diff options
Diffstat (limited to 'FaceTrackNoIR/tracker.cpp')
| -rw-r--r-- | FaceTrackNoIR/tracker.cpp | 368 |
1 files changed, 156 insertions, 212 deletions
diff --git a/FaceTrackNoIR/tracker.cpp b/FaceTrackNoIR/tracker.cpp index 0dd7311e..223d6d28 100644 --- a/FaceTrackNoIR/tracker.cpp +++ b/FaceTrackNoIR/tracker.cpp @@ -23,6 +23,9 @@ *********************************************************************************/
/*
Modifications (last one on top):
+ 20110411 - WVR: Finished moving all Protocols to separate C++ projects. Every protocol now
+ has it's own Class, that's inside it's own DLL. This reduces the size of the program,
+ makes it more structured and enables a more sophisticated installer.
20110328 - WVR: Changed the camera-structs into class-instances. This makes initialisation
easier and hopefully solves the remaining 'start-up problem'.
20110313 - WVR: Removed 'set_initial'. Less is more.
@@ -63,16 +66,18 @@ bool Tracker::confid = false; bool Tracker::do_tracking = true;
bool Tracker::do_center = false;
bool Tracker::do_inhibit = false;
+bool Tracker::do_axis_reverse = false;
+
bool Tracker::useFilter = false;
bool Tracker::setZero = true;
bool Tracker::setEngineStop = true;
HANDLE Tracker::hTrackMutex = 0;
-T6DOF Tracker::current_camera; // Used for filtering
-T6DOF Tracker::target_camera;
-T6DOF Tracker::new_camera;
-T6DOF Tracker::output_camera; // Position sent to game protocol
+T6DOF Tracker::current_camera(0,0,0,0,0,0); // Used for filtering
+T6DOF Tracker::target_camera(0,0,0,0,0,0);
+T6DOF Tracker::new_camera(0,0,0,0,0,0);
+T6DOF Tracker::output_camera(0,0,0,0,0,0); // Position sent to game protocol
THeadPoseDOF Tracker::Pitch; // One structure for each of 6DOF's
THeadPoseDOF Tracker::Yaw;
@@ -84,6 +89,7 @@ THeadPoseDOF Tracker::Z; TShortKey Tracker::CenterKey; // ShortKey to Center headposition
TShortKey Tracker::StartStopKey; // ShortKey to Start/stop tracking
TShortKey Tracker::InhibitKey; // ShortKey to inhibit axis while tracking
+TShortKey Tracker::AxisReverseKey; // ShortKey to start/stop axis reverse while tracking
ITrackerPtr Tracker::pTracker; // Pointer to Tracker instance (in DLL)
IProtocolPtr Tracker::pProtocol; // Pointer to Protocol instance (in DLL)
@@ -92,6 +98,7 @@ IFilterPtr Tracker::pFilter; // Pointer to Filter instance (in DLL) /** constructor **/
Tracker::Tracker( int clientID, int facetrackerID, FaceTrackNoIR *parent ) {
+QString libName;
importGetTracker getIT;
QLibrary *trackerLib;
importGetFilter getFilter;
@@ -132,162 +139,73 @@ QFrame *video_frame; qDebug() << "Tracker::setup VideoFrame = " << video_frame;
//
- // Start the selected Tracker-engine
+ // Select the Tracker-engine DLL
//
switch (selectedTracker) {
case FT_SM_FACEAPI:
- trackerLib = new QLibrary("FTNoIR_Tracker_SM.dll");
-
- getIT = (importGetTracker) trackerLib->resolve("GetTracker");
-
- if (getIT) {
- ITrackerPtr ptrXyz(getIT());
- if (ptrXyz)
- {
- pTracker = ptrXyz;
- pTracker->Initialize( video_frame );
- qDebug() << "Tracker::setup Function Resolved!";
- }
- }
- else {
- QMessageBox::warning(0,"FaceTrackNoIR Error", "DLL not loaded",QMessageBox::Ok,QMessageBox::NoButton);
- }
+ libName = QString("FTNoIR_Tracker_SM.dll");
break;
case FT_FTNOIR:
- trackerLib = new QLibrary("FTNoIR_Tracker_UDP.dll");
-
- getIT = (importGetTracker) trackerLib->resolve("GetTracker");
-
- if (getIT) {
- ITrackerPtr ptrXyz(getIT());
- if (ptrXyz)
- {
- pTracker = ptrXyz;
- pTracker->Initialize( video_frame );
- qDebug() << "Tracker::setup Function Resolved!";
- }
- }
- else {
- QMessageBox::warning(0,"FaceTrackNoIR Error", "DLL not loaded",QMessageBox::Ok,QMessageBox::NoButton);
- }
+ libName = QString("FTNoIR_Tracker_UDP.dll");
break;
default:
break;
}
+ //
+ // Load the Tracker-engine DLL, get the tracker-class from it and do stuff...
