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-rw-r--r--FaceTrackNoIR/tracker.cpp156
1 files changed, 77 insertions, 79 deletions
diff --git a/FaceTrackNoIR/tracker.cpp b/FaceTrackNoIR/tracker.cpp
index 01739389..38c72437 100644
--- a/FaceTrackNoIR/tracker.cpp
+++ b/FaceTrackNoIR/tracker.cpp
@@ -23,6 +23,8 @@
*********************************************************************************/
/*
Modifications (last one on top):
+ 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.
20110109 - WVR: Added setZero option to define behaviour after STOP tracking via shortkey.
20110104 - WVR: Removed a few nasty bugs (it was impossible to stop tracker without crash).
@@ -66,6 +68,12 @@ 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
+
THeadPoseDOF Tracker::Pitch; // One structure for each of 6DOF's
THeadPoseDOF Tracker::Yaw;
THeadPoseDOF Tracker::Roll;
@@ -309,32 +317,12 @@ void Tracker::run() {
bool lastStartStopKey = false;
bool lastInhibitKey = false;
- THeadPoseData current_camera_position; // Used for filtering
- THeadPoseData target_camera_position;
- THeadPoseData new_camera_position;
-
Tracker::do_center = true; // Center initially
- current_camera_position.x = 0.0f;
- current_camera_position.y = 0.0f;
- current_camera_position.z = 0.0f;
- current_camera_position.yaw = 0.0f;
- current_camera_position.pitch = 0.0f;
- current_camera_position.roll = 0.0f;
-
- target_camera_position.x = 0.0f;
- target_camera_position.y = 0.0f;
- target_camera_position.z = 0.0f;
- target_camera_position.yaw = 0.0f;
- target_camera_position.pitch = 0.0f;
- target_camera_position.roll = 0.0f;
-
- new_camera_position.x = 0.0f;
- new_camera_position.y = 0.0f;
- new_camera_position.z = 0.0f;
- new_camera_position.yaw = 0.0f;
- new_camera_position.pitch = 0.0f;
- new_camera_position.roll = 0.0f;
+ current_camera.initHeadPoseData();
+ target_camera.initHeadPoseData();
+ new_camera.initHeadPoseData();
+ output_camera.initHeadPoseData();
//
// Test some Filter-stuff
@@ -432,12 +420,9 @@ void Tracker::run() {
Z.rawList.clear();
Z.prevPos = 0.0f;
- current_camera_position.x = 0.0f;
- current_camera_position.y = 0.0f;
- current_camera_position.z = 0.0f;
- current_camera_position.yaw = 0.0f;
- current_camera_position.pitch = 0.0f;
- current_camera_position.roll = 0.0f;
+ current_camera.initHeadPoseData();
+ target_camera.initHeadPoseData();
+ new_camera.initHeadPoseData();
pTracker->StartTracker( mainApp->winId() );
}
@@ -503,41 +488,41 @@ void Tracker::run() {
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 ) - 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;
if (Tracker::useFilter && pFilter) {
- pFilter->FilterHeadPoseData(&current_camera_position, &target_camera_position, &new_camera_position, Tracker::Pitch.newSample);
+ pFilter->FilterHeadPoseData(&current_camera.position, &target_camera.position, &new_camera.position, Tracker::Pitch.newSample);
}
else {
- new_camera_position.x = getSmoothFromList( &X.rawList ) - X.offset_headPos;
- new_camera_position.y = getSmoothFromList( &Y.rawList ) - Y.offset_headPos;
- new_camera_position.z = getSmoothFromList( &Z.rawList ) - Z.offset_headPos;
- new_camera_position.pitch = getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos;
- new_camera_position.yaw = getSmoothFromList( &Yaw.rawList ) - Yaw.offset_headPos;
- new_camera_position.roll = getSmoothFromList( &Roll.rawList ) - Roll.offset_headPos;
+ output_camera.position.x = getSmoothFromList( &X.rawList ) - X.offset_headPos;
+ output_camera.position.y = getSmoothFromList( &Y.rawList ) - Y.offset_headPos;
+ output_camera.position.z = getSmoothFromList( &Z.rawList ) - Z.offset_headPos;
+ output_camera.position.pitch = getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos;
+ output_camera.position.yaw = getSmoothFromList( &Yaw.rawList ) - Yaw.offset_headPos;
