diff options
Diffstat (limited to 'FaceTrackNoIR/tracker.cpp')
| -rw-r--r-- | FaceTrackNoIR/tracker.cpp | 116 |
1 files changed, 54 insertions, 62 deletions
diff --git a/FaceTrackNoIR/tracker.cpp b/FaceTrackNoIR/tracker.cpp index 5b387555..c78644c1 100644 --- a/FaceTrackNoIR/tracker.cpp +++ b/FaceTrackNoIR/tracker.cpp @@ -334,11 +334,6 @@ T6DOF gameoutput_camera(0,0,0,0,0,0); Tracker::do_tracking = true; // Start initially
Tracker::do_center = true; // Center initially
- current_camera.initHeadPoseData();
- target_camera.initHeadPoseData();
- new_camera.initHeadPoseData();
- output_camera.initHeadPoseData();
-
//
// Test some Filter-stuff
//
@@ -582,12 +577,12 @@ T6DOF gameoutput_camera(0,0,0,0,0,0); //
if (Tracker::confid) {
- 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 );
+ offset_camera.x = getSmoothFromList( &X.rawList );
+ offset_camera.y = getSmoothFromList( &Y.rawList );
+ offset_camera.z = getSmoothFromList( &Z.rawList );
+ offset_camera.pitch = getSmoothFromList( &Pitch.rawList );
+ offset_camera.yaw = getSmoothFromList( &Yaw.rawList );
+ offset_camera.roll = getSmoothFromList( &Roll.rawList );
}
Tracker::do_center = false;
@@ -599,50 +594,47 @@ T6DOF gameoutput_camera(0,0,0,0,0,0); //
if (Tracker::confid && Tracker::do_game_zero) {
if (!pTracker->notifyZeroed())
- gamezero_camera.position = gameoutput_camera.position;
-// gamezero_camera.position = gameoutput_camera.position;
+ gamezero_camera = gameoutput_camera;
+// gamezero_camera = gameoutput_camera;
Tracker::do_game_zero = false;
}
if (Tracker::do_tracking && Tracker::confid) {
- // Pitch
- 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 );
+ // get values
+ target_camera.x = getSmoothFromList( &X.rawList );
+ target_camera.y = getSmoothFromList( &Y.rawList );
+ target_camera.z = getSmoothFromList( &Z.rawList );
+ target_camera.pitch = getSmoothFromList( &Pitch.rawList );
+ target_camera.yaw = getSmoothFromList( &Yaw.rawList );
+ target_camera.roll = getSmoothFromList( &Roll.rawList );
+
+ // do the centering
target_camera = target_camera - offset_camera;
if (Tracker::useFilter && pFilter) {
- pFilter->FilterHeadPoseData(¤t_camera.position, &target_camera.position, &new_camera.position, Tracker::Pitch.newSample);
+ pFilter->FilterHeadPoseData(¤t_camera, &target_camera, &new_camera, Tracker::Pitch.newSample);
}
else {
- new_camera.position.x = getSmoothFromList( &X.rawList ) - offset_camera.position.x;
- new_camera.position.y = getSmoothFromList( &Y.rawList ) - offset_camera.position.y;
- new_camera.position.z = getSmoothFromList( &Z.rawList ) - offset_camera.position.z;
- new_camera.position.pitch = getSmoothFromList( &Pitch.rawList ) - offset_camera.position.pitch;
- new_camera.position.yaw = getSmoothFromList( &Yaw.rawList ) - offset_camera.position.yaw;
- new_camera.position.roll = getSmoothFromList( &Roll.rawList ) - offset_camera.position.roll;
+ new_camera = target_camera;
}
- output_camera.position.x = X.invert * X.curvePtr->getValue(new_camera.position.x);
- output_camera.position.y = Y.invert * Y.curvePtr->getValue(new_camera.position.y);
- output_camera.position.z = Z.invert * Z.curvePtr->getValue(new_camera.position.z);
- bool altp = new_camera.position.pitch < 0;
+ output_camera.x = X.invert * X.curvePtr->getValue(new_camera.x);
+ output_camera.y = Y.invert * Y.curvePtr->getValue(new_camera.y);
+ output_camera.z = Z.invert * Z.curvePtr->getValue(new_camera.z);
+ bool altp = new_camera.pitch < 0;
if (altp) {
- output_camera.position.pitch = Pitch.invert * Pitch.curvePtrAlt->getValue(new_camera.position.pitch);
+ output_camera.pitch = Pitch.invert * Pitch.curvePtrAlt->getValue(new_camera.pitch);
Pitch.curvePtr->setTrackingActive( false );
Pitch.curvePtrAlt->setTrackingActive( true );
}
else {
- output_camera.position.pitch = Pitch.invert * Pitch.curvePtr->getValue(new_camera.position.pitch);
+ output_camera.pitch = Pitch.invert * Pitch.curvePtr->getValue(new_camera.pitch);
Pitch.curvePtr->setTrackingActive( true );
Pitch.curvePtrAlt->setTrackingActive( false );
}
- output_camera.position.yaw = Yaw.invert * Yaw.curvePtr->getValue(new_camera.position.yaw);
- output_camera.position.roll = Roll.invert * Roll.curvePtr->getValue(new_camera.position.roll);
+ output_camera.yaw = Yaw.invert * Yaw.curvePtr->getValue(new_camera.yaw);
+ output_camera.roll = Roll.invert * Roll.curvePtr->getValue(new_camera.roll);
X.curvePtr->setTrackingActive( true );
@@ -654,22 +646,22 @@ T6DOF gameoutput_camera(0,0,0,0,0,0); //
// Reverse Axis.