+ //
+ if (!libName.isEmpty()) {
+ trackerLib = new QLibrary(libName);
+ getIT = (importGetTracker) trackerLib->resolve("GetTracker");
+
+ if (getIT) {
+ ITrackerPtr ptrXyz(getIT()); // Get the Class
+ if (ptrXyz)
+ {
+ pTracker = ptrXyz;
+ pTracker->Initialize( video_frame );
+ qDebug() << "Tracker::setup Function Resolved!";
+ }
+ }
+ else {
+ QMessageBox::warning(0,"FaceTrackNoIR Error", "DLL not loaded",QMessageBox::Ok,QMessageBox::NoButton);
+ }
+ }
//
// Initialize all server-handles. Only start the server, that was selected in the GUI.
//
+ libName.clear();
switch (selectedClient) {
case FREE_TRACK:
- server_Game = QSharedPointer<FTNServer>(new FTNServer ( this )); // Create FaceTrackNoIR protocol-server
-
- //
- // Load the DLL with the protocol-logic and retrieve a pointer to the Protocol-class.
- //
- protocolLib = new QLibrary("FTNoIR_Protocol_FT.dll");
-
- getProtocol = (importGetProtocol) protocolLib->resolve("GetProtocol");
- if (getProtocol) {
- IProtocolPtr ptrXyz(getProtocol());
- if (ptrXyz)
- {
- pProtocol = ptrXyz;
- pProtocol->Initialize();
- qDebug() << "Protocol::setup Function Resolved!";
- }
- }
- else {
- QMessageBox::warning(0,"FaceTrackNoIR Error", "Protocol-DLL not loaded",QMessageBox::Ok,QMessageBox::NoButton);
- return;
- }
+ libName = QString("FTNoIR_Protocol_FT.dll");
break;
case FLIGHTGEAR:
- server_Game = QSharedPointer<FTNServer>(new FTNServer ( this )); // Create FaceTrackNoIR protocol-server
-
- //
- // Load the DLL with the protocol-logic and retrieve a pointer to the Protocol-class.
- //
- protocolLib = new QLibrary("FTNoIR_Protocol_FG.dll");
-
- getProtocol = (importGetProtocol) protocolLib->resolve("GetProtocol");
- if (getProtocol) {
- IProtocolPtr ptrXyz(getProtocol());
- if (ptrXyz)
- {
- pProtocol = ptrXyz;
- pProtocol->Initialize();
- qDebug() << "Protocol::setup Function Resolved!";
- }
- }
- else {
- QMessageBox::warning(0,"FaceTrackNoIR Error", "Protocol-DLL not loaded",QMessageBox::Ok,QMessageBox::NoButton);
- return;
- }
+ libName = QString("FTNoIR_Protocol_FG.dll");
break;
case FTNOIR:
- server_Game = QSharedPointer<FTNServer>(new FTNServer ( this )); // Create FaceTrackNoIR protocol-server
+ libName = QString("FTNoIR_Protocol_FTN.dll");
break;
case PPJOY:
- server_Game = QSharedPointer<FTNServer>(new FTNServer ( this )); // Create FaceTrackNoIR protocol-server
-
- //
- // Load the DLL with the protocol-logic and retrieve a pointer to the Protocol-class.
