diff options
| -rw-r--r-- | CMakeLists.txt | 33 | ||||
| -rw-r--r-- | facetracknoir/facetracknoir.rc | 2 | ||||
| -rw-r--r-- | facetracknoir/rotation.cpp | 35 | ||||
| -rw-r--r-- | facetracknoir/rotation.h | 53 | ||||
| -rw-r--r-- | ftnoir_tracker_hydra/ftnoir_hydra_clientcontrols.ui | 372 | ||||
| -rw-r--r-- | ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp | 155 | ||||
| -rw-r--r-- | ftnoir_tracker_hydra/ftnoir_tracker_hydra.h | 89 | ||||
| -rw-r--r-- | ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp | 180 | ||||
| -rw-r--r-- | ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp | 55 | ||||
| -rw-r--r-- | ftnoir_tracker_rift/ftnoir_tracker_rift.cpp | 82 |
10 files changed, 990 insertions, 66 deletions
diff --git a/CMakeLists.txt b/CMakeLists.txt index f51d38e7..f2b3805c 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -17,6 +17,7 @@ endif() IF(WIN32) SET(SDK_SM_FACEAPI_PATH "" CACHE PATH "SeeingMachines FaceAPI SDK path") SET(SDK_RIFT "" CACHE PATH "libOVR path") + SET(SDK_HYDRA "" CACHE PATH "libSixense path") SET(SDK_VJOY "" CACHE PATH "VJoy SDK path") ENDIF() @@ -248,7 +249,7 @@ if(NOT SDK_FACEAPI_ONLY) QT4_WRAP_UI(opentrack-tracker-hillcrest-uih ${opentrack-tracker-hillcrest-ui}) QT4_ADD_RESOURCES(opentrack-tracker-hillcrest-rcc ${opentrack-tracker-hillcrest-rc}) - file(GLOB opentrack-tracker-rift-c "ftnoir_tracker_rift/*.cpp") + file(GLOB opentrack-tracker-rift-c "ftnoir_tracker_rift/*.cpp") file(GLOB opentrack-tracker-rift-h "ftnoir_tracker_rift/*.h") QT4_WRAP_CPP(opentrack-tracker-rift-moc ${opentrack-tracker-rift-h}) file(GLOB opentrack-tracker-rift-ui "ftnoir_tracker_rift/*.ui") @@ -256,6 +257,14 @@ if(NOT SDK_FACEAPI_ONLY) QT4_WRAP_UI(opentrack-tracker-rift-uih ${opentrack-tracker-rift-ui}) QT4_ADD_RESOURCES(opentrack-tracker-rift-rcc ${opentrack-tracker-rift-rc}) + file(GLOB opentrack-tracker-hydra-c "ftnoir_tracker_hydra/*.cpp") + file(GLOB opentrack-tracker-hydra-h "ftnoir_tracker_hydra/*.h") + QT4_WRAP_CPP(opentrack-tracker-hydra-moc ${opentrack-tracker-hydra-h}) + file(GLOB opentrack-tracker-hydra-ui "ftnoir_tracker_hydra/*.ui") + file(GLOB opentrack-tracker-hydra-rc "ftnoir_tracker_hydra/*.qrc") + QT4_WRAP_UI(opentrack-tracker-hydra-uih ${opentrack-tracker-hydra-ui}) + QT4_ADD_RESOURCES(opentrack-tracker-hydra-rcc ${opentrack-tracker-hydra-rc}) + file(GLOB opentrack-tracker-faceapi-c "ftnoir_tracker_sm/*.cpp") file(GLOB opentrack-tracker-faceapi-h "ftnoir_tracker_sm/*.h") QT4_WRAP_CPP(opentrack-tracker-faceapi-moc ${opentrack-tracker-faceapi-h}) @@ -466,6 +475,19 @@ endif() endif() endif() + if(SDK_HYDRA) + include_directories("${SDK_HYDRA}/include") + include_directories("${SDK_HYDRA}/include/sixense_utils") + add_library(opentrack-tracker-hydra SHARED ${opentrack-tracker-hydra-c} ${opentrack-tracker-hydra-moc} ${opentrack-tracker-hydra-uih} ${opentrack-tracker-hydra-rcc}) + target_link_libraries(opentrack-tracker-hydra ${MY_QT_LIBS}) + if(WIN32) + target_link_libraries(opentrack-tracker-hydra "${SDK_HYDRA}/lib/win32/release_static/sixense_s.lib" "${SDK_HYDRA}/lib/win32/release_static/sixense_utils_s.lib") + endif() + if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_COMPILER_IS_GNUCC) + SET_TARGET_PROPERTIES(opentrack-tracker-hydra + PROPERTIES LINK_FLAGS "-Wl,--version-script=${CMAKE_SOURCE_DIR}/facetracknoir/posix-version-script.txt") + endif() + endif() if(SDK_HILLCREST) include_directories("${SDK_HILLCREST}/include") if(WIN32) @@ -592,6 +614,15 @@ if(NOT SDK_FACEAPI_ONLY) ) endif() + if(SDK_HYDRA) + install( + TARGETS opentrack-tracker-hydra + RUNTIME DESTINATION . + LIBRARY DESTINATION . + NAMELINK_SKIP + ) + endif() + if(WIN32) if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_COMPILER_IS_GNUCC) file(GLOB mingw-libgcc-s "${SDK_MINGW_PATH}/bin/libgcc_s_*.dll") diff --git a/facetracknoir/facetracknoir.rc b/facetracknoir/facetracknoir.rc index fcae12b3..655baa9d 100644 --- a/facetracknoir/facetracknoir.rc +++ b/facetracknoir/facetracknoir.rc @@ -1,2 +1,2 @@ -#include "resource.h"
