diff options
Diffstat (limited to 'FaceTrackNoIR/tracker.cpp')
| -rw-r--r-- | FaceTrackNoIR/tracker.cpp | 273 |
1 files changed, 160 insertions, 113 deletions
diff --git a/FaceTrackNoIR/tracker.cpp b/FaceTrackNoIR/tracker.cpp index ce928d66..82f26fc2 100644 --- a/FaceTrackNoIR/tracker.cpp +++ b/FaceTrackNoIR/tracker.cpp @@ -48,7 +48,6 @@ bool Tracker::do_tracking = true; bool Tracker::do_center = false;
bool Tracker::useFilter = false;
-float Tracker::rotNeutralZone = 0.087f; // Neutral Zone for rotations (rad)
long Tracker::prevHeadPoseTime = 0;
THeadPoseDOF Tracker::Pitch; // One structure for each of 6DOF's
THeadPoseDOF Tracker::Yaw;
@@ -231,16 +230,15 @@ void Tracker::run() { bool lastBackKey = false; // Remember state, to detect rising edge
bool lastEqualsKey = false;
+ float rawrotX, rawrotY, rawrotZ; // Locals...
+ float rawposX, rawposY, rawposZ;
+ float rotX, rotY, rotZ; // Locals...
+ float posX, posY, posZ;
+
SYSTEMTIME now;
long newHeadPoseTime;
float dT;
- //QFile data("output.txt");
- //if (data.open(QFile::WriteOnly | QFile::Truncate)) {
- // QTextStream out(&data);
- // out << "Polling results";
- //}
-
//
// Setup the DirectInput for keyboard strokes
//
@@ -364,45 +362,41 @@ void Tracker::run() { // to substract that later...
//
if(Tracker::set_initial == false) {
- Tracker::Z.initial_headPos = Tracker::getHeadPosZ();
+ Tracker::X.initial_headPos = Tracker::X.headPos;
+ Tracker::Y.initial_headPos = Tracker::Y.headPos;
+ Tracker::Z.initial_headPos = Tracker::Z.headPos;
MessageBeep (MB_ICONASTERISK);
Tracker::set_initial = true;
}
- headXLine->setText(QString("%1").arg(Tracker::getHeadPosX()*100, 0, 'f', 1));
- headYLine->setText(QString("%1").arg(Tracker::getHeadPosY()*100, 0, 'f', 1));
- headZLine->setText(QString("%1").arg(Tracker::getHeadPosZ()*100, 0, 'f', 1));
+ rawrotX = Tracker::Pitch.headPos; // degrees
+ rawrotY = Tracker::Yaw.headPos;
+ rawrotZ = Tracker::Roll.headPos;
+ rawposX = Tracker::X.headPos; // centimeters
+ rawposY = Tracker::Y.headPos - Tracker::Y.initial_headPos;
+ rawposZ = Tracker::Z.headPos - Tracker::Z.initial_headPos;
+
+ headRotXLine->setText(QString("%1").arg( rawrotX, 0, 'f', 1)); // show degrees
+ headRotYLine->setText(QString("%1").arg( rawrotY, 0, 'f', 1));
+ headRotZLine->setText(QString("%1").arg( rawrotZ, 0, 'f', 1));
+
+ headXLine->setText(QString("%1").arg( rawposX, 0, 'f', 1)); // show centimeters
+ headYLine->setText(QString("%1").arg( rawposY, 0, 'f', 1));
+ headZLine->setText(QString("%1").arg( rawposZ, 0, 'f', 1));
- headRotXLine->setText(QString("%1").arg(Tracker::getHeadRotX()*100, 0, 'f', 1));
- headRotYLine->setText(QString("%1").arg(Tracker::getHeadRotY()*100, 0, 'f', 1));
- headRotZLine->setText(QString("%1").arg(Tracker::getHeadRotZ()*100, 0, 'f', 1));
-//// listener.setTrackedPosition(QPoint(Tracker::getHeadPosX()-50, Tracker::getHeadPosY()-37.5));
//
// Copy the Raw values directly to Free-track server