- //
- protocolLib = new QLibrary("FTNoIR_Protocol_PPJOY.dll");
-
- getProtocol = (importGetProtocol) protocolLib->resolve("GetProtocol");
- if (getProtocol) {
- IProtocolPtr ptrXyz(getProtocol());
- if (ptrXyz)
- {
- pProtocol = ptrXyz;
- pProtocol->Initialize();
- qDebug() << "Protocol::setup Function Resolved!";
- }
- }
- else {
- QMessageBox::warning(0,"FaceTrackNoIR Error", "Protocol-installation invalid",QMessageBox::Ok,QMessageBox::NoButton);
- return;
- }
+ libName = QString("FTNoIR_Protocol_PPJOY.dll");
break;
case TRACKIR:
- server_Game = QSharedPointer<FTNServer>(new FTNServer ( this )); // Create FaceTrackNoIR protocol-server
-
- //
- // Load the DLL with the protocol-logic and retrieve a pointer to the Protocol-class.
- //
- protocolLib = new QLibrary("FTNoIR_Protocol_FTIR.dll");
-
- getProtocol = (importGetProtocol) protocolLib->resolve("GetProtocol");
- if (getProtocol) {
- IProtocolPtr ptrXyz(getProtocol());
- if (ptrXyz)
- {
- pProtocol = ptrXyz;
- pProtocol->Initialize();
- qDebug() << "Protocol::setup Function Resolved!";
- }
- }
- else {
- QMessageBox::warning(0,"FaceTrackNoIR Error", "Protocol-DLL not loaded",QMessageBox::Ok,QMessageBox::NoButton);
- return;
- }
+ libName = QString("FTNoIR_Protocol_FTIR.dll");
break;
case SIMCONNECT:
- server_Game = QSharedPointer<SCServer>(new SCServer ( )); // Create SimConnect protocol-server
+ libName = QString("FTNoIR_Protocol_SC.dll");
break;
case FSUIPC:
- server_Game = QSharedPointer<FSUIPCServer>(new FSUIPCServer ( )); // Create FSUIPC protocol-server
+ libName = QString("FTNoIR_Protocol_FSUIPC.dll");
break;
default:
@@ -295,6 +213,27 @@ QFrame *video_frame; break;
}
+ //
+ // Load the DLL with the protocol-logic and retrieve a pointer to the Protocol-class.
+ //
+ if (!libName.isEmpty()) {
+ protocolLib = new QLibrary(libName);
+ getProtocol = (importGetProtocol) protocolLib->resolve("GetProtocol");
+ if (getProtocol) {
+ IProtocolPtr ptrXyz(getProtocol());
+ if (ptrXyz)
+ {
+ pProtocol = ptrXyz;
+ pProtocol->Initialize();
+ qDebug() << "Protocol::setup Function Resolved!";
+ }
+ }
+ else {
+ QMessageBox::warning(0,"FaceTrackNoIR Error", "Protocol-DLL not loaded",QMessageBox::Ok,QMessageBox::NoButton);
+ return;
+ }
+ }
+
# ifdef USE_DEBUG_CLIENT
debug_Client = QSharedPointer<ExcelServer>(new ExcelServer ( this )); // Create Excel protocol-server
# endif
@@ -346,11 +285,6 @@ Tracker::~Tracker() { ::CloseHandle( Tracker::hTrackMutex );
}
- // Stop the started server(s)
- if (server_Game) {
- server_Game->deleteLater();
- }
-
# ifdef USE_DEBUG_CLIENT
debug_Client->deleteLater(); // Delete Excel protocol-server
# endif
@@ -371,20 +305,6 @@ void Tracker::setup() { // Some servers also create a memory-mapping, for Inter Process Communication.
