diff options
Diffstat (limited to 'facetracknoir')
| -rw-r--r-- | facetracknoir/facetracknoir.cpp | 231 | ||||
| -rw-r--r-- | facetracknoir/facetracknoir.h | 7 | ||||
| -rw-r--r-- | facetracknoir/tracker.cpp | 184 | ||||
| -rw-r--r-- | facetracknoir/tracker.h | 47 | ||||
| -rw-r--r-- | facetracknoir/tracker_types.cpp | 36 | ||||
| -rw-r--r-- | facetracknoir/tracker_types.h | 8 |
6 files changed, 209 insertions, 304 deletions
diff --git a/facetracknoir/facetracknoir.cpp b/facetracknoir/facetracknoir.cpp index fd971c96..d5d24db1 100644 --- a/facetracknoir/facetracknoir.cpp +++ b/facetracknoir/facetracknoir.cpp @@ -743,26 +743,26 @@ void FaceTrackNoIR::startTracker( ) { QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // 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)
- GlobalPose->X.curvePtr->loadSettings(iniFile);
- GlobalPose->Y.curvePtr->loadSettings(iniFile);
- GlobalPose->Z.curvePtr->loadSettings(iniFile);
- GlobalPose->Yaw.curvePtr->loadSettings(iniFile);
- GlobalPose->Pitch.curvePtr->loadSettings(iniFile);
- GlobalPose->Roll.curvePtr->loadSettings(iniFile);
-
- GlobalPose->X.curvePtrAlt->loadSettings(iniFile);
- GlobalPose->Y.curvePtrAlt->loadSettings(iniFile);
- GlobalPose->Z.curvePtrAlt->loadSettings(iniFile);
- GlobalPose->Yaw.curvePtrAlt->loadSettings(iniFile);
- GlobalPose->Pitch.curvePtrAlt->loadSettings(iniFile);
- GlobalPose->Roll.curvePtrAlt->loadSettings(iniFile);
-
- GlobalPose->Yaw.altp = iniFile.value("rx_alt", false).toBool();
- GlobalPose->Pitch.altp = iniFile.value("ry_alt", false).toBool();
- GlobalPose->Roll.altp = iniFile.value("rz_alt", false).toBool();
- GlobalPose->X.altp = iniFile.value("tx_alt", false).toBool();
- GlobalPose->Y.altp = iniFile.value("ty_alt", false).toBool();
- GlobalPose->Z.altp = iniFile.value("tz_alt", false).toBool();
+
+ for (int i = 0; i < 6; i++)
+ {
+ GlobalPose->axes[i].curvePtr->loadSettings(iniFile);
+ GlobalPose->axes[i].curvePtrAlt->loadSettings(iniFile);
+ }
+
+ static const char* names[] = {
+ "rx_alt",
+ "ry_alt",
+ "rz_alt",
+ "tx_alt",
+ "ty_alt",
+ "tz_alt"
+ };
+
+ for (int i = 0; i < 6; i++)
+ {
+ GlobalPose->axes[i].altp = iniFile.value(names[i], false).toBool();
+ }
tracker = new Tracker ( this );
@@ -770,12 +770,12 @@ void FaceTrackNoIR::startTracker( ) { // Setup the Tracker and send the settings.
