diff options
| -rw-r--r-- | facetracknoir/curve-config.cpp | 3 | ||||
| -rw-r--r-- | facetracknoir/mapping.ui | 827 | ||||
| -rw-r--r-- | opentrack/main-settings.hpp | 5 | ||||
| -rw-r--r-- | opentrack/tracker.cpp | 19 |
4 files changed, 516 insertions, 338 deletions
diff --git a/facetracknoir/curve-config.cpp b/facetracknoir/curve-config.cpp index db5a4a75..ac34e57a 100644 --- a/facetracknoir/curve-config.cpp +++ b/facetracknoir/curve-config.cpp @@ -76,6 +76,9 @@ MapWidget::MapWidget(Mappings& m, main_settings& s) : tie_setting(s.a_x.src, ui.src_x); tie_setting(s.a_y.src, ui.src_y); tie_setting(s.a_z.src, ui.src_z); + + tie_setting(s.camera_yaw, ui.camera_yaw); + tie_setting(s.camera_pitch, ui.camera_pitch); } void MapWidget::doOK() { diff --git a/facetracknoir/mapping.ui b/facetracknoir/mapping.ui index 9f422b9b..574f320f 100644 --- a/facetracknoir/mapping.ui +++ b/facetracknoir/mapping.ui @@ -7,7 +7,7 @@ <x>0</x> <y>0</y> <width>970</width> - <height>655</height> + <height>664</height> </rect> </property> <property name="sizePolicy"> @@ -626,350 +626,400 @@ <property name="checkable"> <bool>false</bool> </property> - <layout class="QGridLayout" name="gridLayout_4" rowstretch="0,0,0,0,0,0,0" columnstretch="0,0,0"> + <layout class="QGridLayout" name="gridLayout_4" rowstretch="0,0,0,0,0,0,0,0" columnstretch="0,0,0"> <property name="sizeConstraint"> <enum>QLayout::SetMinAndMaxSize</enum> </property> <property name="spacing"> <number>6</number> </property> - <item row="4" column="0"> - <widget class="QLabel" name="label_10"> - <property name="text"> - <string>X</string> - </property> - </widget> - </item> - <item row="1" column="0"> - <widget class="QLabel" name="label_7"> - <property name="text"> - <string>Yaw</string> - </property> - </widget> - </item> - <item row="2" column="0"> - <widget class="QLabel" name="label_8"> - <property name="text"> - <string>Pitch</string> - </property> - </widget> - </item> - <item row="5" column="0"> - <widget class="QLabel" name="label_11"> - <property name="text"> - <string>Y</string> - </property> - </widget> - </item> - <item row="6" column="0"> - <widget class="QLabel" name="label_12"> - <property name="text"> - <string>Z</string> - </property> - </widget> - </item> - <item row="3" column="0"> - <widget class="QLabel" name="label_9"> - <property name="text"> - <string>Roll</string> - </property> - </widget> - </item> - <item row="1" column="2"> - <widget class="QCheckBox" name="invert_yaw"> - <property name="text"> - <string/> - </property> - </widget> - </item> - <item row="2" column="2"> - <widget class="QCheckBox" name="invert_pitch"> - <property name="text"> - <string/> - </property> - </widget> - </item> - <item row="4" column="2"> - <widget class="QCheckBox" name="invert_x"> - <property name="text"> - <string/> - </property> - </widget> - </item> - <item row="3" column="2"> - <widget class="QCheckBox" name="invert_roll"> + <item row="0" column="0"> + <widget class="QLabel" name="label_20"> <property name="text"> - <string/> + <string>Assign input axis to output axis.</string> </property> - </widget> - </item> - <item row="5" column="2"> - <widget class="QCheckBox" name="invert_y"> - <property name="text"> - <string/> + <property name="alignment"> + <set>Qt::AlignJustify|Qt::AlignVCenter</set> </property> - </widget> - </item> - <item row="6" column="2"> - <widget class="QCheckBox" name="invert_z"> - <property name="text"> - <string/> - </property> - </widget> - </item> - <item row="1" column="1"> - <widget class="QComboBox" name="src_yaw"> - <item> - <property name="text"> - <string>X</string> - </property> - </item> - <item> - <property name="text"> - <string>Y</string> - </property> - </item> - <item> - <property name="text"> - <string>Z</string> - </property> - </item> - <item> - <property name="text"> - <string>Yaw</string> - </property> - </item> - <item> - <property name="text"> - <string>Pitch</string> - </property> - </item> - <item> - <property