// The handle of the MainWindow is sent to 'The Game', so it can send a message back.
//
- if (server_Game) {
-
- DLL_Ok = server_Game->checkServerInstallationOK( mainApp->winId() );
- if (!DLL_Ok) {
- QMessageBox::information(mainApp, "FaceTrackNoIR error", "Protocol is not (correctly) installed!");
- }
-
- }
-
- //
- // Check if the Protocol-server files were installed OK.
- // Some servers also create a memory-mapping, for Inter Process Communication.
- // The handle of the MainWindow is sent to 'The Game', so it can send a message back.
- //
if (pProtocol) {
DLL_Ok = pProtocol->checkServerInstallationOK( mainApp->winId() );
@@ -404,14 +324,18 @@ void Tracker::setup() { /** QThread run method @override **/
void Tracker::run() {
- /** Direct Input variables **/
- LPDIRECTINPUT8 din; // the pointer to our DirectInput interface
- LPDIRECTINPUTDEVICE8 dinkeyboard; // the pointer to the keyboard device
- BYTE keystate[256]; // the storage for the key-information
- HRESULT retAcquire;
- bool lastCenterKey = false; // Remember state, to detect rising edge
- bool lastStartStopKey = false;
- bool lastInhibitKey = false;
+/** Direct Input variables **/
+LPDIRECTINPUT8 din; // the pointer to our DirectInput interface
+LPDIRECTINPUTDEVICE8 dinkeyboard; // the pointer to the keyboard device
+BYTE keystate[256]; // the storage for the key-information
+HRESULT retAcquire;
+bool lastCenterKey = false; // Remember state, to detect rising edge
+bool lastStartStopKey = false;
+bool lastInhibitKey = false;
+bool waitAxisReverse = false;
+bool waitThroughZero = false;
+double actualYaw = 0.0f;
+T6DOF offset_camera(0,0,0,0,0,0);
Tracker::do_center = true; // Center initially
@@ -430,13 +354,6 @@ void Tracker::run() { }
//
- // Initialize all internal data of the Game-protocol.
- //
- if (server_Game) {
- server_Game->resetProperties();
- }
-
- //
// Setup the DirectInput for keyboard strokes
//
// create the DirectInput interface
@@ -519,6 +436,7 @@ void Tracker::run() { current_camera.initHeadPoseData();
target_camera.initHeadPoseData();
new_camera.initHeadPoseData();
+ offset_camera.initHeadPoseData();
pTracker->StartTracker( mainApp->winId() );
}
@@ -555,9 +473,25 @@ void Tracker::run() { }
lastInhibitKey = isShortKeyPressed( &InhibitKey, &keystate[0] ); // Remember
+ //
+ // Check the state of the Axis Reverse key
+ //
+ if ( isShortKeyPressed( &AxisReverseKey, &keystate[0] ) ) {
+ if ((fabs(actualYaw) > 90.0f) && (!waitAxisReverse)) {
+ Tracker::do_axis_reverse = !Tracker::do_axis_reverse;
+ waitAxisReverse = true;
+ }
+ }
}
}
+ //
+ // Reset the 'wait' flag. Moving above 90 with the key pressed, will (de-)activate Axis Reverse.
+ //
+ if (fabs(actualYaw) < 85.0f) {
+ waitAxisReverse = false;
+ }
+
if (WaitForSingleObject(Tracker::hTrackMutex, 100) == WAIT_OBJECT_0) {
THeadPoseData newpose;
@@ -570,26 +504,34 @@ void Tracker::run() { // If Center is pressed, copy the current values to the offsets.