// This is necessary, because the events are only triggered 'on change'
//
- tracker->setInvertYaw (ui.chkInvertYaw->isChecked() );
- tracker->setInvertPitch (ui.chkInvertPitch->isChecked() );
- tracker->setInvertRoll (ui.chkInvertRoll->isChecked() );
- tracker->setInvertX (ui.chkInvertX->isChecked() );
- tracker->setInvertY (ui.chkInvertY->isChecked() );
- tracker->setInvertZ (ui.chkInvertZ->isChecked() );
+ tracker->setInvertAxis(RX, ui.chkInvertYaw->isChecked() );
+ tracker->setInvertAxis(TY, ui.chkInvertPitch->isChecked() );
+ tracker->setInvertAxis(RZ, ui.chkInvertRoll->isChecked() );
+ tracker->setInvertAxis(TX, ui.chkInvertX->isChecked() );
+ tracker->setInvertAxis(TY, ui.chkInvertY->isChecked() );
+ tracker->setInvertAxis(TZ, ui.chkInvertZ->isChecked() );
tracker->start();
@@ -930,50 +930,15 @@ void FaceTrackNoIR::stopTracker( ) { }
/** set the invert from the checkbox **/
-void FaceTrackNoIR::setInvertYaw( int invert ) {
- if (tracker)
- tracker->setInvertYaw ( (invert != 0)?true:false );
- settingsDirty = true;
-}
-
-/** set the invert from the checkbox **/
-void FaceTrackNoIR::setInvertPitch( int invert ) {
- if (tracker)
- tracker->setInvertPitch ( (invert != 0)?true:false );
- settingsDirty = true;
-}
-
-/** set the invert from the checkbox **/
-void FaceTrackNoIR::setInvertRoll( int invert ) {
+void FaceTrackNoIR::setInvertAxis(Axis axis, int invert ) {
if (tracker)
- tracker->setInvertRoll ( (invert != 0)?true:false );
- settingsDirty = true;
-}
-
-/** set the invert from the checkbox **/
-void FaceTrackNoIR::setInvertX( int invert ) {
- if (tracker)
- tracker->setInvertX ( (invert != 0)?true:false );
- settingsDirty = true;
-}
-
-/** set the invert from the checkbox **/
-void FaceTrackNoIR::setInvertY( int invert ) {
- if (tracker)
- tracker->setInvertY ( (invert != 0)?true:false );
- settingsDirty = true;
-}
-
-/** set the invert from the checkbox **/
-void FaceTrackNoIR::setInvertZ( int invert ) {
- if (tracker)
- tracker->setInvertZ ( (invert != 0)?true:false );
+ tracker->setInvertAxis (axis, (invert != 0)?true:false );
settingsDirty = true;
}
/** Show the headpose in the widget (triggered by timer) **/
void FaceTrackNoIR::showHeadPose() {
-THeadPoseData newdata;
+ double newdata[6];
ui.lblX->setVisible(true);
ui.lblY->setVisible(true);
@@ -993,14 +958,14 @@ THeadPoseData newdata; // Get the pose and also display it.
// Updating the pose from within the Tracker-class caused crashes...
//
- tracker->getHeadPose(&newdata);
- ui.lcdNumX->display(QString("%1").arg(newdata.x, 0, 'f', 1));
- ui.lcdNumY->display(QString("%1").arg(newdata.y, 0, 'f', 1));
- ui.lcdNumZ->display(QString("%1").arg(newdata.z, 0, 'f', 1));
+ tracker->getHeadPose(newdata);
+ ui.lcdNumX->display(QString("%1").arg(newdata[TX], 0, 'f', 1));
+ 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));
+ ui.lcdNumRotX->display(QString("%1").arg(newdata[RX], 0, 'f', 1));
+ ui.lcdNumRotY->display(QString("%1").arg(newdata[RY], 0, 'f', 1));
+ ui.lcdNumRotZ->display(QString("%1").arg(newdata[RZ], 0, 'f', 1));
ui.txtTracking->setVisible(tracker->getTrackingActive());
ui.txtAxisReverse->setVisible(tracker->getAxisReverse());
@@ -1009,16 +974,16 @@ THeadPoseData newdata; // Get the output-pose and also display it.
