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-rw-r--r--ftnoir_tracker_freepie-udp/freepie-udp-controls.ui127
-rw-r--r--ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.cpp17
-rw-r--r--ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.h6
-rw-r--r--ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dialog.cpp4
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() {