracker();
 
     void StartTracker(QFrame *frame);
-    bool GiveHeadPoseData(double *data);
+    void GiveHeadPoseData(double *data);
 	void loadSettings();
     LPDIRECTINPUT8          g_pDI;
     LPDIRECTINPUTDEVICE8    g_pJoystick;
diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp
index 4816cea4..c3b313ca 100644
--- a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp
+++ b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp
@@ -68,7 +68,7 @@ void Rift_Tracker::StartTracker(QFrame*)
 }
 
 
-bool Rift_Tracker::GiveHeadPoseData(double *data)
+void Rift_Tracker::GiveHeadPoseData(double *data)
 {
     if (pSFusion != NULL && pSensor != NULL) {
         Quatf hmdOrient = pSFusion->GetOrientation();
@@ -113,7 +113,6 @@ bool Rift_Tracker::GiveHeadPoseData(double *data)
             data[Roll] = newHeadPose[Roll] * 57.295781f;
         }
     }
-    return pSensor != NULL;
 }
 
 
diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift.h b/ftnoir_tracker_rift/ftnoir_tracker_rift.h
index 7a4533d3..33e6f5cd 100644
--- a/ftnoir_tracker_rift/ftnoir_tracker_rift.h
+++ b/ftnoir_tracker_rift/ftnoir_tracker_rift.h
@@ -15,7 +15,7 @@ public:
     virtual ~Rift_Tracker() virt_override;
 
     void StartTracker(QFrame *) virt_override;
-    bool GiveHeadPoseData(double *data) virt_override;
+    void GiveHeadPoseData(double *data) virt_override;
     void loadSettings();
     virtual int preferredHz() virt_override { return 250; }
     volatile bool should_quit;
diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp
index 1539707e..d58341a6 100644
--- a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp
+++ b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp
@@ -110,7 +110,7 @@ void FTNoIR_Tracker::StartTracker(QFrame*)
 	return;
 }
 
-bool FTNoIR_Tracker::GiveHeadPoseData(double *data)
+void FTNoIR_Tracker::GiveHeadPoseData(double *data)
 {
     mutex.lock();
 	if (bEnableX) {
@@ -132,7 +132,6 @@ bool FTNoIR_Tracker::GiveHeadPoseData(double *data)
         data[Roll] = newHeadPose[Roll];
 	}
     mutex.unlock();
-	return true;
 }
 
 //
diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp.h b/ftnoir_tracker_udp/ftnoir_tracker_udp.h
index d158630b..7b6c5328 100644
--- a/ftnoir_tracker_udp/ftnoir_tracker_udp.h
+++ b/ftnoir_tracker_udp/ftnoir_tracker_udp.h
@@ -16,7 +16,7 @@ public:
 	~FTNoIR_Tracker();
 
     void StartTracker(QFrame *);
-    bool GiveHeadPoseData(double *data);
+    void GiveHeadPoseData(double *data);
 	void loadSettings();
     volatile bool should_quit;
 protected:
diff --git a/opentrack-api/opentrack.h b/opentrack-api/opentrack.h
index 990b6aa4..88ba6cf0 100644
--- a/opentrack-api/opentrack.h
+++ b/opentrack-api/opentrack.h
@@ -50,7 +50,7 @@ OPENTRACK_EXPORT const char** opentrack_enum_trackers(opentrack self);
  */
 OPENTRACK_EXPORT opentrack_tracker opentrack_make_tracker(opentrack ctx, const char* name);
 OPENTRACK_EXPORT void  opentrack_tracker_start(opentrack self, opentrack_tracker tracker);
-OPENTRACK_EXPORT int opentrack_tracker_tick(opentrack_tracker tracker, double* headpose);
+OPENTRACK_EXPORT void opentrack_tracker_tick(opentrack_tracker tracker, double* headpose);
 OPENTRACK_EXPORT void opentrack_finalize_tracker(opentrack_tracker tracker);
 #ifdef __cplusplus
 }
diff --git a/opentrack-api/trackers.cpp b/opentrack-api/trackers.cpp
index 0f698e4c..937f7084 100644
--- a/opentrack-api/trackers.cpp
+++ b/opentrack-api/trackers.cpp
@@ -29,11 +29,10 @@ void OPENTRACK_EXPORT opentrack_tracker_start(opentrack self, opentrack_tracker
     return tracker->StartTracker(&self->fake_frame);
 }
 
-int OPENTRACK_EXPORT opentrack_tracker_tick(opentrack_tracker tracker, double* headpose)
+void OPENTRACK_EXPORT opentrack_tracker_tick(opentrack_tracker tracker, double* headpose)
 {
-    int ret = tracker->GiveHeadPoseData(headpose);
+    tracker->GiveHeadPoseData(headpose);
     QApplication::processEvents(0, 5);
-    return ret;
 }
 
 }