//
if (_pose_display) {
- tracker->getOutputHeadPose(&newdata);
- _pose_display->rotateBy(newdata.pitch, newdata.yaw, newdata.roll);
+ tracker->getOutputHeadPose(newdata);
+ _pose_display->rotateBy(newdata[RY], newdata[RX], newdata[RZ]);
- ui.lcdNumOutputPosX->display(QString("%1").arg(newdata.x, 0, 'f', 1));
- ui.lcdNumOutputPosY->display(QString("%1").arg(newdata.y, 0, 'f', 1));
- ui.lcdNumOutputPosZ->display(QString("%1").arg(newdata.z, 0, 'f', 1));
+ 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));
+ ui.lcdNumOutputRotX->display(QString("%1").arg(newdata[RX], 0, 'f', 1));
+ ui.lcdNumOutputRotY->display(QString("%1").arg(newdata[RY], 0, 'f', 1));
+ ui.lcdNumOutputRotZ->display(QString("%1").arg(newdata[RZ], 0, 'f', 1));
}
}
@@ -1866,45 +1831,46 @@ QWidget( parent , f) QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // Registry settings (in HK_USER)
QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
- ui.txconfig->setConfig(GlobalPose->X.curvePtr, currentFile);
- ui.tyconfig->setConfig(GlobalPose->Y.curvePtr, currentFile);
- ui.tzconfig->setConfig(GlobalPose->Z.curvePtr, currentFile);
- ui.rxconfig->setConfig(GlobalPose->Yaw.curvePtr, currentFile);
- ui.ryconfig->setConfig(GlobalPose->Pitch.curvePtr, currentFile);
- ui.rzconfig->setConfig(GlobalPose->Roll.curvePtr, currentFile);
- ui.txconfig_alt->setConfig(GlobalPose->X.curvePtrAlt, currentFile);
- ui.tyconfig_alt->setConfig(GlobalPose->Y.curvePtrAlt, currentFile);
- ui.tzconfig_alt->setConfig(GlobalPose->Z.curvePtrAlt, currentFile);
- ui.rxconfig_alt->setConfig(GlobalPose->Yaw.curvePtrAlt, currentFile);
- ui.ryconfig_alt->setConfig(GlobalPose->Pitch.curvePtrAlt, currentFile);
- ui.rzconfig_alt->setConfig(GlobalPose->Roll.curvePtrAlt, currentFile);
+ QFunctionConfigurator* configs[6] = {
+ ui.txconfig,
+ ui.tyconfig,
+ ui.tzconfig,
+ ui.rxconfig,
+ ui.ryconfig,
+ ui.rzconfig
+ };
+
+ QFunctionConfigurator* alt_configs[6] = {
+ ui.txconfig_alt,
+ ui.tyconfig_alt,
+ ui.tzconfig_alt,
+ ui.rxconfig_alt,
+ ui.ryconfig_alt,
+ ui.rzconfig_alt
+ };
+
+ QCheckBox* checkboxes[6] = {
+ ui.rx_altp,
+ ui.ry_altp,
+ ui.rz_altp,
+ ui.tx_altp,
+ ui.ty_altp,
+ ui.tz_altp
+ };
+
+ for (int i = 0; i < 6; i++)
+ {
+ configs[i]->setConfig(GlobalPose->axes[i].curvePtr, currentFile);
+ alt_configs[i]->setConfig(GlobalPose->axes[i].curvePtrAlt, currentFile);
+ connect(configs[i], SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));
+ connect(alt_configs[i], SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));
+ connect(checkboxes[i], SIGNAL(stateChanged(int)), this, SLOT(curveChanged(int)));
+ }
// Connect Qt signals to member-functions
connect(ui.btnOK, SIGNAL(clicked()), this, SLOT(doOK()));
connect(ui.btnCancel, SIGNAL(clicked()), this, SLOT(doCancel()));
- connect(ui.txconfig, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));
- connect(ui.txconfig, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));
-
-
- connect(ui.tyconfig, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));
- connect(ui.tzconfig, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));
- connect(ui.rxconfig, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));
- connect(ui.ryconfig, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));