name="text"> - <string>Roll</string> - </property> - </item> - <item> - <property name="text"> - <string>Disabled</string> - </property> - </item> - </widget> - </item> - <item row="2" column="1"> - <widget class="QComboBox" name="src_pitch"> - <item> - <property name="text"> - <string>X</string> - </property> - </item> - <item> - <property name="text"> - <string>Y</string> - </property> - </item> - <item> - <property name="text"> - <string>Z</string> - </property> - </item> - <item> - <property name="text"> - <string>Yaw</string> - </property> - </item> - <item> - <property name="text"> - <string>Pitch</string> - </property> - </item> - <item> - <property name="text"> - <string>Roll</string> - </property> - </item> - <item> - <property name="text"> - <string>Disabled</string> - </property> - </item> - </widget> - </item> - <item row="3" column="1"> - <widget class="QComboBox" name="src_roll"> - <item> - <property name="text"> - <string>X</string> - </property> - </item> - <item> - <property name="text"> - <string>Y</string> - </property> - </item> - <item> - <property name="text"> - <string>Z</string> - </property> - </item> - <item> - <property name="text"> - <string>Yaw</string> - </property> - </item> - <item> - <property name="text"> - <string>Pitch</string> - </property> - </item> - <item> - <property name="text"> - <string>Roll</string> - </property> - </item> - <item> - <property name="text"> - <string>Disabled</string> - </property> - </item> - </widget> - </item> - <item row="4" column="1"> - <widget class="QComboBox" name="src_x"> - <item> - <property name="text"> - <string>X</string> - </property> - </item> - <item> - <property name="text"> - <string>Y</string> - </property> - </item> - <item> - <property name="text"> - <string>Z</string> - </property> - </item> - <item> - <property name="text"> - <string>Yaw</string> - </property> - </item> - <item> - <property name="text"> - <string>Pitch</string> - </property> - </item> - <item> - <property name="text"> - <string>Roll</string> - </property> - </item> - <item> - <property name="text"> - <string>Disabled</string> - </property> - </item> - </widget> - </item> - <item row="5" column="1"> - <widget class="QComboBox" name="src_y"> - <item> - <property name="text"> - <string>X</string> - </property> - </item> - <item> - <property name="text"> - <string>Y</string> - </property> - </item> - <item> - <property name="text"> - <string>Z</string> - </property> - </item> - <item> - <property name="text"> - <string>Yaw</string> - </property> - </item> - <item> - <property name="text"> - <string>Pitch</string> - </property> - </item> - <item> - <property name="text"> - <string>Roll</string> - </property> - </item> - <item> - <property name="text"> - <string>Disabled</string> - </property> - </item> - </widget> - </item> - <item row="6" column="1"> - <widget class="QComboBox" name="src_z"> - <item> - <property name="text"> - <string>X</string> - </property> - </item> - <item> - <property name="text"> - <string>Y</string> - </property> - </item> - <item> - <property name="text"> - <string>Z</string> - </property> - </item> - <item> - <property name="text"> - <string>Yaw</string> - </property> - </item> - <item> - <property name="text"> - <string>Pitch</string> - </property> - </item> - <item> - <property name="text"> - <string>Roll</string> - </property> - </item> - <item> - <property name="text"> - <string>Disabled</string> - </property> - </item> - </widget> - </item> - <item row="0" column="1"> - <widget class="QLabel" name="label_13"> - <property name="text"> - <string>Source</string> + <property name="wordWrap"> + <bool>true</bool> </property> </widget> </item> - <item row="0" column="2"> - <widget class="QLabel" name="label_14"> - <property name="text"> - <string>Invert</string> + <item row="1" column="0"> + <widget class="QFrame" name="frame_2"> + <property name="frameShape"> + <enum>QFrame::NoFrame</enum> </property> - </widget> - </item> - <item row="0" column="0"> - <widget class="QLabel" name="label_15"> - <property