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-rw-r--r--facetracknoir/tracker.cpp436
1 files changed, 218 insertions, 218 deletions
diff --git a/facetracknoir/tracker.cpp b/facetracknoir/tracker.cpp
index f2b4845f..47daa697 100644
--- a/facetracknoir/tracker.cpp
+++ b/facetracknoir/tracker.cpp
@@ -1,218 +1,218 @@
-/********************************************************************************
-* FaceTrackNoIR This program is a private project of the some enthusiastic *
-* gamers from Holland, who don't like to pay much for *
-* head-tracking. *
-* *
-* Copyright (C) 2012 Wim Vriend (Developing) *
-* Ron Hendriks (Researching and Testing) *
-* *
-* Homepage: http://facetracknoir.sourceforge.net/home/default.htm *
-* *
-* This program is free software; you can redistribute it and/or modify it *
-* under the terms of the GNU General Public License as published by the *
-* Free Software Foundation; either version 3 of the License, or (at your *
-* option) any later version. *
-* *
-* This program is distributed in the hope that it will be useful, but *
-* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY *
-* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for *
-* more details. *
-* *
-* You should have received a copy of the GNU General Public License along *
-* with this program; if not, see <http://www.gnu.org/licenses/>. *
-*********************************************************************************/
-#include "tracker.h"
-#include "facetracknoir.h"
-
-/** constructor **/
-Tracker::Tracker( FaceTrackNoIR *parent ) :
- should_quit(false),
- do_center(false)
-{
- // Retieve the pointer to the parent
- mainApp = parent;
- // Load the settings from the INI-file
- loadSettings();
-}
-
-Tracker::~Tracker()
-{
-}
-
-static void get_curve(double pos, double& out, THeadPoseDOF& axis) {
- bool altp = (pos < 0) && axis.altp;
- if (altp) {
- out = axis.invert * axis.curveAlt.getValue(pos);
- axis.curve.setTrackingActive( false );
- axis.curveAlt.setTrackingActive( true );
- }
- else {
- out = axis.invert * axis.curve.getValue(pos);
- axis.curve.setTrackingActive( true );
- axis.curveAlt.setTrackingActive( false );
- }
- out += axis.zero;
-}
-
-/** QThread run method @override **/
-void Tracker::run() {
- T6DOF current_camera; // Used for filtering
- T6DOF target_camera;
- T6DOF new_camera;
-
- /** Direct Input variables **/
- T6DOF offset_camera;
- T6DOF gameoutput_camera;
-
- bool bTracker1Confid = false;
- bool bTracker2Confid = false;
-
- double newpose[6];
- double last_post_filter[6];
-
- forever
- {
- if (should_quit)
- break;
-
- for (int i = 0; i < 6; i++)
- newpose[i] = 0;
-
- //
- // The second tracker serves as 'secondary'. So if an axis is written by the second tracker it CAN be overwritten by the Primary tracker.
- // This is enforced by the sequence below.
- //
- if (Libraries->pSecondTracker) {
- bTracker2Confid = Libraries->pSecondTracker->GiveHeadPoseData(newpose);
- }
-
- if (Libraries->pTracker) {
- bTracker1Confid = Libraries->pTracker->GiveHeadPoseData(newpose);
- }
-
- {
- QMutexLocker foo(&mtx);
- const bool confid = bTracker1Confid || bTracker2Confid;
-
- if ( confid ) {
- for (int i = 0; i < 6; i++)
- mainApp->axis(i).headPos = newpose[i];
- }
-
- //
- // If Center is pressed, copy the current values to the offsets.
- //
- if (do_center) {
- //
- // Only copy valid values
- //
- for (int i = 0; i < 6; i++)
- offset_camera.axes[i] = mainApp->axis(i).headPos;
-
- Tracker::do_center = false;
-
- if (Libraries->pTracker)
- Libraries->pTracker->NotifyCenter();
-
- if (Libraries->pSecondTracker)
- Libraries->pSecondTracker->NotifyCenter();
-
- if (Libraries->pFilter)
- Libraries->pFilter->Initialize();
- }
-
- if (confid) {
- // get values
- for (int i = 0; i < 6; i++)
- target_camera.axes[i] = mainApp->axis(i).headPos;
-
- // do the centering
- target_camera = target_camera - offset_camera;
-
- //
- // Use advanced filtering, when a filter was selected.