//
if (server_FT) {
- server_FT->setHeadRotX( Tracker::Pitch.headPos ); // rads
- server_FT->setHeadRotY( Tracker::Yaw.headPos );
- server_FT->setHeadRotZ( Tracker::Roll.headPos);
+ //server_FT->setHeadRotX( rawrotX ); // degrees
+ //server_FT->setHeadRotY( rawrotY );
+ //server_FT->setHeadRotZ( rawrotZ );
- server_FT->setHeadPosX( Tracker::X.headPos * 1000.0f); // From m to mm
- server_FT->setHeadPosY( Tracker::Y.headPos * 1000.0f);
- server_FT->setHeadPosZ( ( Tracker::Z.headPos - Tracker::Z.initial_headPos ) * 1000.0f);
+ //server_FT->setHeadPosX( rawposX ); // meters
+ //server_FT->setHeadPosY( rawposY );
+ //server_FT->setHeadPosZ( rawposZ );
}
-
- //
- // 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);
- //}
}
//
@@ -413,99 +407,147 @@ void Tracker::run() { Yaw.offset_headPos = getSmoothFromList( &Yaw.rawList );
Roll.offset_headPos = getSmoothFromList( &Roll.rawList );
X.offset_headPos = getSmoothFromList( &X.rawList );
- Y.offset_headPos = getSmoothFromList( &Y.rawList );
//
// Reset the initial distance to the camera
//
+ Y.offset_headPos = getSmoothFromList( &Y.rawList ) - Tracker::Y.initial_headPos;
Z.offset_headPos = getSmoothFromList( &Z.rawList ) - Tracker::Z.initial_headPos;
Tracker::do_center = false;
}
if (Tracker::do_tracking && Tracker::confid) {
+
+////// Use this for some debug-output to file...
+//// QFile data("output.txt");
+//// if (data.open(QFile::WriteOnly | QFile::Append)) {
+//// QTextStream out(&data);
+//// out << Pitch.NeutralZone << " " << getDegreesFromRads(rotX) << " " << getOutputFromCurve(&Pitch.curve, getDegreesFromRads(rotX), Pitch.NeutralZone, Pitch.MaxInput) << '\n';
+////// out << dT << " " << getSmoothFromList( &Pitch.rawList ) << " " << Pitch.offset_headPos << '\n';
+//// }
+
// Pitch
if (Tracker::useFilter) {
- Pitch.newPos = lowPassFilter ( getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos,
+ rotX = lowPassFilter ( getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos,
&Pitch.prevPos, dT, Tracker::Pitch.red );
}
else {
- Pitch.newPos = getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos;
+ rotX = getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos;
}
-
- QFile data("output.txt");
- if (data.open(QFile::WriteOnly | QFile::Append)) {
- QTextStream out(&data);
- out << "Input = " << getDegreesFromRads(Pitch.newPos) << " Output = " << getOutputFromCurve(&Pitch.curve, getDegreesFromRads(Pitch.newPos)) << '\n';
- }
+ rotX = Pitch.invert * getOutputFromCurve(&Pitch.curve, rotX, Pitch.NeutralZone, Pitch.MaxInput);
// Yaw
if (Tracker::useFilter) {
- Yaw.newPos = lowPassFilter ( getSmoothFromList( &Yaw.rawList ) - Yaw.offset_headPos,
+ rotY = lowPassFilter ( getSmoothFromList( &Yaw.rawList ) - Yaw.offset_headPos,
&Yaw.prevPos, dT, Tracker::Yaw.red );
}
else {
- Yaw.newPos = getSmoothFromList( &Yaw.rawList ) - Yaw.offset_headPos;
+ rotY = getSmoothFromList( &Yaw.rawList ) - Yaw.offset_headPos;