//
if (Tracker::confid && Tracker::do_center) {
- Pitch.offset_headPos = getSmoothFromList( &Pitch.rawList );
- Yaw.offset_headPos = getSmoothFromList( &Yaw.rawList );
- Roll.offset_headPos = getSmoothFromList( &Roll.rawList );
- X.offset_headPos = getSmoothFromList( &X.rawList );
- Y.offset_headPos = getSmoothFromList( &Y.rawList );
- Z.offset_headPos = getSmoothFromList( &Z.rawList );
+ //Pitch.offset_headPos = getSmoothFromList( &Pitch.rawList );
+ //Yaw.offset_headPos = getSmoothFromList( &Yaw.rawList );
+ //Roll.offset_headPos = getSmoothFromList( &Roll.rawList );
+ //X.offset_headPos = getSmoothFromList( &X.rawList );
+ //Y.offset_headPos = getSmoothFromList( &Y.rawList );
+ //Z.offset_headPos = getSmoothFromList( &Z.rawList );
MessageBeep (MB_ICONASTERISK);
+ offset_camera.position.x = getSmoothFromList( &X.rawList );
+ offset_camera.position.y = getSmoothFromList( &Y.rawList );
+ offset_camera.position.z = getSmoothFromList( &Z.rawList );
+ offset_camera.position.pitch = getSmoothFromList( &Pitch.rawList );
+ offset_camera.position.yaw = getSmoothFromList( &Yaw.rawList );
+ offset_camera.position.roll = getSmoothFromList( &Roll.rawList );
+
Tracker::do_center = false;
}
if (Tracker::do_tracking && Tracker::confid) {
// Pitch
- target_camera.position.x = getSmoothFromList( &X.rawList ) - X.offset_headPos;
- target_camera.position.y = getSmoothFromList( &Y.rawList ) - Y.offset_headPos;
- target_camera.position.z = getSmoothFromList( &Z.rawList ) - Z.offset_headPos;
- target_camera.position.pitch = getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos;
- target_camera.position.yaw = getSmoothFromList( &Yaw.rawList ) - Yaw.offset_headPos;
- target_camera.position.roll = getSmoothFromList( &Roll.rawList ) - Roll.offset_headPos;
+ target_camera.position.x = getSmoothFromList( &X.rawList );
+ target_camera.position.y = getSmoothFromList( &Y.rawList );
+ target_camera.position.z = getSmoothFromList( &Z.rawList );
+ target_camera.position.pitch = getSmoothFromList( &Pitch.rawList );
+ target_camera.position.yaw = getSmoothFromList( &Yaw.rawList );
+ target_camera.position.roll = getSmoothFromList( &Roll.rawList );
+ target_camera = target_camera - offset_camera;
if (Tracker::useFilter && pFilter) {
pFilter->FilterHeadPoseData(¤t_camera.position, &target_camera.position, &new_camera.position, Tracker::Pitch.newSample);
@@ -610,6 +552,33 @@ void Tracker::run() { output_camera.position.roll = Roll.invert * getOutputFromCurve(&Roll.curve, new_camera.position.roll, Roll.NeutralZone, Roll.MaxInput);
//
+ // Reverse Axis.
+ //
+ actualYaw = output_camera.position.yaw; // Save the actual Yaw, otherwise we can't check for +90
+ if (Tracker::do_axis_reverse) {
+ if (fabs(actualYaw) < 5.0f) {
+ waitThroughZero = true;
+ }
+ if (waitThroughZero) {
+ output_camera.position.yaw *= -1.0f;
+ }
+ if (output_camera.position.yaw > 0.0f) {
+ output_camera.position.yaw = 180.0f - output_camera.position.yaw;
+ }
+ else {
+ output_camera.position.yaw = -180.0f - output_camera.position.yaw;
+ }
+ }
+ else {
+ if (fabs(actualYaw) < 5.0f) {
+ waitThroughZero = false;
+ }
+ if (waitThroughZero) {
+ output_camera.position.yaw *= -1.0f;
+ }
+ }
+
+ //
// Reset value for the selected axis, if inhibition is active
//
if (Tracker::do_inhibit) {