- //
- if (Libraries->pFilter) {
- for (int i = 0; i < 6; i++)
- last_post_filter[i] = gameoutput_camera.axes[i];
- Libraries->pFilter->FilterHeadPoseData(current_camera.axes, target_camera.axes, new_camera.axes, last_post_filter);
- }
- else {
- new_camera = target_camera;
- }
-
- for (int i = 0; i < 6; i++) {
- get_curve(new_camera.axes[i], output_camera.axes[i], mainApp->axis(i));
- }
-
- //
- // Send the headpose to the game
- //
- if (Libraries->pProtocol) {
- gameoutput_camera = output_camera;
- Libraries->pProtocol->sendHeadposeToGame( gameoutput_camera.axes, newpose ); // degrees & centimeters
- }
- }
- }
-
- //for lower cpu load
- msleep(8);
- }
-
- for (int i = 0; i < 6; i++)
- {
- mainApp->axis(i).curve.setTrackingActive(false);
- mainApp->axis(i).curveAlt.setTrackingActive(false);
- }
-}
-
-//
-// Get the raw headpose, so it can be displayed.
-//
-void Tracker::getHeadPose( double *data ) {
- QMutexLocker foo(&mtx);
- for (int i = 0; i < 6; i++)
- {
- data[i] = mainApp->axis(i).headPos;
- }
-}
-
-//
-// Get the output-headpose, so it can be displayed.
-//
-void Tracker::getOutputHeadPose( double *data ) {
- QMutexLocker foo(&mtx);
- for (int i = 0; i < 6; i++)
- data[i] = output_camera.axes[i];
-}
-
-//
-// Load the current Settings from the currently 'active' INI-file.
-//
-void Tracker::loadSettings() {
- qDebug() << "Tracker::loadSettings says: Starting ";
- QSettings settings("opentrack"); // Registry settings (in HK_USER)
-
- QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
- QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file)
-
- iniFile.beginGroup("Tracking");
-
- qDebug() << "loadSettings says: iniFile = " << currentFile;
-
- const char* names2[] = {
- "zero_tx",
- "zero_ty",
- "zero_tz",
- "zero_rx",
- "zero_ry",
- "zero_rz"
- };
-
- for (int i = 0; i < 6; i++)
- mainApp->axis(i).zero = iniFile.value(names2[i], 0).toDouble();
-
- iniFile.endGroup();
-}
-
-void Tracker::setInvertAxis(Axis axis, bool invert) { mainApp->axis(axis).invert = invert?-1.0f:1.0f; }
+/********************************************************************************
+* FaceTrackNoIR This program is a private project of the some enthusiastic *
+* gamers from Holland, who don't like to pay much for *
+* head-tracking. *
+* *
+* Copyright (C) 2012 Wim Vriend (Developing) *
+* Ron Hendriks (Researching and Testing) *
+* *
+* Homepage: http://facetracknoir.sourceforge.net/home/default.htm *
+* *
+* This program is free software; you can redistribute it and/or modify it *
+* under the terms of the GNU General Public License as published by the *
+* Free Software Foundation; either version 3 of the License, or (at your *
+* option) any later version. *
+* *
+* This program is distributed in the hope that it will be useful, but *
+* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY *
+* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for *
+* more details. *
+* *
+* You should have received a copy of the GNU General Public License along *
+* with this program; if not, see <http://www.gnu.org/licenses/>. *
+*********************************************************************************/
+#include "tracker.h"
+#include "facetracknoir.h"
+
+/** constructor **/
+Tracker::Tracker( FaceTrackNoIR *parent ) :
+ should_quit(false),
+ do_center(false)
+{
+ // Retieve the pointer to the parent
+ mainApp = parent;
+ // Load the settings from the INI-file
+ loadSettings();
+}
+
+Tracker::~Tracker()
+{
+}
+
+static void get_curve(double pos, double& out, THeadPoseDOF& axis) {
+ bool altp = (pos < 0) && axis.altp;
+ if (altp) {
+ out = axis.invert * axis.curveAlt.getValue(pos);
+ axis.curve.setTrackingActive( false );
+ axis.curveAlt.setTrackingActive( true );
+ }
+ else {
+ out = axis.invert * axis.curve.getValue(pos);
+ axis.curve.setTrackingActive( true );
+ axis.curveAlt.setTrackingActive( false );
+ }
+ out += axis.zero;
+}
+
+/** QThread run method @override **/
+void Tracker::run() {
+ T6DOF current_camera; // Used for filtering
+ T6DOF target_camera;
+ T6DOF new_camera;
+
+ /** Direct Input variables **/
+ T6DOF offset_camera;
+ T6DOF gameoutput_camera;
+
+ bool bTracker1Confid = false;
+ bool bTracker2Confid = false;
+
+ double newpose[6];
+ double last_post_filter[6];
+
+ forever
+ {
+ if (should_quit)
+ break;
+
+ for (int i = 0; i < 6; i++)
+ newpose[i] = 0;
+
+ //
+ // The second tracker serves as 'secondary'. So if an axis is written by the second tracker it CAN be overwritten by the Primary tracker.