}
+ rotY = Yaw.invert * getOutputFromCurve(&Yaw.curve, rotY, Yaw.NeutralZone, Yaw.MaxInput);
// Roll
if (Tracker::useFilter) {
- Roll.newPos = lowPassFilter ( getSmoothFromList( &Roll.rawList ) - Roll.offset_headPos,
+ rotZ = lowPassFilter ( getSmoothFromList( &Roll.rawList ) - Roll.offset_headPos,
&Roll.prevPos, dT, Tracker::Roll.red );
}
else {
- Roll.newPos = getSmoothFromList( &Roll.rawList ) - Roll.offset_headPos;
+ rotZ = getSmoothFromList( &Roll.rawList ) - Roll.offset_headPos;
+ }
+ rotZ = Roll.invert * getOutputFromCurve(&Roll.curve, rotZ, Roll.NeutralZone, Roll.MaxInput);
+
+ // X
+ if (Tracker::useFilter) {
+ posX = lowPassFilter ( getSmoothFromList( &X.rawList ) - X.offset_headPos,
+ &X.prevPos, dT, Tracker::X.red );
+ }
+ else {
+ posX = getSmoothFromList( &X.rawList ) - X.offset_headPos;
+ }
+ posX = X.invert * getOutputFromCurve(&X.curve, posX, X.NeutralZone, X.MaxInput);
+
+ // Y
+ if (Tracker::useFilter) {
+ posY = lowPassFilter ( getSmoothFromList( &Y.rawList ) - Y.offset_headPos - Y.initial_headPos,
+ &Y.prevPos, dT, Tracker::Y.red );
+ }
+ else {
+ posY = getSmoothFromList( &Y.rawList ) - Y.offset_headPos - Y.initial_headPos;
+ }
+ posY = Y.invert * getOutputFromCurve(&Y.curve, posY, Y.NeutralZone, Y.MaxInput);
+
+ // Z
+ if (Tracker::useFilter) {
+ posZ = lowPassFilter ( getSmoothFromList( &Z.rawList ) - Z.offset_headPos - Z.initial_headPos,
+ &Z.prevPos, dT, Tracker::Z.red );
+ }
+ else {
+ posZ = getSmoothFromList( &Z.rawList ) - Z.offset_headPos - Z.initial_headPos;
}
+ posZ = Z.invert * getOutputFromCurve(&Z.curve, posZ, Z.NeutralZone, Z.MaxInput);
+
//
// Also send the Virtual Pose to selected Protocol-Server
//
// Free-track
if (server_FT) {
- server_FT->setVirtRotX ( Tracker::Pitch.invert * Tracker::Pitch.sens * Pitch.newPos );
- server_FT->setVirtRotY ( Tracker::Yaw.invert * Tracker::Yaw.sens * Yaw.newPos );
- server_FT->setVirtRotZ ( Tracker::Roll.invert * Tracker::Roll.sens * Roll.newPos );
+ server_FT->setVirtRotX ( rotX ); // degrees
+ server_FT->setVirtRotY ( rotY );
+ server_FT->setVirtRotZ ( rotZ );
+
+ server_FT->setVirtPosX ( posX ); // centimeters
+ server_FT->setVirtPosY ( posY );
+ server_FT->setVirtPosZ ( posZ );
+
+ server_FT->setHeadRotX( rotX ); // degrees
+ server_FT->setHeadRotY( rotY );
+ server_FT->setHeadRotZ( rotZ );
+
+ server_FT->setHeadPosX( posX ); // centimeters
+ server_FT->setHeadPosY( posY );
+ server_FT->setHeadPosZ( posZ );
- server_FT->setVirtPosX ( ( Tracker::X.invert * Tracker::X.sens * (getSmoothFromList( &X.rawList ) - X.offset_headPos) ) * 1000.0f);
- server_FT->setVirtPosY ( ( Tracker::Y.invert * Tracker::Y.sens * (getSmoothFromList( &Y.rawList ) - Y.offset_headPos) ) * 1000.0f );
- server_FT->setVirtPosZ ( ( Tracker::Z.invert * Tracker::Z.sens * (getSmoothFromList( &Z.rawList ) - Z.offset_headPos - Tracker::Z.initial_headPos) ) * 1000.0f );
}
// FlightGear
if (server_FG) {