@@ -621,44 +590,11 @@ void Tracker::run() { if (InhibitKey.doZ) output_camera.position.z = 0.0f;
}
- //
- // Send the Virtual Pose to selected Protocol-Server
- //
- // Free-track
- if (selectedClient == FREE_TRACK) {
- server_Game->setHeadRotX( output_camera.position.pitch ); // degrees
- server_Game->setHeadRotY( output_camera.position.yaw );
- server_Game->setHeadRotZ( output_camera.position.roll );
-
- server_Game->setHeadPosX( output_camera.position.x ); // centimeters
- server_Game->setHeadPosY( output_camera.position.y );
- server_Game->setHeadPosZ( output_camera.position.z );
- }
-
- // All Protocol server(s)
- if (server_Game) {
- server_Game->setVirtRotX ( output_camera.position.pitch ); // degrees
- server_Game->setVirtRotY ( output_camera.position.yaw );
- server_Game->setVirtRotZ ( output_camera.position.roll );
- server_Game->setVirtPosX ( output_camera.position.x ); // centimeters
- server_Game->setVirtPosY ( output_camera.position.y );
- server_Game->setVirtPosZ ( output_camera.position.z );
- }
-
// All Protocol server(s)
if (pProtocol) {
pProtocol->sendHeadposeToGame( &output_camera ); // degrees & centimeters
}
-// headRotXLine->setText(QString("%1").arg( new_camera.position.pitch, 0, 'f', 1)); // show degrees
-// headRotYLine->setText(QString("%1").arg( new_camera.position.yaw, 0, 'f', 1));
-// headRotZLine->setText(QString("%1").arg( new_camera.position.roll, 0, 'f', 1));
-//
-//// headXLine->setText(QString("%1").arg( new_camera.position.x, 0, 'f', 1)); // show centimeters
-// headYLine->setText(QString("%1").arg( new_camera.position.y, 0, 'f', 1));
-// headZLine->setText(QString("%1").arg( new_camera.position.z, 0, 'f', 1));
-
-
# ifdef USE_DEBUG_CLIENT
debug_Client->setHeadRotX( Tracker::Pitch.headPos ); // degrees
debug_Client->setHeadRotY( Tracker::Yaw.headPos );
@@ -682,13 +618,14 @@ void Tracker::run() { //
// Go to initial position
//
- if (server_Game && setZero) {
- server_Game->setVirtRotX ( 0.0f );
- server_Game->setVirtRotY ( 0.0f );
- server_Game->setVirtRotZ ( 0.0f );
- server_Game->setVirtPosX ( 0.0f );
- server_Game->setVirtPosY ( 0.0f );
- server_Game->setVirtPosZ ( 0.0f );
+ if (pProtocol && setZero) {
+ output_camera.position.pitch = 0.0f;
+ output_camera.position.yaw = 0.0f;
+ output_camera.position.roll = 0.0f;
+ output_camera.position.x = 0.0f;
+ output_camera.position.y = 0.0f;
+ output_camera.position.z = 0.0f;
+ pProtocol->sendHeadposeToGame( &output_camera ); // degrees & centimeters
}
}
}
@@ -705,7 +642,6 @@ void Tracker::run() { Tracker::Pitch.newSample = false;
ReleaseMutex(Tracker::hTrackMutex);
- server_Game->sendHeadposeToGame();
//for lower cpu load
usleep(10000);
@@ -749,7 +685,8 @@ void Tracker::addHeadPose( THeadPoseData head_pose ) QString Tracker::getGameProgramName() {
QString str;
- str = server_Game->GetProgramName();
+// str = server_Game->GetProgramName();
+ str = QString("");
return str;
}
@@ -1100,6 +1037,13 @@ QPointF point1, point2, point3, point4; InhibitKey.doY = iniFile.value ( "Inhibit_Y", 0 ).toBool();
InhibitKey.doZ = iniFile.value ( "Inhibit_Z", 0 ).toBool();
+ // Axis Reverse key
+ AxisReverseKey.keycode = DIK_R;
+ AxisReverseKey.shift = false;
+ AxisReverseKey.ctrl = false;
+ AxisReverseKey.alt = false;
+
+
iniFile.endGroup ();
}
|