- connect(ui.rzconfig, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));
- connect(ui.txconfig_alt, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));
- connect(ui.tyconfig_alt, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));
- connect(ui.tzconfig_alt, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));
- connect(ui.rxconfig_alt, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));
- connect(ui.ryconfig_alt, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));
- connect(ui.rzconfig_alt, SIGNAL(CurveChanged(bool)), this, SLOT(curveChanged(bool)));
- connect(ui.rx_altp, SIGNAL(stateChanged(int)), this, SLOT(curveChanged(int)));
- connect(ui.ry_altp, SIGNAL(stateChanged(int)), this, SLOT(curveChanged(int)));
- connect(ui.rz_altp, SIGNAL(stateChanged(int)), this, SLOT(curveChanged(int)));
- connect(ui.tx_altp, SIGNAL(stateChanged(int)), this, SLOT(curveChanged(int)));
- connect(ui.ty_altp, SIGNAL(stateChanged(int)), this, SLOT(curveChanged(int)));
- connect(ui.tz_altp, SIGNAL(stateChanged(int)), this, SLOT(curveChanged(int)));
-
// Load the settings from the current .INI-file
loadSettings();
}
@@ -1974,22 +1940,31 @@ void CurveConfigurationDialog::loadSettings() { qDebug() << "loadSettings says: iniFile = " << currentFile;
- GlobalPose->Yaw.altp = iniFile.value("rx_alt", false).toBool();
- GlobalPose->Pitch.altp = iniFile.value("ry_alt", false).toBool();
- GlobalPose->Roll.altp = iniFile.value("rz_alt", false).toBool();
- GlobalPose->X.altp = iniFile.value("tx_alt", false).toBool();
- GlobalPose->Y.altp = iniFile.value("ty_alt", false).toBool();
- GlobalPose->Z.altp = iniFile.value("tz_alt", false).toBool();
-
- ui.rx_altp->setChecked(GlobalPose->Yaw.altp);
- ui.ry_altp->setChecked(GlobalPose->Pitch.altp);
- ui.rz_altp->setChecked(GlobalPose->Roll.altp);
- ui.tx_altp->setChecked(GlobalPose->X.altp);
- ui.ty_altp->setChecked(GlobalPose->Y.altp);
- ui.tz_altp->setChecked(GlobalPose->Z.altp);
-
- settingsDirty = false;
+ static const char* names[] = {
+ "rx_alt",
+ "ry_alt",
+ "rz_alt",
+ "tx_alt",
+ "ty_alt",
+ "tz_alt"
+ };
+
+ for (int i = 0; i < 6; i++)
+ GlobalPose->axes[i].altp = iniFile.value(names[i], false).toBool();
+
+ static QCheckBox* widgets[] = {
+ ui.rx_altp,
+ ui.ry_altp,
+ ui.rz_altp,
+ ui.tx_altp,
+ ui.ty_altp,
+ ui.tz_altp
+ };
+
+ for (int i = 0; i < 6; i++)
+ widgets[i]->setChecked(GlobalPose->axes[i].altp);
+ settingsDirty = false;
}
//
diff --git a/facetracknoir/facetracknoir.h b/facetracknoir/facetracknoir.h index e59c2190..40044ca5 100644 --- a/facetracknoir/facetracknoir.h +++ b/facetracknoir/facetracknoir.h @@ -211,12 +211,7 @@ private: void showKeyboardShortcuts();
void showCurveConfiguration();
- void setInvertYaw( int invert );
- void setInvertPitch( int invert );
- void setInvertRoll( int invert );
- void setInvertX( int invert );
- void setInvertY( int invert );
- void setInvertZ( int invert );
+ void setInvertAxis( Axis axis, int invert );
void showHeadPose();
diff --git a/facetracknoir/tracker.cpp b/facetracknoir/tracker.cpp index ed39765d..7f1201cc 100644 --- a/facetracknoir/tracker.cpp +++ b/facetracknoir/tracker.cpp @@ -80,26 +80,18 @@ Tracker::Tracker( FaceTrackNoIR *parent ) : should_quit(false),