- server_FG->setVirtRotX ( getDegreesFromRads ( Tracker::Pitch.invert * Tracker::Pitch.sens * (getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos) ) );
- server_FG->setVirtRotY ( getDegreesFromRads ( Tracker::Yaw.invert * Tracker::Yaw.sens * (getSmoothFromList( &Yaw.rawList ) - Yaw.offset_headPos) ) );
- server_FG->setVirtRotZ ( getDegreesFromRads ( Tracker::Roll.invert * Tracker::Roll.sens * (getSmoothFromList( &Roll.rawList ) - Roll.offset_headPos) ) );
- server_FG->setVirtPosX ( Tracker::X.invert * Tracker::X.sens * (getSmoothFromList( &X.rawList ) - X.offset_headPos) );
- server_FG->setVirtPosY ( Tracker::Y.invert * Tracker::Y.sens * (getSmoothFromList( &Y.rawList ) - Y.offset_headPos) );
- server_FG->setVirtPosZ ( Tracker::Z.invert * Tracker::Z.sens * (getSmoothFromList( &Z.rawList ) - Z.offset_headPos - Tracker::Z.initial_headPos) );
+ server_FG->setVirtRotX ( rotX ); // degrees
+ server_FG->setVirtRotY ( rotY );
+ server_FG->setVirtRotZ ( rotZ );
+ server_FG->setVirtPosX ( posX ); // centimeters
+ server_FG->setVirtPosY ( posY );
+ server_FG->setVirtPosZ ( posZ );
}
// PPJoy virtual joystick
if (server_PPJoy) {
- server_PPJoy->setVirtRotX ( getDegreesFromRads (Tracker::Pitch.invert * Tracker::Pitch.sens * Pitch.newPos ) );
- server_PPJoy->setVirtRotY ( getDegreesFromRads (Tracker::Yaw.invert * Tracker::Yaw.sens * Yaw.newPos ) );
- server_PPJoy->setVirtRotZ ( getDegreesFromRads (Tracker::Roll.invert * Tracker::Roll.sens * Roll.newPos ) );
+ server_PPJoy->setVirtRotX ( rotX ); // degrees
+ server_PPJoy->setVirtRotY ( rotY );
+ server_PPJoy->setVirtRotZ ( rotZ );
- server_PPJoy->setVirtPosX ( ( Tracker::X.invert * Tracker::X.sens * (getSmoothFromList( &X.rawList ) - X.offset_headPos) ) * 100.0f);
- 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 );
+ server_PPJoy->setVirtPosX ( posX ); // centimeters
+ server_PPJoy->setVirtPosY ( posY );
+ server_PPJoy->setVirtPosZ ( posZ );
}
// 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;
+ // For some reason (not yet understood) the values only came through after being copied to locals...
+ // Trying again?!
+ //float rotX = getDegreesFromRads ( Tracker::Pitch.invert * Tracker::Pitch.sens * rotX );
+ //float rotY = getDegreesFromRads ( Tracker::Yaw.invert * Tracker::Yaw.sens * rotY );
+ //float rotZ = getDegreesFromRads ( Tracker::Roll.invert * Tracker::Roll.sens * rotZ );
+ qDebug() << "Tracker::run() says: virtRotX =" << rotX << " virtRotY =" << rotY;
- server_FTIR->setVirtRotX ( rotX );
+ server_FTIR->setVirtRotX ( rotX ); // degrees
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 );
+ server_FTIR->setVirtPosX ( posX ); // centimeters
+ server_FTIR->setVirtPosY ( posY );
+ server_FTIR->setVirtPosZ ( posZ );
}
}
@@ -568,52 +610,34 @@ void Tracker::receiveHeadPose(void *,smEngineHeadPoseData head_pose, smCameraVid {
//
// Perform actions, when valid data is received from faceAPI.