name="text"> - <string>Destination</string> + <property name="frameShadow"> + <enum>QFrame::Raised</enum> </property> + <layout class="QGridLayout" name="gridLayout_5"> + <item row="7" column="2"> + <widget class="QCheckBox" name="invert_y"> + <property name="text"> + <string/> + </property> + </widget> + </item> + <item row="5" column="0"> + <widget class="QLabel" name="label_9"> + <property name="text"> + <string>Roll</string> + </property> + </widget> + </item> + <item row="6" column="0"> + <widget class="QLabel" name="label_10"> + <property name="text"> + <string>X</string> + </property> + </widget> + </item> + <item row="0" column="2"> + <widget class="QLabel" name="label_14"> + <property name="text"> + <string>Invert</string> + </property> + </widget> + </item> + <item row="6" column="1"> + <widget class="QComboBox" name="src_x"> + <item> + <property name="text"> + <string>X</string> + </property> + </item> + <item> + <property name="text"> + <string>Y</string> + </property> + </item> + <item> + <property name="text"> + <string>Z</string> + </property> + </item> + <item> + <property name="text"> + <string>Yaw</string> + </property> + </item> + <item> + <property name="text"> + <string>Pitch</string> + </property> + </item> + <item> + <property name="text"> + <string>Roll</string> + </property> + </item> + <item> + <property name="text"> + <string>Disabled</string> + </property> + </item> + </widget> + </item> + <item row="4" column="0"> + <widget class="QLabel" name="label_8"> + <property name="text"> + <string>Pitch</string> + </property> + </widget> + </item> + <item row="7" column="1"> + <widget class="QComboBox" name="src_y"> + <item> + <property name="text"> + <string>X</string> + </property> + </item> + <item> + <property name="text"> + <string>Y</string> + </property> + </item> + <item> + <property name="text"> + <string>Z</string> + </property> + </item> + <item> + <property name="text"> + <string>Yaw</string> + </property> + </item> + <item> + <property name="text"> + <string>Pitch</string> + </property> + </item> + <item> + <property name="text"> + <string>Roll</string> + </property> + </item> + <item> + <property name="text"> + <string>Disabled</string> + </property> + </item> + </widget> + </item> + <item row="3" column="1"> + <widget class="QComboBox" name="src_yaw"> + <item> + <property name="text"> + <string>X</string> + </property> + </item> + <item> + <property name="text"> + <string>Y</string> + </property> + </item> + <item> + <property name="text"> + <string>Z</string> + </property> + </item> + <item> + <property name="text"> + <string>Yaw</string> + </property> + </item> + <item> + <property name="text"> + <string>Pitch</string> + </property> + </item> + <item> + <property name="text"> + <string>Roll</string> + </property> + </item> + <item> + <property name="text"> + <string>Disabled</string> + </property> + </item> + </widget> + </item> + <item row="5" column="2"> + <widget class="QCheckBox" name="invert_roll"> + <property name="text"> + <string/> + </property> + </widget> + </item> + <item row="7" column="0"> + <widget class="QLabel" name="label_11"> + <property name="text"> + <string>Y</string> + </property> + </widget> + </item> + <item row="0" column="0"> + <widget class="QLabel" name="label_15"> + <property name="text"> + <string>Destination</string> + </property> + </widget> + </item> + <item row="4" column="2"> + <widget class="QCheckBox" name="invert_pitch"> + <property name="text"> + <string/> + </property> + </widget> + </item> + <item row="3" column="0"> + <widget class="QLabel" name="label_7"> + <property name="text"> + <string>Yaw</string> + </property> + </widget> + </item> + <item row="6" column="2"> + <widget class="QCheckBox" name="invert_x"> + <property name="text"> + <string/> + </property> + </widget> + </item> + <item row="0" column="1"> + <widget class="QLabel" name="label_13"> + <property name="text"> + <string>Source</string> + </property> + </widget> + </item> + <item