+ output_camera.position.roll = getSmoothFromList( &Roll.rawList ) - Roll.offset_headPos;
}
- new_camera_position.x = X.invert * getOutputFromCurve(&X.curve, new_camera_position.x, X.NeutralZone, X.MaxInput);
- new_camera_position.y = Y.invert * getOutputFromCurve(&Y.curve, new_camera_position.y, Y.NeutralZone, Y.MaxInput);
- new_camera_position.z = Z.invert * getOutputFromCurve(&Z.curve, new_camera_position.z, Z.NeutralZone, Z.MaxInput);
- new_camera_position.pitch = Pitch.invert * getOutputFromCurve(&Pitch.curve, new_camera_position.pitch, Pitch.NeutralZone, Pitch.MaxInput);
- new_camera_position.yaw = Yaw.invert * getOutputFromCurve(&Yaw.curve, new_camera_position.yaw, Yaw.NeutralZone, Yaw.MaxInput);
- new_camera_position.roll = Roll.invert * getOutputFromCurve(&Roll.curve, new_camera_position.roll, Roll.NeutralZone, Roll.MaxInput);
+ output_camera.position.x = X.invert * getOutputFromCurve(&X.curve, new_camera.position.x, X.NeutralZone, X.MaxInput);
+ output_camera.position.y = Y.invert * getOutputFromCurve(&Y.curve, new_camera.position.y, Y.NeutralZone, Y.MaxInput);
+ output_camera.position.z = Z.invert * getOutputFromCurve(&Z.curve, new_camera.position.z, Z.NeutralZone, Z.MaxInput);
+ output_camera.position.pitch = Pitch.invert * getOutputFromCurve(&Pitch.curve, new_camera.position.pitch, Pitch.NeutralZone, Pitch.MaxInput);
+ output_camera.position.yaw = Yaw.invert * getOutputFromCurve(&Yaw.curve, new_camera.position.yaw, Yaw.NeutralZone, Yaw.MaxInput);
+ output_camera.position.roll = Roll.invert * getOutputFromCurve(&Roll.curve, new_camera.position.roll, Roll.NeutralZone, Roll.MaxInput);
//
// Reset value for the selected axis, if inhibition is active
//
if (Tracker::do_inhibit) {
- if (InhibitKey.doPitch) new_camera_position.pitch = 0.0f;
- if (InhibitKey.doYaw) new_camera_position.yaw = 0.0f;
- if (InhibitKey.doRoll) new_camera_position.roll = 0.0f;
- if (InhibitKey.doX) new_camera_position.x = 0.0f;
- if (InhibitKey.doY) new_camera_position.y = 0.0f;
- if (InhibitKey.doZ) new_camera_position.z = 0.0f;
+ 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;
}
//
@@ -545,32 +530,32 @@ void Tracker::run() {
//
// Free-track
if (selectedClient == FREE_TRACK) {
- server_Game->setHeadRotX( new_camera_position.pitch ); // degrees
- server_Game->setHeadRotY( new_camera_position.yaw );
- server_Game->setHeadRotZ( new_camera_position.roll );
+ 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( new_camera_position.x ); // centimeters
- server_Game->setHeadPosY( new_camera_position.y );
- server_Game->setHeadPosZ( new_camera_position.z );
+ 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 ( new_camera_position.pitch ); // degrees
- server_Game->setVirtRotY ( new_camera_position.yaw );
- server_Game->setVirtRotZ ( new_camera_position.roll );
- server_Game->setVirtPosX ( new_camera_position.x ); // centimeters
- server_Game->setVirtPosY ( new_camera_position.y );
- server_Game->setVirtPosZ ( new_camera_position.z );
+ 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 );
}
-// 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));
+// 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));
+//// 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
@@ -582,12 +567,12 @@ void Tracker::run() {
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.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 );
# endif
@@ -749,6 +734,19 @@ void Tracker::getHeadPose( THeadPoseData *data ) {
}
//
+// Set the filter-value from the GUI.
+//
+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->pitch = output_camera.position.pitch; // degrees
+ data->yaw = output_camera.position.yaw;
+ data->roll = output_camera.position.roll;
+}
+
+//
// Get the Smoothed value from the QList.
//
float Tracker::getSmoothFromList ( QList<float> *rawList ) {
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-23 16:22:16 +0000