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-rw-r--r--FaceTrackNoIR/tracker.cpp140
1 files changed, 73 insertions, 67 deletions
diff --git a/FaceTrackNoIR/tracker.cpp b/FaceTrackNoIR/tracker.cpp
index 666f9c34..4cbd4453 100644
--- a/FaceTrackNoIR/tracker.cpp
+++ b/FaceTrackNoIR/tracker.cpp
@@ -95,6 +95,7 @@ Tracker::Tracker( int clientID ) {
server_FT = 0;
server_FG = 0;
server_PPJoy = 0;
+ server_FTIR = 0;
switch (selectedClient) {
case FREE_TRACK:
server_FT = new FTServer; // Create Free-track protocol-server
@@ -111,6 +112,10 @@ Tracker::Tracker( int clientID ) {
server_PPJoy = new PPJoyServer ( this ); // Create PPJoy protocol-server
break;
+ case TRACKIR:
+ server_FTIR = new FTIRServer; // Create Fake-TIR protocol-server
+ break;
+
default:
// should never be reached
break;
@@ -131,6 +136,9 @@ Tracker::~Tracker() {
if (server_PPJoy) {
server_PPJoy->deleteLater();
}
+ if (server_FTIR) {
+ server_FTIR->deleteLater();
+ }
// Trigger thread to stop
::SetEvent(m_StopThread);
@@ -194,6 +202,19 @@ void Tracker::setup(QWidget *head, FaceTrackNoIR *parent) {
if (server_PPJoy) {
server_PPJoy->start(); // Start the thread
}
+
+ //
+ // Check if the NP Client DLL is available
+ // and create the necessary mapping to shared memory.
+ // The handle of the MainWindow is sent to 'The Game', so it can send a message back.
+ //
+ if (server_FTIR) {
+ DLL_Ok = server_FTIR->FTIRCheckClientDLL();
+ DLL_Ok = server_FTIR->FTIRCreateMapping( mainApp->winId() );
+
+ server_FTIR->start(); // Start the thread
+ }
+
}
/** QThread run method @override **/
@@ -356,6 +377,19 @@ void Tracker::run() {
server_FT->setHeadPosY( Tracker::Y.headPos * 1000.0f);
server_FT->setHeadPosZ( ( Tracker::Z.headPos - Tracker::Z.initial_headPos ) * 1000.0f);
}
+
+ //
+ // Copy the Raw values directly to Fake-trackIR server
+ //
+ //if (server_FTIR) {
+ // server_FTIR->setHeadRotX( Tracker::Pitch.headPos ); // rads
+ // server_FTIR->setHeadRotY( Tracker::Yaw.headPos );
+ // server_FTIR->setHeadRotZ( Tracker::Roll.headPos);
+
+ // server_FTIR->setHeadPosX( Tracker::X.headPos * 1000.0f); // From m to mm
+ // server_FTIR->setHeadPosY( Tracker::Y.headPos * 1000.0f);
+ // server_FTIR->setHeadPosZ( ( Tracker::Z.headPos - Tracker::Z.initial_headPos ) * 1000.0f);
+ //}
}
//
@@ -437,6 +471,24 @@ void Tracker::run() {
server_PPJoy->setVirtPosY ( ( Tracker::Y.invert * Tracker::Y.sens * (getSmoothFromList( &Y.rawList ) - Y.offset_headPos) ) * 100.0f );
server_PPJoy->setVirtPosZ ( ( Tracker::Z.invert * Tracker::Z.sens * (getSmoothFromList( &Z.rawList ) - Z.offset_headPos - Tracker::Z.initial_headPos) ) * 100.0f );
}
+
+ // Fake-trackIR
+ if (server_FTIR) {
+
+ float rotX = getDegreesFromRads ( Tracker::Pitch.invert * Tracker::Pitch.sens * Pitch.newPos );
+ float rotY = getDegreesFromRads ( Tracker::Yaw.invert * Tracker::Yaw.sens * Yaw.newPos );
+ float rotZ = getDegreesFromRads ( Tracker::Roll.invert * Tracker::Roll.sens * Roll.newPos );
+ qDebug() << "Tracker::run() says: virtRotX =" << rotX << " virtRotY =" << rotY;
+
+ server_FTIR->setVirtRotX ( rotX );
+ server_FTIR->setVirtRotY ( rotY );
+ server_FTIR->setVirtRotZ ( rotZ );
+
+ server_FTIR->setVirtPosX ( ( Tracker::X.invert * Tracker::X.sens * (getSmoothFromList( &X.rawList ) - X.offset_headPos) ) * 1000.0f);
+ server_FTIR->setVirtPosY ( ( Tracker::Y.invert * Tracker::Y.sens * (getSmoothFromList( &Y.rawList ) - Y.offset_headPos) ) * 1000.0f );
+ server_FTIR->setVirtPosZ ( ( Tracker::Z.invert * Tracker::Z.sens * (getSmoothFromList( &Z.rawList ) - Z.offset_headPos - Tracker::Z.initial_headPos) ) * 1000.0f );
+ }
+
}
else {
//
@@ -468,6 +520,15 @@ void Tracker::run() {
server_PPJoy->setVirtPosY ( 0.0f );
server_PPJoy->setVirtPosZ ( 0.0f );
}
+
+ if (server_FTIR) {
+ server_FTIR->setVirtRotX ( 0.0f );
+ server_FTIR->setVirtRotY ( 0.0f );
+ server_FTIR->setVirtRotZ ( 0.0f );
+ server_FTIR->setVirtPosX ( 0.0f );
+ server_FTIR->setVirtPosY ( 0.0f );
+ server_FTIR->setVirtPosZ ( 0.0f );
+ }
}
//for lower cpu load
@@ -486,11 +547,6 @@ void Tracker::registerHeadPoseCallback() {
/** Callback function for head-pose - only static methods could be called **/
void Tracker::receiveHeadPose(void *,smEngineHeadPoseData head_pose, smCameraVideoFrame video_frame)
{
- //SYSTEMTIME now;
- //long newHeadPoseTime;
- //float dT;
-// float rate;
-
//
// Perform actions, when valid data is received from faceAPI.