do_tracking(true),
do_center(false),
- do_inhibit(false),
do_game_zero(false),
- do_axis_reverse(false),
- inhibit_rx(false),
- inhibit_ry(false),
- inhibit_rz(false),
- inhibit_tx(false),
- inhibit_ty(false),
- inhibit_tz(false)
+ do_axis_reverse(false)
{
// Retieve the pointer to the parent
mainApp = parent;
// Load the settings from the INI-file
loadSettings();
- GlobalPose->Yaw.headPos = 0;
- GlobalPose->Pitch.headPos = 0;
- GlobalPose->Roll.headPos = 0;
- GlobalPose->X.headPos = 0;
- GlobalPose->Y.headPos = 0;
- GlobalPose->Z.headPos = 0;
+ for (int i = 0; i < 6; i++)
+ {
+ GlobalPose->axes[i].headPos = 0;
+ inhibit[i] = false;
+ }
}
Tracker::~Tracker()
@@ -142,53 +134,34 @@ void Tracker::run() { bool bTracker1Confid = false;
bool bTracker2Confid = false;
- THeadPoseData last;
- THeadPoseData newpose;
- THeadPoseData last_post_filter;
+ double newpose[6];
+ double last_post_filter[6];
forever
{
if (should_quit)
break;
- newpose.pitch = 0.0f;
- newpose.roll = 0.0f;
- newpose.yaw = 0.0f;
- newpose.x = 0.0f;
- newpose.y = 0.0f;
- newpose.z = 0.0f;
+ 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);
+ bTracker2Confid = Libraries->pSecondTracker->GiveHeadPoseData(newpose);
}
if (Libraries->pTracker) {
- bTracker1Confid = Libraries->pTracker->GiveHeadPoseData(&newpose);
+ bTracker1Confid = Libraries->pTracker->GiveHeadPoseData(newpose);
}
confid = (bTracker1Confid || bTracker2Confid);
-
- bool newp = last.yaw != newpose.yaw ||
- last.pitch != newpose.pitch ||
- last.roll != newpose.roll ||
- last.x != newpose.x ||
- last.y != newpose.y ||
- last.z != newpose.z;
-
- if (newp)
- last = newpose;
-
+
if ( confid ) {
- GlobalPose->Yaw.headPos = newpose.yaw;
- GlobalPose->Pitch.headPos = newpose.pitch;
- GlobalPose->Roll.headPos = newpose.roll;
- GlobalPose->X.headPos = newpose.x;
- GlobalPose->Y.headPos = newpose.y;
- GlobalPose->Z.headPos = newpose.z;
+ for (int i = 0; i < 6; i++)
+ GlobalPose->axes[i].headPos = newpose[i];
}
//
@@ -199,12 +172,8 @@ void Tracker::run() { // Only copy valid values
//
if (confid) {
- offset_camera.x = GlobalPose->X.headPos;
- offset_camera.y = GlobalPose->Y.headPos;
- offset_camera.z = GlobalPose->Z.headPos;
- offset_camera.pitch = GlobalPose->Pitch.headPos;
- offset_camera.yaw = GlobalPose->Yaw.headPos;
- offset_camera.roll = GlobalPose->Roll.headPos;
+ for (int i = 0; i < 6; i++)
+ offset_camera.axes[i] = GlobalPose->axes[i].headPos;
}
Tracker::do_center = false;
@@ -212,8 +181,6 @@ void Tracker::run() { // for kalman
if (Libraries->pFilter)
Libraries->pFilter->Initialize();
-
- last = newpose;
}
if (do_game_zero) {
@@ -223,12 +190,8 @@ void Tracker::run() { if (do_tracking && confid) {
// get values
- target_camera.x = GlobalPose->X.headPos;
- target_camera.y = GlobalPose->Y.headPos;
- target_camera.z = GlobalPose->Z.headPos;
- target_camera.pitch = GlobalPose->Pitch.headPos;
- target_camera.yaw = GlobalPose->Yaw.headPos;
- target_camera.roll = GlobalPose->Roll.headPos;
+ for (int i = 0; i < 6; i++)
+ target_camera.axes[i] = GlobalPose->axes[i].headPos;
// do the centering
target_camera = target_camera - offset_camera;
@@ -237,22 +200,19 @@ void Tracker::run() { // Use advanced filtering, when a filter was selected.
