1 files changed, 26 insertions, 85 deletions

diff --git a/facetracknoir/tracker.h b/facetracknoir/tracker.h
index 46440c32..d65e1cf1 100644
--- a/facetracknoir/tracker.h
+++ b/facetracknoir/tracker.h
@@ -1,102 +1,43 @@
-#ifndef __TRACKER_H__
-#define __TRACKER_H__
+#pragma once
 
-#include <QThread>
-#include <QMessageBox>
-#include <QLineEdit>
-#include <QPoint>
-#include <QWaitCondition>
-#include <QList>
-#include <QPainterPath>
-#include <QDebug>
-#include <QMutex>
-#include "global-settings.h"
-#include <ftnoir_tracker_base/ftnoir_tracker_types.h>
+#include <atomic>
 #include <vector>
 
-#include <qfunctionconfigurator/functionconfig.h>
-#include "tracker_types.h"
-#include "facetracknoir/main-settings.hpp"
-#include "facetracknoir/options.h"
-#include "facetracknoir/timer.hpp"
-using namespace options;
+#include "./timer.hpp"
+#include "./plugin-support.h"
+#include "./mappings.hpp"
+#include "./pose.hpp"
 
-class FaceTrackNoIR;				// pre-define parent-class to avoid circular includes
+#include "../qfunctionconfigurator/functionconfig.h"
+#include "./main-settings.hpp"
+#include "./options.h"
 
-class THeadPoseDOF {
-private:
-    THeadPoseDOF(const THeadPoseDOF &) = delete;
-    THeadPoseDOF& operator=(const THeadPoseDOF&) = delete;
-public:
-    THeadPoseDOF(QString primary,
-                 QString secondary,
-                 int maxInput1,
-                 int maxOutput1,
-                 int maxInput2,
-                 int maxOutput2,
-                 axis_opts* opts) :
-        headPos(0),
-        curve(primary, maxInput1, maxOutput1),
-        curveAlt(secondary, maxInput2, maxOutput2),
-        opts(*opts)
-    {
-        QSettings settings("opentrack");
-        QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString();
-        QSettings iniFile( currentFile, QSettings::IniFormat );
-        curve.loadSettings(iniFile);
-        curveAlt.loadSettings(iniFile);
-    }
-    volatile double headPos;
-    FunctionConfig curve;
-	FunctionConfig curveAlt;
-    axis_opts& opts;
-};
+#include <QMutex>
+#include <QThread>
 
 class Tracker : protected QThread {
-	Q_OBJECT
-
+    Q_OBJECT
 private:
-    FaceTrackNoIR *mainApp;
     QMutex mtx;
     main_settings& s;
-    volatile bool should_quit;
+    // XXX can be const-cast when functionconfig const-correct -sh 20141004
+    Mappings& m;
     Timer t;
-protected:
-	void run();
+    Pose output_pose, raw_6dof;
+    std::atomic<bool> centerp;
+    std::atomic<bool> enabledp;
+    std::atomic<bool> should_quit;
 
+    static void get_curve(double pos, double& out, Mapping& axis);
+    static void t_compensate(const double* input, double* output, bool rz);
+protected:
+    void run() override;
 public:
-    Tracker( FaceTrackNoIR *parent, main_settings& s);
+    Tracker(main_settings& s, Mappings& m);
     ~Tracker();
 
-    void getHeadPose(double *data);
-    void getOutputHeadPose(double *data);
-    volatile bool do_center;
-    volatile bool enabled;
-    
-    T6DOF output_camera;
-
+    void get_raw_and_mapped_poses(double* mapped, double* raw) const;
     void start() { QThread::start(); }
+    void toggle_enabled() { enabledp.store(!enabledp.load()); }
+    void center() { centerp.store(!centerp.load()); }
 };
-
-class HeadPoseData {
-public:
-    THeadPoseDOF* axes[6];
-    HeadPoseData(std::vector<axis_opts*> opts)
-    {
-        axes[TX] = new THeadPoseDOF("tx","tx_alt", 100, 100, 100, 100, opts[TX]);
-        axes[TY] = new THeadPoseDOF("ty","ty_alt", 100, 100, 100, 100, opts[TY]);
-        axes[TZ] = new THeadPoseDOF("tz","tz_alt", 100, 100, 100, 100, opts[TZ]);
-        axes[Yaw] = new THeadPoseDOF("rx", "rx_alt", 180, 180, 180, 180, opts[Yaw]);
-        axes[Pitch] = new THeadPoseDOF("ry", "ry_alt", 90, 90, 90, 90, opts[Pitch]);
-        axes[Roll] = new THeadPoseDOF("rz", "rz_alt", 180, 180, 180, 180, opts[Roll]);
-    }
-    ~HeadPoseData()
-    {
-        for (int i = 0; i < 6; i++)
-        {
-            delete axes[i];
-        }
-    }
-};
-
-#endif