+#include <windows.h>
IDI_ICON1 ICON "facetracknoir.ico"
diff --git a/facetracknoir/rotation.cpp b/facetracknoir/rotation.cpp index f6d16d2d..1a6e1e8e 100644 --- a/facetracknoir/rotation.cpp +++ b/facetracknoir/rotation.cpp @@ -7,42 +7,9 @@ #include "rotation.h"
-#include <cmath>
-// ----------------------------------------------------------------------------
-Rotation Rotation::inv()
-{
- return Rotation(a,-b,-c,-d);
-}
-// conversions
-// see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
-void Rotation::fromEuler(double yaw, double pitch, double roll)
-{
- double sin_phi = sin(roll/2.0);
- double cos_phi = cos(roll/2.0);
- double sin_the = sin(pitch/2.0);
- double cos_the = cos(pitch/2.0);
- double sin_psi = sin(yaw/2.0);
- double cos_psi = cos(yaw/2.0);
+// ----------------------------------------------------------------------------
- a = cos_phi*cos_the*cos_psi + sin_phi*sin_the*sin_psi;
- b = sin_phi*cos_the*cos_psi - cos_phi*sin_the*sin_psi;
- c = cos_phi*sin_the*cos_psi + sin_phi*cos_the*sin_psi;
- d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi;
-}
-void Rotation::toEuler(volatile double& yaw, volatile double& pitch, volatile double& roll)
-{
- roll = atan2(2.0*(a*b + c*d), 1.0 - 2.0*(b*b + c*c));
- pitch = asin(2.0*(a*c - b*d));
- yaw = atan2(2.0*(a*d + b*c), 1.0 - 2.0*(c*c + d*d));
-}
-Rotation operator*(const Rotation& A, const Rotation& B)
-{
- return Rotation(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d, // quaternion multiplication
- A.a*B.b + A.b*B.a + A.c*B.d - A.d*B.c,
- A.a*B.c - A.b*B.d + A.c*B.a + A.d*B.b,
- A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a);
-}
\ No newline at end of file diff --git a/facetracknoir/rotation.h b/facetracknoir/rotation.h index 9dcea285..a1500969 100644 --- a/facetracknoir/rotation.h +++ b/facetracknoir/rotation.h @@ -7,25 +7,66 @@ #ifndef ROTATION_H
#define ROTATION_H
-
+#include <cmath>
// ----------------------------------------------------------------------------
class Rotation {
- friend Rotation operator*(const Rotation& A, const Rotation& B);
+
public:
Rotation() : a(1.0),b(0.0),c(0.0),d(0.0) {}
Rotation(double yaw, double pitch, double roll) { fromEuler(yaw, pitch, roll); }
Rotation(double a, double b, double c, double d) : a(a),b(b),c(c),d(d) {}
- Rotation inv(); // inverse
+ Rotation inv(){ // inverse
+ return Rotation(a,-b,-c,-d);
+ }
+
// conversions
- void fromEuler(double yaw, double pitch, double roll);
- void toEuler(volatile double& yaw, volatile double& pitch, volatile double& roll);
+ // see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
+ void fromEuler(double yaw, double pitch, double roll)
+ {
+ double sin_phi = sin(roll/2.0);
+ double cos_phi = cos(roll/2.0);
+ double sin_the = sin(pitch/2.0);
+ double cos_the = cos(pitch/2.0);
+ double sin_psi = sin(yaw/2.0);
+ double cos_psi = cos(yaw/2.0);
+
+ a = cos_phi*cos_the*cos_psi + sin_phi*sin_the*sin_psi;
+ b = sin_phi*cos_the*cos_psi - cos_phi*sin_the*sin_psi;
+ c = cos_phi*sin_the*cos_psi + sin_phi*cos_the*sin_psi;
+ d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi;
+ }
+
+ void toEuler(double& yaw, double& pitch, double& roll)
+ {
+ roll = atan2(2.0*(a*b + c*d), 1.0 - 2.0*(b*b + c*c));
+ pitch = asin(2.0*(a*c - b*d));
+ yaw = atan2(2.0*(a*d + b*c), 1.0 - 2.0*(c*c + d*d));
+ }
+/* const Rotation operator*(const Rotation& A, const Rotation& B)
+ {
+ return Rotation(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d, // quaternion multiplication
