diff options
Diffstat (limited to 'FaceTrackNoIR/tracker.cpp')
| -rw-r--r-- | FaceTrackNoIR/tracker.cpp | 48 |
1 files changed, 38 insertions, 10 deletions
diff --git a/FaceTrackNoIR/tracker.cpp b/FaceTrackNoIR/tracker.cpp index fc4a8d20..be428fac 100644 --- a/FaceTrackNoIR/tracker.cpp +++ b/FaceTrackNoIR/tracker.cpp @@ -23,6 +23,8 @@ *********************************************************************************/
/*
Modifications (last one on top):
+ 20100607 - WVR: Re-installed Rotation Neutral Zone and improved reaction
+ after 'start/stop'. MessageBeep when confidence is back...
20100604 - WVR: Created structure for DOF-data and changed timing of
ReceiveHeadPose end run().
20100602 - WVR: Implemented EWMA-filtering, according to the example of
@@ -120,7 +122,7 @@ void Tracker::setup(QWidget *head, FaceTrackNoIR *parent) { registerHeadPoseCallback();
// some parameteres [optional]
- smHTSetHeadPosePredictionEnabled( _engine->handle(), true);
+ smHTSetHeadPosePredictionEnabled( _engine->handle(), false);
smHTSetLipTrackingEnabled( _engine->handle(), false);
smLoggingSetFileOutputEnable( false );
@@ -221,10 +223,31 @@ void Tracker::run() { Tracker::do_tracking = !Tracker::do_tracking;
//
- // To start tracking again and be '0', execute Center command too
+ // To start tracking again and to be at '0', execute Center command too
//
if (Tracker::do_tracking) {
Tracker::do_center = true;
+
+ Tracker::set_initial = false;
+ Tracker::confid = false;
+
+ Pitch.rawList.clear();
+ Pitch.prevPos = 0.0f;
+ Yaw.rawList.clear();
+ Yaw.prevPos = 0.0f;
+ Roll.rawList.clear();
+ Roll.prevPos = 0.0f;
+ X.rawList.clear();
+ X.prevPos = 0.0f;
+ Y.rawList.clear();
+ Y.prevPos = 0.0f;
+ Z.rawList.clear();
+ Z.prevPos = 0.0f;
+
+ _engine->start();
+ }
+ else {
+ _engine->stop();
}
qDebug() << "Tracker::run() says BACK pressed, do_tracking =" << Tracker::do_tracking;
}
@@ -248,6 +271,7 @@ void Tracker::run() { //
if(Tracker::set_initial == false) {
Tracker::Z.initial_headPos = Tracker::getHeadPosZ();
+ MessageBeep (MB_ICONASTERISK);
Tracker::set_initial = true;
}
@@ -276,7 +300,7 @@ void Tracker::run() { //
// If Center is pressed, copy the current values to the offsets.
//
- if (Tracker::do_center) {
+ if (Tracker::do_center && Tracker::set_initial) {
Pitch.offset_headPos = getSmoothFromList( &Pitch.rawList );
Yaw.offset_headPos = getSmoothFromList( &Yaw.rawList );
Roll.offset_headPos = getSmoothFromList( &Roll.rawList );
@@ -290,7 +314,7 @@ void Tracker::run() { Tracker::do_center = false;
}
- if (Tracker::do_tracking) {
+ if (Tracker::do_tracking && Tracker::confid) {
//
// Also send the Virtual Pose to FT-server and FG-server
//
@@ -388,28 +412,31 @@ void Tracker::receiveHeadPose(void *,smEngineHeadPoseData head_pose, smCameraVid //
// Pitch
if (Tracker::useFilter) {
- Pitch.newPos = lowPassFilter ( Tracker::Pitch.headPos, &Pitch.prevPos, dT, Tracker::Pitch.red );
+ Pitch.newPos = lowPassFilter ( getCorrectedNewRaw ( Tracker::Pitch.headPos, rotNeutralZone ),
+ &Pitch.prevPos, dT, Tracker::Pitch.red );
}
else {
- Pitch.newPos = Tracker::Pitch.headPos;
+ Pitch.newPos = getCorrectedNewRaw ( Tracker::Pitch.headPos, rotNeutralZone );
}
addRaw2List ( &Pitch.rawList, Pitch.maxItems, Pitch.newPos );
// Yaw
if (Tracker::useFilter) {
- Yaw.newPos = lowPassFilter ( Tracker::Yaw.headPos, &Yaw.prevPos, dT, Tracker::Yaw.red );
+ Yaw.newPos = lowPassFilter ( getCorrectedNewRaw ( Tracker::Yaw.headPos, rotNeutralZone ),
+ &Yaw.prevPos, dT, Tracker::Yaw.red );
}
else {
- Yaw.newPos = Tracker::Yaw.headPos;
+ Yaw.newPos = getCorrectedNewRaw ( Tracker::Yaw.headPos, rotNeutralZone );
}
addRaw2List ( &Yaw.rawList, Yaw.maxItems, Yaw.newPos );
// Roll
if (Tracker::useFilter) {
- Roll.newPos = lowPassFilter ( Tracker::Roll.headPos, &Roll.prevPos, dT, Tracker::Roll.red );
+ Roll.newPos = lowPassFilter ( getCorrectedNewRaw (Tracker::Roll.headPos, rotNeutralZone ),
+ &Roll.prevPos, dT, Tracker::Roll.red );
}
else {
- Roll.newPos = Tracker::Roll.headPos;
+ Roll.newPos = getCorrectedNewRaw (Tracker::Roll.headPos, rotNeutralZone );
}
addRaw2List ( &Roll.rawList, Roll.maxItems, Roll.newPos );
@@ -474,6 +501,7 @@ bool Tracker::handleGameCommand ( int command ) { case 1: // reset headtracker
if ( _engine ) {
_engine->stop();
+ Tracker::set_initial = false;
_engine->start();
}
break;
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