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Diffstat (limited to 'FaceTrackNoIR/tracker.cpp')
-rw-r--r--FaceTrackNoIR/tracker.cpp192
1 files changed, 131 insertions, 61 deletions
diff --git a/FaceTrackNoIR/tracker.cpp b/FaceTrackNoIR/tracker.cpp
index 724475f2..666f9c34 100644
--- a/FaceTrackNoIR/tracker.cpp
+++ b/FaceTrackNoIR/tracker.cpp
@@ -57,8 +57,12 @@ THeadPoseDOF Tracker::X;
THeadPoseDOF Tracker::Y;
THeadPoseDOF Tracker::Z;
-/** constructor empty **/
-Tracker::Tracker() {
+/** constructor **/
+Tracker::Tracker( int clientID ) {
+
+ // Remember the selected client, from the ListBox
+ // If the Tracker runs, this can NOT be changed...
+ selectedClient = (FTNoIR_Client) clientID;
// Create events
m_StopThread = CreateEvent(0, TRUE, FALSE, 0);
@@ -85,17 +89,48 @@ Tracker::Tracker() {
QMessageBox::warning(0,"faceAPI Error",e.what(),QMessageBox::Ok,QMessageBox::NoButton);
}
- server_FT = new FTServer; // Create the new thread (on the heap)
- server_FG = new FGServer ( this ); // Create the new thread (on the heap)
- server_PPJoy = new PPJoyServer ( this ); // Create the new thread (on the heap)
+ //
+ // Initialize all server-handles. Only start the server, that was selected in the GUI.
+ //
+ server_FT = 0;
+ server_FG = 0;
+ server_PPJoy = 0;
+ switch (selectedClient) {
+ case FREE_TRACK:
+ server_FT = new FTServer; // Create Free-track protocol-server
+ break;
+
+ case FLIGHTGEAR:
+ server_FG = new FGServer ( this ); // Create FlightGear protocol-server
+ break;
+
+ case FTNOIR:
+ break;
+
+ case PPJOY:
+ server_PPJoy = new PPJoyServer ( this ); // Create PPJoy protocol-server
+ break;
+
+ default:
+ // should never be reached
+ break;
+ }
+
}
/** destructor empty **/
Tracker::~Tracker() {
- server_FT->deleteLater();
- server_FG->deleteLater();
- server_PPJoy->deleteLater();
+ // Stop the started server(s)
+ if (server_FT) {
+ server_FT->deleteLater();
+ }
+ if (server_FG) {
+ server_FG->deleteLater();
+ }
+ if (server_PPJoy) {
+ server_PPJoy->deleteLater();
+ }
// Trigger thread to stop
::SetEvent(m_StopThread);
@@ -143,15 +178,22 @@ void Tracker::setup(QWidget *head, FaceTrackNoIR *parent) {
// 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.
//
- DLL_Ok = server_FT->FTCheckClientDLL();
- DLL_Ok = server_FT->FTCreateMapping( mainApp->winId() );
+ if (server_FT) {
+ DLL_Ok = server_FT->FTCheckClientDLL();
+ DLL_Ok = server_FT->FTCreateMapping( mainApp->winId() );
- qDebug() << "FaceTrackNoIR says: Window Handle =" << mainApp->winId();
+ server_FT->start(); // Start the thread
+ }
+
+ // FlightGear
+ if (server_FG) {
+ server_FG->start(); // Start the thread
+ }
-// return;
- server_FT->start(); // Should start at the push of a button?