+ A.a*B.b + A.b*B.a + A.c*B.d - A.d*B.c,
+ A.a*B.c - A.b*B.d + A.c*B.a + A.d*B.b,
+ A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a);
+ }*/
+
+
+ const Rotation operator*(const Rotation& B)
+ {
+ const Rotation& A = *this;
+ return Rotation(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d, // quaternion multiplication
+ A.a*B.b + A.b*B.a + A.c*B.d - A.d*B.c,
+ A.a*B.c - A.b*B.d + A.c*B.a + A.d*B.b,
+ A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a);
+ }
+
protected:
double a,b,c,d; // quaternion coefficients
};
-Rotation operator*(const Rotation& A, const Rotation& B); // composition of rotations
+
#endif //ROTATION_H
diff --git a/ftnoir_tracker_hydra/ftnoir_hydra_clientcontrols.ui b/ftnoir_tracker_hydra/ftnoir_hydra_clientcontrols.ui new file mode 100644 index 00000000..0cee05f0 --- /dev/null +++ b/ftnoir_tracker_hydra/ftnoir_hydra_clientcontrols.ui @@ -0,0 +1,372 @@ +<?xml version="1.0" encoding="UTF-8"?> +<ui version="4.0"> + <class>UIHydraControls</class> + <widget class="QWidget" name="UIHydraControls"> + <property name="geometry"> + <rect> + <x>0</x> + <y>0</y> + <width>411</width> + <height>142</height> + </rect> + </property> + <property name="windowTitle"> + <string>Sixense Hydra tracker settings FaceTrackNoIR</string> + </property> + <property name="windowIcon"> + <iconset> + <normaloff>images/FaceTrackNoIR.png</normaloff>images/FaceTrackNoIR.png</iconset> + </property> + <property name="layoutDirection"> + <enum>Qt::LeftToRight</enum> + </property> + <property name="autoFillBackground"> + <bool>false</bool> + </property> + <layout class="QVBoxLayout" name="_vertical_layout"> + <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> + <widget class="QWidget" name="layoutWidget"> + <property name="geometry"> + <rect> + <x>10</x> + <y>20</y> + <width>143</width> + <height>60</height> + </rect> + </property> + <layout class="QGridLayout" name="gridLayout_2"> + + + + + + + + + <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="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="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="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="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="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> + </widget> + </item> + <item> + <spacer name="verticalSpacer"> + <property name="orientation"> + <enum>Qt::Vertical</enum> + </property> + <property name="sizeHint" stdset="0"> + <size> + <width>20</width> + <height>40</height> + </size> + </property> + </spacer> + </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> + </layout> + </widget> + <tabstops> + <tabstop>btnOK</tabstop> + <tabstop>btnCancel</tabstop> + </tabstops> + <resources/> + <connections/> + <slots> + <slot>startEngineClicked()</slot> + <slot>stopEngineClicked()</slot> + <slot>cameraSettingsClicked()</slot> + </slots> +</ui> diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp new file mode 100644 index 00000000..24ffedcd --- /dev/null +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp @@ -0,0 +1,155 @@ +/* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */ +#include "ftnoir_tracker_hydra.h" +#include "facetracknoir/global-settings.h" +#include "facetracknoir/rotation.h" +#include <cstdio> +#define SIXENSE_STATIC_LIB +#define SIXENSE_UTILS_STATIC_LIB +#include <sixense.h> +#include <sixense_math.hpp> +#ifdef WIN32 +#include <sixense_utils/mouse_pointer.hpp> +#endif +#include <sixense_utils/derivatives.hpp> +#include <sixense_utils/button_states.hpp> +#include <sixense_utils/event_triggers.hpp> +#include <sixense_utils/controller_manager/controller_manager.hpp> + +Hydra_Tracker::Hydra_Tracker() +{ + bEnableRoll = true; + bEnablePitch = true; + bEnableYaw = true; + bEnableX = true; + bEnableY = true; + bEnableZ = true; + should_quit = false; + for (int i = 0; i < 6; i++) + newHeadPose[i] = 0; +} + +Hydra_Tracker::~Hydra_Tracker() +{ + + sixenseExit(); +} + +/* +void controller_manager_setup_callback( sixenseUtils::ControllerManager::setup_step step ) { + + QMessageBox::warning(0,"OpenTrack Info", "controller manager callback",QMessageBox::Ok,QMessageBox::NoButton); + if( sixenseUtils::getTheControllerManager()->isMenuVisible() ) { + // Ask the controller manager what the next instruction string should be. + std::string controller_manager_text_string = sixenseUtils::getTheControllerManager()->getStepString(); + QMessageBox::warning(0,"OpenTrack Info", controller_manager_text_string.c_str(),QMessageBox::Ok,QMessageBox::NoButton); + // We could also load the supplied controllermanager textures using the filename: sixenseUtils::getTheControllerManager()->getTextureFileName(); + + } +}*/ + +void Hydra_Tracker::StartTracker(QFrame* videoFrame) +{ + //QMessageBox::warning(0,"FaceTrackNoIR Notification", "Tracking loading settings...",QMessageBox::Ok,QMessageBox::NoButton); + loadSettings(); + + // Init sixense + //QMessageBox::warning(0,"OpenTrack Info", "sixense init",QMessageBox::Ok,QMessageBox::NoButton); + sixenseInit(); + //QMessageBox::warning(0,"OpenTrack Info", "sixense init complete, setting controller manager",QMessageBox::Ok,QMessageBox::NoButton); + // Init the controller manager. This makes sure the controllers are present, assigned to left and right hands, and that + // the hemisphere calibration is complete. + //sixenseUtils::getTheControllerManager()->setGameType( sixenseUtils::ControllerManager::ONE_PLAYER_TWO_CONTROLLER ); + //sixenseUtils::getTheControllerManager()->registerSetupCallback( controller_manager_setup_callback ); + //QMessageBox::warning(0,"OpenTrack Info", "controller manager callback registered",QMessageBox::Ok,QMessageBox::NoButton); + return; +} + + +bool Hydra_Tracker::GiveHeadPoseData(double *data) +{ + + sixenseSetActiveBase(0); + sixenseAllControllerData acd; + sixenseGetAllNewestData( &acd ); + //sixenseUtils::getTheControllerManager()->update( &acd ); + + //sixenseControllerData cd; + Rotation quat = Rotation(acd.controllers[0].rot_quat[0],acd.controllers[0].rot_quat[1],acd.controllers[0].rot_quat[2],acd.controllers[0].rot_quat[3]); + double yaw = 0.0f; + double pitch = 0.0f; + double roll = 0.0f; + + quat.toEuler(yaw, pitch, roll); + + newHeadPose[RY] = pitch; + newHeadPose[RZ] = roll; + newHeadPose[RX] = yaw; + + + + 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 (bEnableX) { + data[TX] = newHeadPose[TX]; + //} + //if (bEnableY) { + data[TY] = newHeadPose[TY]; + //} + //if (bEnableY) { + data[TZ] = newHeadPose[TZ]; + //} + + if (bEnableYaw) { + data[RX] = newHeadPose[RX] * 57.295781f; + } + if (bEnablePitch) { + data[RY] = newHeadPose[RY] * 57.295781f; + } + if (bEnableRoll) { + data[RZ] = newHeadPose[RZ] * 57.295781f; + } + + return true; +} + + +// +// Load the current Settings from the currently 'active' INI-file. +// +void Hydra_Tracker::loadSettings() { + + qDebug() << "FTNoIR_Tracker::loadSettings says: Starting "; + QSettings settings("opentrack"); // Registry settings (in HK_USER) + + QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString(); + QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file) + + qDebug() << "FTNoIR_Tracker::loadSettings says: iniFile = " << currentFile; + + iniFile.beginGroup ( "Hydra" ); + bEnableRoll = iniFile.value ( "EnableRoll", 1 ).toBool(); + bEnablePitch = iniFile.value ( "EnablePitch", 1 ).toBool(); + bEnableYaw = iniFile.value ( "EnableYaw", 1 ).toBool(); + bEnableX = iniFile.value ( "EnableX", 1 ).toBool(); + bEnableY = iniFile.value ( "EnableY", 1 ).toBool(); + bEnableZ = iniFile.value ( "EnableZ", 1 ).toBool(); + + iniFile.endGroup (); +} + + +//////////////////////////////////////////////////////////////////////////////// +// Factory function that creates instances if the Tracker object. + +// Export both decorated and undecorated names. +// GetTracker - Undecorated name, which can be easily used with GetProcAddress +// Win32 API function. +// _GetTracker@0 - Common name decoration for __stdcall functions in C language. +//#pragma comment(linker, "/export:GetTracker=_GetTracker@0") + +extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor() +{ + return new Hydra_Tracker; +} diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h new file mode 100644 index 00000000..3f7bf0a8 --- /dev/null +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h @@ -0,0 +1,89 @@ +#include "ftnoir_tracker_base/ftnoir_tracker_base.h" +#include "ui_ftnoir_hydra_clientcontrols.h" +#include <QMessageBox> +#include <QSettings> +#include <QWaitCondition> +#include <math.h> +#include "facetracknoir/global-settings.h" +class Hydra_Tracker : public ITracker +{ +public: + Hydra_Tracker(); + ~Hydra_Tracker(); + + void StartTracker( QFrame *videoframe ); + bool GiveHeadPoseData(double *data); + void loadSettings(); + volatile bool should_quit; + void WaitForExit() { + return; + } +protected: + void run(); // qthread override run method + +private: + bool isCalibrated; + + double newHeadPose[6]; // Structure with new headpose + bool bEnableRoll; + bool bEnablePitch; + bool bEnableYaw; + + bool bEnableX; + bool bEnableY; + bool bEnableZ; + + QMutex mutex; +}; + +// Widget that has controls for FTNoIR protocol client-settings. +class TrackerControls: public QWidget, public ITrackerDialog +{ + Q_OBJECT +public: + + explicit TrackerControls(); + ~TrackerControls(); + void showEvent ( QShowEvent * event ); + + void Initialize(QWidget *parent); + void registerTracker(ITracker *tracker) {}; + void unRegisterTracker() {}; + +private: + Ui::UIHydraControls ui; + void loadSettings(); + void save(); + + /** helper **/ + bool settingsDirty; + +private slots: + void doOK(); + void doCancel(); + void settingChanged() { settingsDirty = true; }; + void settingChanged(int) { settingsDirty = true; }; +}; + +//******************************************************************************************************* +// FaceTrackNoIR Tracker DLL. Functions used to get general info on the Tracker +//******************************************************************************************************* +class FTNoIR_TrackerDll : public Metadata +{ +public: + FTNoIR_TrackerDll(); + ~FTNoIR_TrackerDll(); + + void Initialize(); + + void getFullName(QString *strToBeFilled); + void getShortName(QString *strToBeFilled); + void getDescription(QString *strToBeFilled); + void getIcon(QIcon *icon); + +private: + QString trackerFullName; // Trackers' name and description + QString trackerShortName; + QString trackerDescription; +}; + diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp new file mode 100644 index 00000000..77d4963b --- /dev/null +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp @@ -0,0 +1,180 @@ +/******************************************************************************** +* FaceTrackNoIR This program is a private project of some enthusiastic * +* gamers from Holland, who don't like to pay much for * +* head-tracking. * +* * +* Copyright (C) 2012 Wim Vriend (Developing) * +* Ron Hendriks (Researching and Testing) * +* * +* Homepage: http://facetracknoir.sourceforge.net/home/default.htm * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU General Public License as published