//
@@ -504,33 +560,18 @@ void Tracker::receiveHeadPose(void *,smEngineHeadPoseData head_pose, smCameraVid
Tracker::setHeadRotY(head_pose.head_rot.y_rads);
Tracker::setHeadRotZ(head_pose.head_rot.z_rads);
- ////
- //// Get the System-time and substract the time from the previous call.
- //// dT will be used for the EWMA-filter.
- ////
- //GetSystemTime ( &now );
- //newHeadPoseTime = (((now.wHour * 3600) + (now.wMinute * 60) + now.wSecond) * 1000) + now.wMilliseconds;
- //dT = (newHeadPoseTime - Tracker::prevHeadPoseTime) / 1000.0f;
-
- //// Remember time for next call
- //Tracker::prevHeadPoseTime = newHeadPoseTime;
-
-
-
- //
- // Calculate the new values, applying a low-pass filter.
- // Add the values to their respective QList, for further smoothing
- //
// Pitch
- //if (Tracker::useFilter) {
- // Pitch.newPos = lowPassFilter ( getCorrectedNewRaw ( rateLimiter ( Tracker::Pitch.headPos, &Tracker::Pitch.prevRawPos, dT, 1.0f ), rotNeutralZone ),
- // &Pitch.prevPos, dT, Tracker::Pitch.red );
- //}
- //else {
- Pitch.newPos = getCorrectedNewRaw ( Tracker::Pitch.headPos, rotNeutralZone );
- //}
+ Pitch.newPos = getCorrectedNewRaw ( Tracker::Pitch.headPos, rotNeutralZone );
addRaw2List ( &Pitch.rawList, Pitch.maxItems, Pitch.newPos );
+ // Yaw
+ Yaw.newPos = getCorrectedNewRaw ( Tracker::Yaw.headPos, rotNeutralZone );
+ addRaw2List ( &Yaw.rawList, Yaw.maxItems, Yaw.newPos );
+
+ // Roll
+ Roll.newPos = getCorrectedNewRaw ( Tracker::Roll.headPos, rotNeutralZone );
+ addRaw2List ( &Roll.rawList, Roll.maxItems, Roll.newPos );
+
//
// Log something
//
@@ -540,54 +581,19 @@ void Tracker::receiveHeadPose(void *,smEngineHeadPoseData head_pose, smCameraVid
// QTextStream out(&data);
// out << "Limited Raw= " << rate << " dT= " << dT << " Raw= " << Tracker::Pitch.headPos << " Filtered= " << Pitch.newPos << '\n';
//}
-// Tracker::Pitch.prevRawPos = Tracker::Pitch.headPos;
-
- // Yaw
- //if (Tracker::useFilter) {
- // Yaw.newPos = lowPassFilter ( getCorrectedNewRaw ( rateLimiter ( Tracker::Yaw.headPos, &Tracker::Yaw.prevRawPos, dT, 1.0f ), rotNeutralZone ),
- // &Yaw.prevPos, dT, Tracker::Yaw.red );
- //}
- //else {
- Yaw.newPos = getCorrectedNewRaw ( Tracker::Yaw.headPos, rotNeutralZone );
- //}
- addRaw2List ( &Yaw.rawList, Yaw.maxItems, Yaw.newPos );
- // Roll
- //if (Tracker::useFilter) {
- // Roll.newPos = lowPassFilter ( getCorrectedNewRaw (rateLimiter ( Tracker::Roll.headPos, &Tracker::Roll.prevRawPos, dT, 1.0f ), rotNeutralZone ),
- // &Roll.prevPos, dT, Tracker::Roll.red );
- //}
- //else {
- Roll.newPos = getCorrectedNewRaw ( Tracker::Roll.headPos, rotNeutralZone );
- //}
- addRaw2List ( &Roll.rawList, Roll.maxItems, Roll.newPos );
// X-position
- //if (Tracker::useFilter) {
- // X.newPos = lowPassFilter ( Tracker::X.headPos, &X.prevPos, dT, Tracker::X.red );
- //}
- //else {
- X.newPos = Tracker::X.headPos;
- //}
+ X.newPos = Tracker::X.headPos;
addRaw2List ( &X.rawList, X.maxItems, X.newPos );
// Y-position
- //if (Tracker::useFilter) {
- // Y.newPos = lowPassFilter ( Tracker::Y.headPos, &Y.prevPos, dT, Tracker::Y.red );
- //}
- //else {
- Y.newPos = Tracker::Y.headPos;
- //}
+ Y.newPos = Tracker::Y.headPos;
addRaw2List ( &Y.rawList, Y.maxItems, Y.newPos );
// Z-position (distance to camera, absolute!)
- //if (Tracker::useFilter) {
- // Z.newPos = lowPassFilter ( Tracker::Z.headPos, &Z.prevPos, dT, Tracker::Z.red );
- //}
- //else {
- Z.newPos = Tracker::Z.headPos;
- //}
+ Z.newPos = Tracker::Z.headPos;
addRaw2List ( &Z.rawList, Z.maxItems, Z.newPos );
} else {
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-13 21:47:30 +0000