diff options
Diffstat (limited to 'facetracknoir/tracker.cpp')
| -rw-r--r-- | facetracknoir/tracker.cpp | 38 |
1 files changed, 19 insertions, 19 deletions
diff --git a/facetracknoir/tracker.cpp b/facetracknoir/tracker.cpp index de4ba724..c42cfa22 100644 --- a/facetracknoir/tracker.cpp +++ b/facetracknoir/tracker.cpp @@ -98,6 +98,7 @@ static void get_curve(double pos, double& out, THeadPoseDOF& axis) { axis.curvePtr->setTrackingActive( true );
axis.curvePtrAlt->setTrackingActive( false );
}
+ out += axis.zero;
}
/** QThread run method @override **/
@@ -182,8 +183,9 @@ void Tracker::run() { new_camera = target_camera;
}
- for (int i = 0; i < 6; i++)
+ for (int i = 0; i < 6; i++) {
get_curve(new_camera.axes[i], output_camera.axes[i], GlobalPose->axes[i]);
+ }
//
// Send the headpose to the game
@@ -193,24 +195,6 @@ void Tracker::run() { Libraries->pProtocol->sendHeadposeToGame( gameoutput_camera.axes, newpose ); // degrees & centimeters
}
}
- else {
- //
- // Go to initial position
- //
- if (Libraries->pProtocol) {
- for (int i = 0; i < 6; i++)
- output_camera.axes[i] = 0;
- gameoutput_camera = output_camera;
- Libraries->pProtocol->sendHeadposeToGame( gameoutput_camera.axes, newpose ); // degrees & centimeters
- }
- for (int i = 0; i < 6; i++)
- {
- GlobalPose->axes[i].curvePtr->setTrackingActive(false);
- GlobalPose->axes[i].curvePtrAlt->setTrackingActive(false);
- }
- if (Libraries->pFilter)
- Libraries->pFilter->Initialize();
- }
//for lower cpu load
usleep(1000);
@@ -251,7 +235,23 @@ void Tracker::loadSettings() { 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++)
+ GlobalPose->axes[i].zero = iniFile.value(names2[i], 0).toDouble();
+
+ iniFile.endGroup();
}
void Tracker::setInvertAxis(Axis axis, bool invert) { GlobalPose->axes[axis].invert = invert?-1.0f:1.0f; }
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