by the * +* Free Software Foundation; either version 3 of the License, or (at your * +* option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but * +* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY * +* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for * +* more details. * +* * +* You should have received a copy of the GNU General Public License along * +* with this program; if not, see <http://www.gnu.org/licenses/>. * +* * +********************************************************************************/ +#include "ftnoir_tracker_hydra.h" +#include "facetracknoir/global-settings.h" + +//******************************************************************************************************* +// FaceTrackNoIR Client Settings-dialog. +//******************************************************************************************************* + +// +// Constructor for server-settings-dialog +// +TrackerControls::TrackerControls() : +QWidget() +{ + ui.setupUi( this ); + + // Connect Qt signals to member-functions + connect(ui.btnOK, SIGNAL(clicked()), this, SLOT(doOK())); + connect(ui.btnCancel, SIGNAL(clicked()), this, SLOT(doCancel())); + + connect(ui.chkEnableRoll, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int))); + connect(ui.chkEnablePitch, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int))); + connect(ui.chkEnableYaw, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int))); +#if 0 + connect(ui.chkEnableX, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int))); + connect(ui.chkEnableY, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int))); + connect(ui.chkEnableZ, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int))); +#endif + // Load the settings from the current .INI-file + loadSettings(); +} + +// +// Destructor for server-dialog +// +TrackerControls::~TrackerControls() { + qDebug() << "~TrackerControls() says: started"; +} + +// +// Initialize tracker-client-dialog +// +void TrackerControls::Initialize(QWidget *parent) { + + QPoint offsetpos(100, 100); + if (parent) { + this->move(parent->pos() + offsetpos); + } + show(); +} + +// +// OK clicked on server-dialog +// +void TrackerControls::doOK() { + save(); + this->close(); +} + +// override show event +void TrackerControls::showEvent ( QShowEvent * event ) { + loadSettings(); +} + +// +// Cancel clicked on server-dialog +// +void TrackerControls::doCancel() { + // + // Ask if changed Settings should be saved + // + if (settingsDirty) { + int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel, QMessageBox::Discard ); + + qDebug() << "doCancel says: answer =" << ret; + + switch (ret) { + case QMessageBox::Save: + save(); + this->close(); + break; + case QMessageBox::Discard: + this->close(); + break; + case QMessageBox::Cancel: + // Cancel was clicked + break; + default: + // should never be reached + break; + } + } + else { + this->close(); + } +} + + +// +// Load the current Settings from the currently 'active' INI-file. +// +void TrackerControls::loadSettings() { + +// qDebug() << "loadSettings says: Starting "; + QSettings settings("opentrack"); // Registry settings (in HK_USER) + + QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString(); + QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file) + +// qDebug() << "loadSettings says: iniFile = " << currentFile; + + iniFile.beginGroup ( "Hydra" ); + ui.chkEnableRoll->setChecked(iniFile.value ( "EnableRoll", 1 ).toBool()); + ui.chkEnablePitch->setChecked(iniFile.value ( "EnablePitch", 1 ).toBool()); + ui.chkEnableYaw->setChecked(iniFile.value ( "EnableYaw", 1 ).toBool()); + ui.chkEnableX->setChecked(iniFile.value ( "EnableX", 1 ).toBool()); + ui.chkEnableY->setChecked(iniFile.value ( "EnableY", 1 ).toBool()); + ui.chkEnableZ->setChecked(iniFile.value ( "EnableZ", 1 ).toBool()); + + iniFile.endGroup (); + + settingsDirty = false; +} + +// +// Save the current Settings to the currently 'active' INI-file. +// +void TrackerControls::save() { + QSettings settings("opentrack"); // Registry settings (in HK_USER) + + QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString(); + QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file) + + iniFile.beginGroup ( "Hydra" ); + iniFile.setValue ( "EnableRoll", ui.chkEnableRoll->isChecked() ); + iniFile.setValue ( "EnablePitch", ui.chkEnablePitch->isChecked() ); + iniFile.setValue ( "EnableYaw", ui.chkEnableYaw->isChecked() ); + iniFile.setValue ( "EnableX", ui.chkEnableX->isChecked() ); + iniFile.setValue ( "EnableY", ui.chkEnableY->isChecked() ); + iniFile.setValue ( "EnableZ", ui.chkEnableZ->isChecked() ); + iniFile.endGroup (); + + settingsDirty = false; +} +//////////////////////////////////////////////////////////////////////////////// +// Factory function that creates instances if the Tracker-settings dialog object. + +// Export both decorated and undecorated names. +// GetTrackerDialog - Undecorated name, which can be easily used with GetProcAddress +// Win32 API function. +// _GetTrackerDialog@0 - Common name decoration for __stdcall functions in C language. +//#pragma comment(linker, "/export:GetTrackerDialog=_GetTrackerDialog@0") + +extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) +{ + return new TrackerControls; +} diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp new file mode 100644 index 00000000..4f5d8b10 --- /dev/null +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp @@ -0,0 +1,55 @@ +/* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */ +#include "ftnoir_tracker_hydra.h" +#include <QDebug> +#include "facetracknoir/global-settings.h" + +FTNoIR_TrackerDll::FTNoIR_TrackerDll() { + //populate the description strings + trackerFullName = "Hydra"; + trackerShortName = "Hydra"; + trackerDescription = "Hydra"; +} + +FTNoIR_TrackerDll::~FTNoIR_TrackerDll() +{ + +} + +void FTNoIR_TrackerDll::Initialize() +{ + return; +} + +void FTNoIR_TrackerDll::getFullName(QString *strToBeFilled) +{ + *strToBeFilled = trackerFullName; +}; + +void FTNoIR_TrackerDll::getShortName(QString *strToBeFilled) +{ + *strToBeFilled = trackerShortName; +}; + +void FTNoIR_TrackerDll::getDescription(QString *strToBeFilled) +{ + *strToBeFilled = trackerDescription; +}; + +void FTNoIR_TrackerDll::getIcon(QIcon *icon) +{ + *icon = QIcon(":/images/facetracknoir.png"); +}; + +//////////////////////////////////////////////////////////////////////////////// +// Factory function that creates instances if the Tracker object. + +// Export both decorated and undecorated names. +// GetTrackerDll - Undecorated name, which can be easily used with GetProcAddress +// Win32 API function. +// _GetTrackerDll@0 - Common name decoration for __stdcall functions in C language. +//#pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0") + +extern "C" FTNOIR_TRACKER_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +{ + return new FTNoIR_TrackerDll; +} diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp index 0e023bde..3ef68260 100644 --- a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp +++ b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp @@ -1,11 +1,10 @@ /* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */ #include "ftnoir_tracker_rift.h" #include "facetracknoir/global-settings.h" - #include "OVR.h" +#include "OVR.h" #include <cstdio> -using namespace OVR; -bool Rift_Tracker::isInitialised = false; +using namespace OVR; Rift_Tracker::Rift_Tracker() { @@ -30,27 +29,36 @@ Rift_Tracker::~Rift_Tracker() pSensor.Clear(); pHMD.Clear(); pManager.Clear(); + System::Destroy(); } +/* +void controller_manager_setup_callback( sixenseUtils::ControllerManager::setup_step step ) { + + QMessageBox::warning(0,"OpenTrack Info", "controller manager callback",QMessageBox::Ok,QMessageBox::NoButton); + if( sixenseUtils::getTheControllerManager()->isMenuVisible() ) { + // Ask the controller manager what the next instruction string should be. + std::string controller_manager_text_string = sixenseUtils::getTheControllerManager()->getStepString(); + QMessageBox::warning(0,"OpenTrack Info", controller_manager_text_string.c_str(),QMessageBox::Ok,QMessageBox::NoButton); + // We could also load the supplied controllermanager textures using the filename: sixenseUtils::getTheControllerManager()->getTextureFileName(); + + } +}*/ void Rift_Tracker::StartTracker(QFrame* videoFrame) { - //QMessageBox::warning(0,"FaceTrackNoIR Notification", "Tracking loading settings...",QMessageBox::Ok,QMessageBox::NoButton); + //QMessageBox::warning(0,"FaceTrackNoIR Notification", "Tracking loading settings...",QMessageBox::Ok,QMessageBox::NoButton); loadSettings(); // // Startup the Oculus SDK device handling, use the first Rift sensor we find. // - if(!isInitialised){ - System::Init(Log::ConfigureDefaultLog(LogMask_All)); - isInitialised = true; - } - - pManager = *DeviceManager::Create(); + System::Init(Log::ConfigureDefaultLog(LogMask_All)); + pManager = *DeviceManager::Create(); DeviceEnumerator<HMDDevice>& enumerator = pManager->EnumerateDevices<HMDDevice>(); if (enumerator.IsAvailable()) { pHMD = *enumerator.CreateDevice(); - + pSensor = *pHMD->GetSensor(); if (pSensor){ @@ -58,34 +66,60 @@ void Rift_Tracker::StartTracker(QFrame* videoFrame) }else{ QMessageBox::warning(0,"FaceTrackNoIR Error", "Unable to find Rift tracker",QMessageBox::Ok,QMessageBox::NoButton); } - SFusion.SetYawCorrectionEnabled(true); - SFusion.SetMagReference(); + isCalibrated = false; + MagCal.BeginAutoCalibration(SFusion); + SFusion.SetMagReference(SFusion.GetOrientation()); } - - return; } + bool Rift_Tracker::GiveHeadPoseData(double *data) { if (pHMD.GetPtr() != NULL) { +#if 0 + if (SFusion.IsMagReady() && !isCalibrated ){ + SFusion.SetYawCorrectionEnabled(true); + QMessageBox::warning(0,"OpenTrack Info", "Calibrated magnetic sensor",QMessageBox::Ok,QMessageBox::NoButton); + }else{ + if(isCalibrated){ + isCalibrated = false; + QMessageBox::warning(0,"OpenTrack Info", "Lost magnetic calibration",QMessageBox::Ok,QMessageBox::NoButton); + } + } +#endif + + // Magnetometer calibration procedure + MagCal.UpdateAutoCalibration(SFusion); Quatf hmdOrient = SFusion.GetOrientation(); float yaw = 0.0f; float pitch = 0.0f; float roll = 0.0f; + //hmdOrient.GetEulerAngles< Axis_X, Axis_Y, Axis_Z>(&pitch, &yaw, &roll); + //hmdOrient.GetEulerAngles< Axis_X, Axis_Z, Axis_Y>(&pitch, &roll, &yaw); hmdOrient.GetEulerAngles<Axis_Y, Axis_X, Axis_Z>(&yaw, &pitch , &roll); - newHeadPose[Pitch] =pitch; - newHeadPose[Roll] = roll; - newHeadPose[Yaw] = yaw; + //hmdOrient.GetEulerAngles< Axis_Y, Axis_Z, Axis_X>(&yaw, &roll, &pitch); + //hmdOrient.GetEulerAngles< Axis_Z, Axis_X, Axis_Y>(&roll, &pitch, &yaw); + //hmdOrient.GetEulerAngles< Axis_Z, Axis_Y, Axis_X>(&roll, &yaw, &pitch); + newHeadPose[Pitch] = pitch; + newHeadPose[Roll] = roll; + newHeadPose[Yaw] = yaw; + #if 0 - if (bEnableX) { + sixenseControllerData cd; + + 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 (bEnableX) { data[TX] = newHeadPose[TX]; - } - if (bEnableY) { + //} + //if (bEnableY) { data[TY] = newHeadPose[TY]; - } - if (bEnableY) { + //} + //if (bEnableY) { data[TZ] = newHeadPose[TZ]; - } + //} #endif if (bEnableYaw) { data[Yaw] = newHeadPose[Yaw] * 57.295781f; |