//
- actualYaw = output_camera.position.yaw; // Save the actual Yaw, otherwise we can't check for +90
- actualZ = output_camera.position.z; // Also the Z
+ actualYaw = output_camera.yaw; // Save the actual Yaw, otherwise we can't check for +90
+ actualZ = output_camera.z; // Also the Z
if (Tracker::do_axis_reverse) {
- output_camera.position.z = Z_PosWhenReverseAxis; // Set the desired Z-position
+ output_camera.z = Z_PosWhenReverseAxis; // Set the desired Z-position
}
//
// Reset value for the selected axis, if inhibition is active
//
if (Tracker::do_inhibit) {
- if (InhibitKey.doPitch) output_camera.position.pitch = 0.0f;
- if (InhibitKey.doYaw) output_camera.position.yaw = 0.0f;
- if (InhibitKey.doRoll) output_camera.position.roll = 0.0f;
- if (InhibitKey.doX) output_camera.position.x = 0.0f;
- if (InhibitKey.doY) output_camera.position.y = 0.0f;
- if (InhibitKey.doZ) output_camera.position.z = 0.0f;
+ if (InhibitKey.doPitch) output_camera.pitch = 0.0f;
+ if (InhibitKey.doYaw) output_camera.yaw = 0.0f;
+ if (InhibitKey.doRoll) output_camera.roll = 0.0f;
+ if (InhibitKey.doX) output_camera.x = 0.0f;
+ if (InhibitKey.doY) output_camera.y = 0.0f;
+ if (InhibitKey.doZ) output_camera.z = 0.0f;
}
// All Protocol server(s)
@@ -687,12 +679,12 @@ T6DOF gameoutput_camera(0,0,0,0,0,0); debug_Client->setHeadPosY( Tracker::Y.headPos );
debug_Client->setHeadPosZ( Tracker::Z.headPos );
- debug_Client->setVirtRotX ( new_camera.position.pitch ); // degrees
- debug_Client->setVirtRotY ( new_camera.position.yaw );
- debug_Client->setVirtRotZ ( new_camera.position.roll );
- debug_Client->setVirtPosX ( new_camera.position.x ); // centimeters
- debug_Client->setVirtPosY ( new_camera.position.y );
- debug_Client->setVirtPosZ ( new_camera.position.z );
+ debug_Client->setVirtRotX ( new_camera.pitch ); // degrees
+ debug_Client->setVirtRotY ( new_camera.yaw );
+ debug_Client->setVirtRotZ ( new_camera.roll );
+ debug_Client->setVirtPosX ( new_camera.x ); // centimeters
+ debug_Client->setVirtPosY ( new_camera.y );
+ debug_Client->setVirtPosZ ( new_camera.z );
# endif
@@ -702,12 +694,12 @@ T6DOF gameoutput_camera(0,0,0,0,0,0); // Go to initial position
//
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;
+ output_camera.pitch = 0.0f;
+ output_camera.yaw = 0.0f;
+ output_camera.roll = 0.0f;
+ output_camera.x = 0.0f;
+ output_camera.y = 0.0f;
+ output_camera.z = 0.0f;
gameoutput_camera = output_camera + gamezero_camera;
pProtocol->sendHeadposeToGame( &gameoutput_camera ); // degrees & centimeters
}
@@ -840,13 +832,13 @@ void Tracker::getHeadPose( THeadPoseData *data ) { // Get the output-headpose, so it can be displayed.
//
void Tracker::getOutputHeadPose( THeadPoseData *data ) {
- data->x = output_camera.position.x; // centimeters
- data->y = output_camera.position.y;
- data->z = output_camera.position.z;
+ data->x = output_camera.x; // centimeters
+ data->y = output_camera.y;
+ data->z = output_camera.z;
- data->pitch = output_camera.position.pitch; // degrees
- data->yaw = output_camera.position.yaw;
- data->roll = output_camera.position.roll;
+ data->pitch = output_camera.pitch; // degrees
+ data->yaw = output_camera.yaw;
+ data->roll = output_camera.roll;
}
//
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