+ // Write the Raw headpose-data and add it to the RawList, for processing...
//
if( head_pose.confidence > 0 ) {
Tracker::confid = true;
- Tracker::setHeadPosX(head_pose.head_pos.x);
- Tracker::setHeadPosY(head_pose.head_pos.y);
- Tracker::setHeadPosZ(head_pose.head_pos.z);
-
- Tracker::setHeadRotX(head_pose.head_rot.x_rads);
- Tracker::setHeadRotY(head_pose.head_rot.y_rads);
- Tracker::setHeadRotZ(head_pose.head_rot.z_rads);
// Pitch
- Pitch.newPos = getCorrectedNewRaw ( Tracker::Pitch.headPos, rotNeutralZone );
- addRaw2List ( &Pitch.rawList, Pitch.maxItems, Pitch.newPos );
+ Tracker::Pitch.headPos = head_pose.head_rot.x_rads * 57.295781f; // degrees
+ addRaw2List ( &Pitch.rawList, Pitch.maxItems, Tracker::Pitch.headPos );
// Yaw
- Yaw.newPos = getCorrectedNewRaw ( Tracker::Yaw.headPos, rotNeutralZone );
- addRaw2List ( &Yaw.rawList, Yaw.maxItems, Yaw.newPos );
+ Tracker::Yaw.headPos = head_pose.head_rot.y_rads * 57.295781f; // degrees
+ addRaw2List ( &Yaw.rawList, Yaw.maxItems, Tracker::Yaw.headPos );
// Roll
- Roll.newPos = getCorrectedNewRaw ( Tracker::Roll.headPos, rotNeutralZone );
- addRaw2List ( &Roll.rawList, Roll.maxItems, Roll.newPos );
-
- //
- // Log something
- //
- //rate = rateLimiter ( Tracker::Pitch.headPos, &Tracker::Pitch.prevRawPos, dT, 1.0f );
- //QFile data("output.txt");
- //if (data.open(QFile::WriteOnly | QFile::Append)) {
- // QTextStream out(&data);
- // out << "Limited Raw= " << rate << " dT= " << dT << " Raw= " << Tracker::Pitch.headPos << " Filtered= " << Pitch.newPos << '\n';
- //}
-
-
+ Tracker::Roll.headPos = head_pose.head_rot.z_rads * 57.295781f; // degrees
+ addRaw2List ( &Roll.rawList, Roll.maxItems, Tracker::Roll.headPos );
// X-position
- X.newPos = Tracker::X.headPos;
- addRaw2List ( &X.rawList, X.maxItems, X.newPos );
+ Tracker::X.headPos = head_pose.head_pos.x * 100.0f; // centimeters
+ addRaw2List ( &X.rawList, X.maxItems, Tracker::X.headPos );
// Y-position
- Y.newPos = Tracker::Y.headPos;
- addRaw2List ( &Y.rawList, Y.maxItems, Y.newPos );
+ Tracker::Y.headPos = head_pose.head_pos.y * 100.0f; // centimeters
+ addRaw2List ( &Y.rawList, Y.maxItems, Tracker::Y.headPos );
// Z-position (distance to camera, absolute!)
- Z.newPos = Tracker::Z.headPos;
- addRaw2List ( &Z.rawList, Z.maxItems, Z.newPos );
+ Tracker::Z.headPos = head_pose.head_pos.z * 100.0f; // centimeters
+ addRaw2List ( &Z.rawList, Z.maxItems, Tracker::Z.headPos );
} else {
Tracker::confid = false;
@@ -773,8 +797,25 @@ float clamped_value = 0.0f; //
// Get the output from the curve.
