diff options
Diffstat (limited to 'facetracknoir')
| -rw-r--r-- | facetracknoir/facetracknoir.cpp | 8 | ||||
| -rw-r--r-- | facetracknoir/facetracknoir.h | 3 | ||||
| -rw-r--r-- | facetracknoir/rotation.h | 54 | ||||
| -rw-r--r-- | facetracknoir/tracker_types.cpp | 2 |
4 files changed, 35 insertions, 32 deletions
diff --git a/facetracknoir/facetracknoir.cpp b/facetracknoir/facetracknoir.cpp index fafef908..623b16b2 100644 --- a/facetracknoir/facetracknoir.cpp +++ b/facetracknoir/facetracknoir.cpp @@ -682,9 +682,8 @@ void FaceTrackNoIR::startTracker( ) { // This is necessary, because the events are only triggered 'on change'
//
tracker->setInvertAxis(Yaw, ui.chkInvertYaw->isChecked() );
- tracker->setInvertAxis(TY, ui.chkInvertPitch->isChecked() );
- tracker->setInvertAxis(Roll, ui.chkInvertRoll->isChecked() );
- tracker->setInvertAxis(TX, ui.chkInvertX->isChecked() );
+ tracker->setInvertAxis(Pitch, ui.chkInvertPitch->isChecked() );
+ tracker->setInvertAxis(Roll, ui.chkInvertRoll->isChecked() ); tracker->setInvertAxis(TX, ui.chkInvertX->isChecked() );
tracker->setInvertAxis(TY, ui.chkInvertY->isChecked() );
tracker->setInvertAxis(TZ, ui.chkInvertZ->isChecked() );
@@ -849,6 +848,7 @@ void FaceTrackNoIR::showHeadPose() { ui.lcdNumY->display(QString("%1").arg(newdata[TY], 0, 'f', 1));
ui.lcdNumZ->display(QString("%1").arg(newdata[TZ], 0, 'f', 1));
+
ui.lcdNumRotX->display(QString("%1").arg(newdata[Yaw], 0, 'f', 1));
ui.lcdNumRotY->display(QString("%1").arg(newdata[Pitch], 0, 'f', 1));
ui.lcdNumRotZ->display(QString("%1").arg(newdata[Roll], 0, 'f', 1));
@@ -859,12 +859,14 @@ void FaceTrackNoIR::showHeadPose() { // Get the output-pose and also display it.
//
tracker->getOutputHeadPose(newdata);
+
ui.pose_display->rotateBy(newdata[Yaw], newdata[Roll], newdata[Pitch]);
ui.lcdNumOutputPosX->display(QString("%1").arg(newdata[TX], 0, 'f', 1));
ui.lcdNumOutputPosY->display(QString("%1").arg(newdata[TY], 0, 'f', 1));
ui.lcdNumOutputPosZ->display(QString("%1").arg(newdata[TZ], 0, 'f', 1));
+
ui.lcdNumOutputRotX->display(QString("%1").arg(newdata[Yaw], 0, 'f', 1));
ui.lcdNumOutputRotY->display(QString("%1").arg(newdata[Pitch], 0, 'f', 1));
ui.lcdNumOutputRotZ->display(QString("%1").arg(newdata[Roll], 0, 'f', 1));
diff --git a/facetracknoir/facetracknoir.h b/facetracknoir/facetracknoir.h index fd9c06a7..a6d99165 100644 --- a/facetracknoir/facetracknoir.h +++ b/facetracknoir/facetracknoir.h @@ -186,8 +186,7 @@ private: void setInvertAxis( Axis axis, int invert );
void setInvertYaw(int invert) {
- setInvertAxis(Yaw, invert);
- }
+ setInvertAxis(Yaw, invert); }
void setInvertPitch(int invert) {
setInvertAxis(Pitch, invert);
}
diff --git a/facetracknoir/rotation.h b/facetracknoir/rotation.h index a1500969..1e472cf2 100644 --- a/facetracknoir/rotation.h +++ b/facetracknoir/rotation.h @@ -12,12 +12,12 @@ class Rotation {
public:
- Rotation() : a(1.0),b(0.0),c(0.0),d(0.0) {}
+ Rotation() : w(1.0),x(0.0),y(0.0),z(0.0) {}
Rotation(double yaw, double pitch, double roll) { fromEuler(yaw, pitch, roll); }
- Rotation(double a, double b, double c, double d) : a(a),b(b),c(c),d(d) {}
+ Rotation(double x, double y, double z, double w) : x(x),y(y),z(z),w(w) {}
Rotation inv(){ // inverse
- return Rotation(a,-b,-c,-d);
+ return Rotation(-x,-y,-z, w);
}
@@ -25,46 +25,48 @@ public: // see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
void fromEuler(double yaw, double pitch, double roll)
{
- double sin_phi = sin(roll/2.0);
- double cos_phi = cos(roll/2.0);
- double sin_the = sin(pitch/2.0);
- double cos_the = cos(pitch/2.0);
- double sin_psi = sin(yaw/2.0);
- double cos_psi = cos(yaw/2.0);
-
- a = cos_phi*cos_the*cos_psi + sin_phi*sin_the*sin_psi;
- b = sin_phi*cos_the*cos_psi - cos_phi*sin_the*sin_psi;
- c = cos_phi*sin_the*cos_psi + sin_phi*cos_the*sin_psi;
- d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi;
+ // Assuming the angles are in radians.