+ // This is enforced by the sequence below.
+ //
+ if (Libraries->pSecondTracker) {
+ bTracker2Confid = Libraries->pSecondTracker->GiveHeadPoseData(newpose);
+ }
+
+ if (Libraries->pTracker) {
+ bTracker1Confid = Libraries->pTracker->GiveHeadPoseData(newpose);
+ }
+
+ {
+ QMutexLocker foo(&mtx);
+ const bool confid = bTracker1Confid || bTracker2Confid;
+
+ if ( confid ) {
+ for (int i = 0; i < 6; i++)
+ mainApp->axis(i).headPos = newpose[i];
+ }
+
+ //
+ // If Center is pressed, copy the current values to the offsets.
+ //
+ if (do_center) {
+ //
+ // Only copy valid values
+ //
+ for (int i = 0; i < 6; i++)
+ offset_camera.axes[i] = mainApp->axis(i).headPos;
+
+ Tracker::do_center = false;
+
+ if (Libraries->pTracker)
+ Libraries->pTracker->NotifyCenter();
+
+ if (Libraries->pSecondTracker)
+ Libraries->pSecondTracker->NotifyCenter();
+
+ if (Libraries->pFilter)
+ Libraries->pFilter->Initialize();
+ }
+
+ if (confid) {
+ // get values
+ for (int i = 0; i < 6; i++)
+ target_camera.axes[i] = mainApp->axis(i).headPos;
+
+ // do the centering
+ target_camera = target_camera - offset_camera;
+
+ //
+ // Use advanced filtering, when a filter was selected.
+ //
+ if (Libraries->pFilter) {
+ for (int i = 0; i < 6; i++)
+ last_post_filter[i] = gameoutput_camera.axes[i];
+ Libraries->pFilter->FilterHeadPoseData(current_camera.axes, target_camera.axes, new_camera.axes, last_post_filter);
+ }
+ else {
+ new_camera = target_camera;
+ }
+
+ for (int i = 0; i < 6; i++) {
+ get_curve(new_camera.axes[i], output_camera.axes[i], mainApp->axis(i));
+ }
+
+ //
+ // Send the headpose to the game
+ //
+ if (Libraries->pProtocol) {
+ gameoutput_camera = output_camera;
+ Libraries->pProtocol->sendHeadposeToGame( gameoutput_camera.axes, newpose ); // degrees & centimeters
+ }
+ }
+ }
+
+ //for lower cpu load
+ msleep(8);
+ }
+
+ for (int i = 0; i < 6; i++)
+ {
+ mainApp->axis(i).curve.setTrackingActive(false);
+ mainApp->axis(i).curveAlt.setTrackingActive(false);
+ }
+}
+
+//
+// Get the raw headpose, so it can be displayed.
+//
+void Tracker::getHeadPose( double *data ) {
+ QMutexLocker foo(&mtx);
+ for (int i = 0; i < 6; i++)
+ {
+ data[i] = mainApp->axis(i).headPos;
+ }
+}
+
+//
+// Get the output-headpose, so it can be displayed.
+//
+void Tracker::getOutputHeadPose( double *data ) {
+ QMutexLocker foo(&mtx);
+ for (int i = 0; i < 6; i++)
+ data[i] = output_camera.axes[i];
+}
+
+//
+// Load the current Settings from the currently 'active' INI-file.
+//
+void Tracker::loadSettings() {
+ qDebug() << "Tracker::loadSettings says: Starting ";
+ QSettings settings("opentrack"); // Registry settings (in HK_USER)
+
+ QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
+ QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file)
+
+ iniFile.beginGroup("Tracking");
+
+ qDebug() << "loadSettings says: iniFile = " << currentFile;
+
+ const char* names2[] = {
+ "zero_tx",
+ "zero_ty",
+ "zero_tz",
+ "zero_rx",
+ "zero_ry",
+ "zero_rz"
+ };
+
+ for (int i = 0; i < 6; i++)
+ mainApp->axis(i).zero = iniFile.value(names2[i], 0).toDouble();
+
+ iniFile.endGroup();
+}
+
+void Tracker::setInvertAxis(Axis axis, bool invert) { mainApp->axis(axis).invert = invert?-1.0f:1.0f; }
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