- server_FG->start(); //
- server_PPJoy->start(); //
+ // PPJoy virtual joystick
+ if (server_PPJoy) {
+ server_PPJoy->start(); // Start the thread
+ }
}
/** QThread run method @override **/
@@ -305,14 +347,15 @@ void Tracker::run() {
//
// Copy the Raw values directly to Free-track server
//
- server_FT->setHeadRotX( Tracker::Pitch.headPos ); // rads
- server_FT->setHeadRotY( Tracker::Yaw.headPos );
- server_FT->setHeadRotZ( Tracker::Roll.headPos);
-
- 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);
-
+ if (server_FT) {
+ server_FT->setHeadRotX( Tracker::Pitch.headPos ); // rads
+ server_FT->setHeadRotY( Tracker::Yaw.headPos );
+ server_FT->setHeadRotZ( Tracker::Roll.headPos);
+
+ 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);
+ }
}
//
@@ -333,9 +376,7 @@ void Tracker::run() {
}
if (Tracker::do_tracking && Tracker::confid) {
- //
- // Also send the Virtual Pose to FT-server and FG-server
- //
+ // Pitch
if (Tracker::useFilter) {
Pitch.newPos = lowPassFilter ( getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos,
&Pitch.prevPos, dT, Tracker::Pitch.red );
@@ -343,9 +384,8 @@ void Tracker::run() {
else {
Pitch.newPos = getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos;
}
- server_FT->setVirtRotX ( Tracker::Pitch.invert * Tracker::Pitch.sens * Pitch.newPos );
- server_PPJoy->setVirtRotX ( getDegreesFromRads (Tracker::Pitch.invert * Tracker::Pitch.sens * Pitch.newPos ) );
+ // Yaw
if (Tracker::useFilter) {
Yaw.newPos = lowPassFilter ( getSmoothFromList( &Yaw.rawList ) - Yaw.offset_headPos,
&Yaw.prevPos, dT, Tracker::Yaw.red );
@@ -353,9 +393,8 @@ void Tracker::run() {
else {
Yaw.newPos = getSmoothFromList( &Yaw.rawList ) - Yaw.offset_headPos;
}
- server_FT->setVirtRotY ( Tracker::Yaw.invert * Tracker::Yaw.sens * Yaw.newPos );
- server_PPJoy->setVirtRotY ( getDegreesFromRads ( Tracker::Yaw.invert * Tracker::Yaw.sens * Yaw.newPos ) );
+ // Roll
if (Tracker::useFilter) {
Roll.newPos = lowPassFilter ( getSmoothFromList( &Roll.rawList ) - Roll.offset_headPos,
&Roll.prevPos, dT, Tracker::Roll.red );
@@ -363,45 +402,76 @@ void Tracker::run() {
else {
Roll.newPos = getSmoothFromList( &Roll.rawList ) - Roll.offset_headPos;
}
- server_FT->setVirtRotZ ( Tracker::Roll.invert * Tracker::Roll.sens * Roll.newPos );
- server_PPJoy->setVirtRotZ ( getDegreesFromRads (Tracker::Roll.invert * Tracker::Roll.sens * Roll.newPos ) );
-
- 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 );
-
- server_PPJoy->setVirtPosX ( ( Tracker::X.invert * Tracker::X.sens * (getSmoothFromList( &X.rawList ) - X.offset_headPos) ) * 1000.0f);
- server_PPJoy->setVirtPosY ( ( Tracker::Y.invert * Tracker::Y.sens * (getSmoothFromList( &Y.rawList ) - Y.offset_headPos) ) * 1000.0f );
- server_PPJoy->setVirtPosZ ( ( Tracker::Z.invert * Tracker::Z.sens * (getSmoothFromList( &Z.rawList ) - Z.offset_headPos - Tracker::Z.initial_headPos) ) * 1000.0f );
-
- 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) );
+
+ //
+ // 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->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) );
+ }
+
+ // 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->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 );
+ }
}
else {
//
// Go to initial position
//
- server_FT->setVirtRotX ( 0.0f );
- server_FT->setVirtRotY ( 0.0f );
- server_FT->setVirtRotZ ( 0.0f );
- server_FT->setVirtPosX ( 0.0f );
- server_FT->setVirtPosY ( 0.0f );
- server_FT->setVirtPosZ ( 0.0f );
-
- server_FG->setVirtRotX ( 0.0f );
- server_FG->setVirtRotY ( 0.0f );
- server_FG->setVirtRotZ ( 0.0f );
- server_FG->setVirtPosX ( 0.0f );
- server_FG->setVirtPosY ( 0.0f );
- server_FG->setVirtPosZ ( 0.0f );
+ if (server_FT) {
+ server_FT->setVirtRotX ( 0.0f );
+ server_FT->setVirtRotY ( 0.0f );
+ server_FT->setVirtRotZ ( 0.0f );
+ server_FT->setVirtPosX ( 0.0f );
+ server_FT->setVirtPosY ( 0.0f );
+ server_FT->setVirtPosZ ( 0.0f );
+ }
+
+ if (server_FG) {
+ server_FG->setVirtRotX ( 0.0f );
+ server_FG->setVirtRotY ( 0.0f );
+ server_FG->setVirtRotZ ( 0.0f );
+ server_FG->setVirtPosX ( 0.0f );
+ server_FG->setVirtPosY ( 0.0f );
+ server_FG->setVirtPosZ ( 0.0f );
+ }
+
+ if (server_PPJoy) {
+ server_PPJoy->setVirtRotX ( 0.0f );
+ server_PPJoy->setVirtRotY ( 0.0f );
+ server_PPJoy->setVirtRotZ ( 0.0f );
+ server_PPJoy->setVirtPosX ( 0.0f );
+ server_PPJoy->setVirtPosY ( 0.0f );
+ server_PPJoy->setVirtPosZ ( 0.0f );
+ }
}
//for lower cpu load
- msleep(25);
+ msleep(15);
yieldCurrentThread();
}
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-14 00:17:11 +0000