row="4" column="1"> + <widget class="QComboBox" name="src_pitch"> + <item> + <property name="text"> + <string>X</string> + </property> + </item> + <item> + <property name="text"> + <string>Y</string> + </property> + </item> + <item> + <property name="text"> + <string>Z</string> + </property> + </item> + <item> + <property name="text"> + <string>Yaw</string> + </property> + </item> + <item> + <property name="text"> + <string>Pitch</string> + </property> + </item> + <item> + <property name="text"> + <string>Roll</string> + </property> + </item> + <item> + <property name="text"> + <string>Disabled</string> + </property> + </item> + </widget> + </item> + <item row="3" column="2"> + <widget class="QCheckBox" name="invert_yaw"> + <property name="text"> + <string/> + </property> + </widget> + </item> + <item row="5" column="1"> + <widget class="QComboBox" name="src_roll"> + <item> + <property name="text"> + <string>X</string> + </property> + </item> + <item> + <property name="text"> + <string>Y</string> + </property> + </item> + <item> + <property name="text"> + <string>Z</string> + </property> + </item> + <item> + <property name="text"> + <string>Yaw</string> + </property> + </item> + <item> + <property name="text"> + <string>Pitch</string> + </property> + </item> + <item> + <property name="text"> + <string>Roll</string> + </property> + </item> + <item> + <property name="text"> + <string>Disabled</string> + </property> + </item> + </widget> + </item> + <item row="8" column="0"> + <widget class="QLabel" name="label_12"> + <property name="text"> + <string>Z</string> + </property> + </widget> + </item> + <item row="8" column="1"> + <widget class="QComboBox" name="src_z"> + <item> + <property name="text"> + <string>X</string> + </property> + </item> + <item> + <property name="text"> + <string>Y</string> + </property> + </item> + <item> + <property name="text"> + <string>Z</string> + </property> + </item> + <item> + <property name="text"> + <string>Yaw</string> + </property> + </item> + <item> + <property name="text"> + <string>Pitch</string> + </property> + </item> + <item> + <property name="text"> + <string>Roll</string> + </property> + </item> + <item> + <property name="text"> + <string>Disabled</string> + </property> + </item> + </widget> + </item> + <item row="8" column="2"> + <widget class="QCheckBox" name="invert_z"> + <property name="text"> + <string/> + </property> + </widget> + </item> + </layout> + <zorder>label_15</zorder> + <zorder>label_14</zorder> + <zorder>label_13</zorder> + <zorder>label_15</zorder> + <zorder>label_15</zorder> + <zorder>label_13</zorder> + <zorder>label_14</zorder> + <zorder>src_yaw</zorder> + <zorder>invert_yaw</zorder> + <zorder>label_7</zorder> + <zorder>src_pitch</zorder> + <zorder>label_8</zorder> + <zorder>invert_pitch</zorder> + <zorder>label_9</zorder> + <zorder>src_roll</zorder> + <zorder>invert_roll</zorder> + <zorder>label_10</zorder> + <zorder>src_x</zorder> + <zorder>invert_x</zorder> + <zorder>label_11</zorder> + <zorder>src_y</zorder> + <zorder>invert_y</zorder> + <zorder>label_12</zorder> + <zorder>src_z</zorder> + <zorder>invert_z</zorder> </widget> </item> </layout> @@ -993,7 +1043,7 @@ <bool>true</bool> </property> <layout class="QFormLayout" name="formLayout_2"> - <item row="0" column="0"> + <item row="1" column="0"> <widget class="QCheckBox" name="tcomp_enable"> <property name="sizePolicy"> <sizepolicy hsizetype="Preferred" vsizetype="Preferred"> @@ -1009,7 +1059,7 @@ </property> </widget> </item> - <item row="1" column="0"> + <item row="2" column="0"> <widget class="QCheckBox" name="tcomp_rz"> <property name="styleSheet"> <string notr="true"/> @@ -1019,6 +1069,117 @@ </property> </widget> </item> + <item row="0" column="0"> + <widget class="QLabel" name="label_16"> + <property name="text"> + <string>With compensation on, translation is applied after rotation. For example, rotating +180 degrees yaw and moving backwards results in moving forward as a result of that rotation.