//
-float Tracker::getOutputFromCurve ( QPainterPath *curve, float input ) {
- return curve->pointAtPercent(input/100.0f).x();
+float Tracker::getOutputFromCurve ( QPainterPath *curve, float input, float neutralzone, float maxinput ) {
+float sign;
+
+ sign = 1.0f;
+ if (input < 0.0f) {
+ sign = -1.0f;
+ }
+
+ //
+ // Always return 0 inside the NeutralZone
+ // Always return max. when input larger than expected
+ //
+ if (fabs(input) < neutralzone) return 0.0f;
+ if (fabs(input) > maxinput) return sign * curve->pointAtPercent(1.0).x();
+
+ //
+ // Return the value, derived from the Bezier-curve
+ //
+ return sign * curve->pointAtPercent((fabs(input) - neutralzone)/maxinput).x();
}
//
@@ -813,32 +854,38 @@ QPointF point1, point2, point3, point4; iniFile.beginGroup ( "Curves" );
getCurvePoints( &iniFile, "Yaw_", &point1, &point2, &point3, &point4, NeutralZone, sensYaw, 50, 180 );
Yaw.curve.moveTo( QPointF(0,0) );
- Yaw.curve.lineTo(point1);
+ Yaw.NeutralZone = point1.y(); // Get the Neutral Zone
+ Yaw.MaxInput = point4.y(); // Get Maximum Input
Yaw.curve.cubicTo(point2, point3, point4);
getCurvePoints( &iniFile, "Pitch_", &point1, &point2, &point3, &point4, NeutralZone, sensPitch, 50, 180 );
Pitch.curve.moveTo( QPointF(0,0) );
- Pitch.curve.lineTo(point1);
- Pitch.curve.cubicTo(point2, point3, point4);
+ Pitch.NeutralZone = point1.y(); // Get the Neutral Zone
+ Pitch.MaxInput = point4.y(); // Get Maximum Input
+ Pitch.curve.cubicTo(point2, point3, point4);
getCurvePoints( &iniFile, "Roll_", &point1, &point2, &point3, &point4, NeutralZone, sensRoll, 50, 180 );
Roll.curve.moveTo( QPointF(0,0) );
- Roll.curve.lineTo(point1);
+ Roll.NeutralZone = point1.y(); // Get the Neutral Zone
+ Roll.MaxInput = point4.y(); // Get Maximum Input
Roll.curve.cubicTo(point2, point3, point4);
getCurvePoints( &iniFile, "X_", &point1, &point2, &point3, &point4, NeutralZone, sensX, 50, 180 );
X.curve.moveTo( QPointF(0,0) );
- X.curve.lineTo(point1);
+ X.NeutralZone = point1.y(); // Get the Neutral Zone
+ X.MaxInput = point4.y(); // Get Maximum Input
X.curve.cubicTo(point2, point3, point4);
getCurvePoints( &iniFile, "Y_", &point1, &point2, &point3, &point4, NeutralZone, sensY, 50, 180 );
Y.curve.moveTo( QPointF(0,0) );
- Y.curve.lineTo(point1);
+ Y.NeutralZone = point1.y(); // Get the Neutral Zone
+ Y.MaxInput = point4.y(); // Get Maximum Input
Y.curve.cubicTo(point2, point3, point4);
getCurvePoints( &iniFile, "Z_", &point1, &point2, &point3, &point4, NeutralZone, sensZ, 50, 180 );
Z.curve.moveTo( QPointF(0,0) );
- Z.curve.lineTo(point1);
+ Z.NeutralZone = point1.y(); // Get the Neutral Zone
+ Z.MaxInput = point4.y(); // Get Maximum Input
Z.curve.cubicTo(point2, point3, point4);
iniFile.endGroup ();
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