+ double c1 = cos(yaw);
+ double s1 = sin(yaw);
+ double c2 = cos(roll);
+ double s2 = sin(roll);
+ double c3 = cos(pitch);
+ double s3 = sin(pitch);
+ w = sqrt(1.0 + c1 * c2 + c1*c3 - s1 * s2 * s3 + c2*c3) / 2.0;
+ double w4 = (4.0 * w);
+ x = (c2 * s3 + c1 * s3 + s1 * s2 * c3) / w4 ;
+ y = (s1 * c2 + s1 * c3 + c1 * s2 * s3) / w4 ;
+ z = (-s1 * s3 + c1 * s2 * c3 +s2) / w4 ;
}
void toEuler(double& yaw, double& pitch, double& roll)
{
- roll = atan2(2.0*(a*b + c*d), 1.0 - 2.0*(b*b + c*c));
- pitch = asin(2.0*(a*c - b*d));
- yaw = atan2(2.0*(a*d + b*c), 1.0 - 2.0*(c*c + d*d));
+
+ yaw = atan2(2.0*(y*w - x*z), 1.0 - 2.0*(y*y + z*z));
+ roll = asin(2.0*(x*y + z*w));
+ pitch = atan2(2.0*(x*w - y*z), 1.0 - 2.0*(x*x + z*z));
}
/* const Rotation operator*(const Rotation& A, const Rotation& B)
{
- return Rotation(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d, // quaternion multiplication
- A.a*B.b + A.b*B.a + A.c*B.d - A.d*B.c,
- A.a*B.c - A.b*B.d + A.c*B.a + A.d*B.b,
- A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a);
+ return Rotation(A.w*B.w - A.x*B.x - A.y*B.y - A.z*B.z, // quaternion multiplication
+ A.w*B.x + A.x*B.w + A.y*B.z - A.z*B.y,
+ A.w*B.y - A.x*B.z + A.y*B.w + A.z*B.x,
+ A.w*B.z + A.x*B.y - A.y*B.x + A.z*B.w);
}*/
const Rotation operator*(const Rotation& B)
{
const Rotation& A = *this;
- return Rotation(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d, // quaternion multiplication
- A.a*B.b + A.b*B.a + A.c*B.d - A.d*B.c,
- A.a*B.c - A.b*B.d + A.c*B.a + A.d*B.b,
- A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a);
+ return Rotation(A.w*B.w - A.x*B.x - A.y*B.y - A.z*B.z, // quaternion multiplication
+ A.w*B.x + A.x*B.w + A.y*B.z - A.z*B.y,
+ A.w*B.y - A.x*B.z + A.y*B.w + A.z*B.x,
+ A.w*B.z + A.x*B.y - A.y*B.x + A.z*B.w);
}
protected:
- double a,b,c,d; // quaternion coefficients
+ double w,x,y,z; // quaternion coefficients
};
diff --git a/facetracknoir/tracker_types.cpp b/facetracknoir/tracker_types.cpp index 11adc985..89a06d7e 100644 --- a/facetracknoir/tracker_types.cpp +++ b/facetracknoir/tracker_types.cpp @@ -13,10 +13,10 @@ T6DOF operator-(const T6DOF& A, const T6DOF& B) T6DOF C;
R_C.toEuler(C.axes[Yaw], C.axes[Pitch], C.axes[Roll]);
+ R_C.toEuler(C.axes[Yaw], C.axes[Pitch], C.axes[Roll]);
C.axes[Yaw] *= R2D;
C.axes[Pitch] *= R2D;
C.axes[Roll] *= R2D;
-
C.axes[TX] = A.axes[TX] - B.axes[TX];
C.axes[TY] = A.axes[TY] - B.axes[TY];
C.axes[TZ] = A.axes[TZ] - B.axes[TZ];
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