</string> + </property> + <property name="alignment"> + <set>Qt::AlignJustify|Qt::AlignVCenter</set> + </property> + <property name="wordWrap"> + <bool>true</bool> + </property> + </widget> + </item> + </layout> + </widget> + </item> + <item row="1" column="1"> + <widget class="QGroupBox" name="groupBox_3"> + <property name="sizePolicy"> + <sizepolicy hsizetype="Maximum" vsizetype="Maximum"> + <horstretch>0</horstretch> + <verstretch>0</verstretch> + </sizepolicy> + </property> + <property name="title"> + <string>Camera offset</string> + </property> + <layout class="QGridLayout" name="gridLayout_2"> + <item row="3" column="0"> + <widget class="QFrame" name="frame"> + <property name="frameShape"> + <enum>QFrame::NoFrame</enum> + </property> + <property name="frameShadow"> + <enum>QFrame::Raised</enum> + </property> + <layout class="QGridLayout" name="gridLayout_3"> + <item row="0" column="0"> + <widget class="QLabel" name="label_18"> + <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="0" column="1"> + <widget class="QSpinBox" name="camera_yaw"> + <property name="sizePolicy"> + <sizepolicy hsizetype="Preferred" vsizetype="Fixed"> + <horstretch>0</horstretch> + <verstretch>0</verstretch> + </sizepolicy> + </property> + <property name="minimum"> + <number>-90</number> + </property> + <property name="maximum"> + <number>90</number> + </property> + </widget> + </item> + <item row="1" column="0"> + <widget class="QLabel" name="label_19"> + <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="1" column="1"> + <widget class="QSpinBox" name="camera_pitch"> + <property name="sizePolicy"> + <sizepolicy hsizetype="Preferred" vsizetype="Fixed"> + <horstretch>0</horstretch> + <verstretch>0</verstretch> + </sizepolicy> + </property> + <property name="minimum"> + <number>-90</number> + </property> + <property name="maximum"> + <number>90</number> + </property> + </widget> + </item> + </layout> + </widget> + </item> + <item row="2" column="0"> + <widget class="QLabel" name="label_17"> + <property name="text"> + <string>Specify an angle for off-center camera as a basis for which direction is which, avoiding axis interconnect.</string> + </property> + <property name="alignment"> + <set>Qt::AlignJustify|Qt::AlignVCenter</set> + </property> + <property name="wordWrap"> + <bool>true</bool> + </property> + </widget> + </item> </layout> </widget> </item> diff --git a/opentrack/main-settings.hpp b/opentrack/main-settings.hpp index 2c909d27..def21f31 100644 --- a/opentrack/main-settings.hpp +++ b/opentrack/main-settings.hpp @@ -28,6 +28,7 @@ struct main_settings { axis_opts a_x, a_y, a_z, a_yaw, a_pitch, a_roll; value<bool> tcomp_p, tcomp_tz; value<bool> tray_enabled; + value<int> camera_yaw, camera_pitch; main_settings(pbundle b) : b(b), tracker_dll(b, "tracker-dll", ""), @@ -42,6 +43,8 @@ struct main_settings { a_roll(b, "roll", Roll), tcomp_p(b, "compensate-translation", true), tcomp_tz(b, "compensate-translation-disable-z-axis", false), - tray_enabled(b, "use-system-tray", false) + tray_enabled(b, "use-system-tray", false), + camera_yaw(b, "camera-yaw", 0), + camera_pitch(b, "camera-pitch", 0) {} }; diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp index f621083b..60ed4c33 100644 --- a/opentrack/tracker.cpp +++ b/opentrack/tracker.cpp @@ -94,22 +94,33 @@ void Tracker::logic() raw(i) = value(i) = t_b[i]; } } + + const double off[] = { + s.camera_yaw, + s.camera_pitch, + 0. + }; + const rmat cam = rmat::euler_to_rmat(off); + rmat r = rmat::euler_to_rmat(&value[Yaw]); + dmat<3, 1> t { value(0), value(1), value(3) }; + + r = cam * r; + t = cam * t; if (centerp) { centerp = false; for (int i = 0; i < 3; i++) - t_b[i] = value(i); - r_b = rmat::euler_to_rmat(&value[Yaw]); + t_b[i] = t(i, 0); + r_b = r; } { - const rmat r = rmat::euler_to_rmat(&value[Yaw]); const rmat m_ = r * r_b.t(); const dmat<3, 1> euler = rmat::rmat_to_euler(m_); for (int i = 0; i < 3; i++) { - value(i) -= t_b[i]; + value(i) = t(i, 0) - t_b[i]; value(i+3) = euler(i, 0) * r2d; } } |