diff options
Diffstat (limited to 'facetracknoir/tracker.cpp')
| -rw-r--r-- | facetracknoir/tracker.cpp | 112 |
1 files changed, 15 insertions, 97 deletions
diff --git a/facetracknoir/tracker.cpp b/facetracknoir/tracker.cpp index 8dbeb6c2..db6c0af2 100644 --- a/facetracknoir/tracker.cpp +++ b/facetracknoir/tracker.cpp @@ -73,51 +73,30 @@ HeadPoseData* GlobalPose = NULL; /** constructor **/
Tracker::Tracker( FaceTrackNoIR *parent ) :
confid(false),
- useAxisReverse(false),
- YawAngle4ReverseAxis(40),
- Z_Pos4ReverseAxis(-20.0f),
- Z_PosWhenReverseAxis(50.0),
should_quit(false),
- do_tracking(true),
- do_center(false),
- do_game_zero(false),
- do_axis_reverse(false)
+ do_center(false)
{
// Retieve the pointer to the parent
mainApp = parent;
// Load the settings from the INI-file
loadSettings();
- for (int i = 0; i < 6; i++)
- {
- GlobalPose->axes[i].headPos = 0;
- inhibit[i] = false;
- }
- do_inhibit = false;
}
Tracker::~Tracker()
{
}
-static void get_curve(bool inhibitp, bool inhibit_zerop, double pos, double& out, THeadPoseDOF& axis) {
- if (inhibitp) {
- if (inhibit_zerop)
- out = 0;
- axis.curvePtr->setTrackingActive( true );
- axis.curvePtrAlt->setTrackingActive( false );
+static void get_curve(double pos, double& out, THeadPoseDOF& axis) {
+ bool altp = (pos < 0) && axis.altp;
+ if (altp) {
+ out = axis.invert * axis.curvePtrAlt->getValue(pos);
+ axis.curvePtr->setTrackingActive( false );
+ axis.curvePtrAlt->setTrackingActive( true );
}
else {
- bool altp = (pos < 0) && axis.altp;
- if (altp) {
- out = axis.invert * axis.curvePtrAlt->getValue(pos);
- axis.curvePtr->setTrackingActive( false );
- axis.curvePtrAlt->setTrackingActive( true );
- }
- else {
- out = axis.invert * axis.curvePtr->getValue(pos);
- axis.curvePtr->setTrackingActive( true );
- axis.curvePtrAlt->setTrackingActive( false );
- }
+ out = axis.invert * axis.curvePtr->getValue(pos);
+ axis.curvePtr->setTrackingActive( true );
+ axis.curvePtrAlt->setTrackingActive( false );
}
}
@@ -129,7 +108,6 @@ void Tracker::run() { /** Direct Input variables **/
T6DOF offset_camera;
- T6DOF gamezero_camera;
T6DOF gameoutput_camera;
bool bTracker1Confid = false;
@@ -183,13 +161,8 @@ void Tracker::run() { if (Libraries->pFilter)
Libraries->pFilter->Initialize();
}
-
- if (do_game_zero) {
- gamezero_camera = gameoutput_camera;
- do_game_zero = false;
- }
- if (do_tracking && confid) {
+ if (getTrackingActive()) {
// get values
for (int i = 0; i < 6; i++)
target_camera.axes[i] = GlobalPose->axes[i].headPos;
@@ -210,26 +183,13 @@ void Tracker::run() { }
for (int i = 0; i < 6; i++)
- get_curve(do_inhibit && inhibit[i], inhibit_zero, new_camera.axes[i], output_camera.axes[i], GlobalPose->axes[i]);
-
- if (useAxisReverse) {
- do_axis_reverse = ((fabs(output_camera.axes[RX]) > YawAngle4ReverseAxis) && (output_camera.axes[TZ] < Z_Pos4ReverseAxis));
- } else {
- do_axis_reverse = false;
- }
-
- //
- // Reverse Axis.
- //
- if (do_axis_reverse) {
- output_camera.axes[TZ] = Z_PosWhenReverseAxis; // Set the desired Z-position
- }
+ get_curve(new_camera.axes[i], output_camera.axes[i], GlobalPose->axes[i]);
//
// Send the headpose to the game
//
if (Libraries->pProtocol) {
- gameoutput_camera = output_camera + gamezero_camera;
+ gameoutput_camera = output_camera;
Libraries->pProtocol->sendHeadposeToGame( gameoutput_camera.axes, newpose ); // degrees & centimeters
}
}
@@ -237,10 +197,10 @@ void Tracker::run() { //
// Go to initial position
//
- if (Libraries->pProtocol && inhibit_zero) {
+ if (Libraries->pProtocol) {
for (int i = 0; i < 6; i++)
output_camera.axes[i] = 0;
- gameoutput_camera = output_camera + gamezero_camera;
+ gameoutput_camera = output_camera;
Libraries->pProtocol->sendHeadposeToGame( gameoutput_camera.axes, newpose ); // degrees & centimeters
}
for (int i = 0; i < 6; i++)
@@ -264,25 +224,6 @@ void Tracker::run() { }
//
-// Handle the command, send upstream by the game.
-// Valid values are:
-// 1 = reset Headpose
-//
-bool Tracker::handleGameCommand ( int command ) {
-
- qDebug() << "handleGameCommand says: Command =" << command;
-
- switch ( command ) {
- case 1: // reset headtracker
- Tracker::do_center = true;
- break;
- default:
- break;
- }
- return false;
-}
-
-//
// Get the raw headpose, so it can be displayed.
//
void Tracker::getHeadPose( double *data ) {
@@ -311,29 +252,6 @@ void Tracker::loadSettings() { QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file)
qDebug() << "loadSettings says: iniFile = " << currentFile;
-
- iniFile.beginGroup ( "KB_Shortcuts" );
- // Reverse Axis
- useAxisReverse = iniFile.value ( "Enable_ReverseAxis", 0 ).toBool();
- YawAngle4ReverseAxis = iniFile.value ( "RA_Yaw", 40 ).toInt();
- Z_Pos4ReverseAxis = iniFile.value ( "RA_ZPos", 50 ).toInt();
- Z_PosWhenReverseAxis = iniFile.value ( "RA_ToZPos", 80 ).toInt();
-
- static const char* names[] = {
- "Inhibit_X",
- "Inhibit_Y",
- "Inhibit_Z",
- "Inhibit_Yaw",
- "Inhibit_Pitch",
- "Inhibit_Roll"
- };
-
- for (int i = 0; i < 6; i++)
- {
- inhibit[i] = iniFile.value(names[i], false).toBool();
- }
- inhibit_zero = iniFile.value("SetZero", false).toBool();
- iniFile.endGroup ();
}
void Tracker::setInvertAxis(Axis axis, bool invert) { GlobalPose->axes[axis].invert = invert?-1.0f:1.0f; }
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