//
if (Libraries->pFilter) {
- last_post_filter = gameoutput_camera;
- Libraries->pFilter->FilterHeadPoseData(¤t_camera, &target_camera, &new_camera, &last_post_filter, newp);
+ 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;
}
- get_curve(do_inhibit && inhibit_rx, inhibit_zero, new_camera.yaw, output_camera.yaw, GlobalPose->Yaw);
- get_curve(do_inhibit && inhibit_ry, inhibit_zero, new_camera.pitch, output_camera.pitch, GlobalPose->Pitch);
- get_curve(do_inhibit && inhibit_rz, inhibit_zero, new_camera.roll, output_camera.roll, GlobalPose->Roll);
- get_curve(do_inhibit && inhibit_tx, inhibit_zero, new_camera.x, output_camera.x, GlobalPose->X);
- get_curve(do_inhibit && inhibit_ty, inhibit_zero, new_camera.y, output_camera.y, GlobalPose->Y);
- get_curve(do_inhibit && inhibit_tz, inhibit_zero, new_camera.z, output_camera.z, GlobalPose->Z);
+ 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.yaw) > YawAngle4ReverseAxis) && (output_camera.z < Z_Pos4ReverseAxis));
+ do_axis_reverse = ((fabs(output_camera.axes[RX]) > YawAngle4ReverseAxis) && (output_camera.axes[TZ] < Z_Pos4ReverseAxis));
} else {
do_axis_reverse = false;
}
@@ -261,7 +221,7 @@ void Tracker::run() { // Reverse Axis.
//
if (do_axis_reverse) {
- output_camera.z = Z_PosWhenReverseAxis; // Set the desired Z-position
+ output_camera.axes[TZ] = Z_PosWhenReverseAxis; // Set the desired Z-position
}
//
@@ -269,7 +229,7 @@ void Tracker::run() { //
if (Libraries->pProtocol) {
gameoutput_camera = output_camera + gamezero_camera;
- Libraries->pProtocol->sendHeadposeToGame( &gameoutput_camera, &newpose ); // degrees & centimeters
+ Libraries->pProtocol->sendHeadposeToGame( gameoutput_camera.axes, newpose ); // degrees & centimeters
}
}
else {
@@ -277,27 +237,16 @@ void Tracker::run() { // Go to initial position
//
if (Libraries->pProtocol && inhibit_zero) {
- output_camera.pitch = 0.0f;
- output_camera.yaw = 0.0f;
- output_camera.roll = 0.0f;
- output_camera.x = 0.0f;
- output_camera.y = 0.0f;
- output_camera.z = 0.0f;
+ for (int i = 0; i < 6; i++)
+ output_camera.axes[i] = 0;
gameoutput_camera = output_camera + gamezero_camera;
- Libraries->pProtocol->sendHeadposeToGame( &gameoutput_camera, &newpose ); // degrees & centimeters
+ 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);
}
- GlobalPose->X.curvePtr->setTrackingActive( false );
- GlobalPose->Y.curvePtr->setTrackingActive( false );
- GlobalPose->Z.curvePtr->setTrackingActive( false );
- GlobalPose->Yaw.curvePtr->setTrackingActive( false );
- GlobalPose->Pitch.curvePtr->setTrackingActive( false );
- GlobalPose->Roll.curvePtr->setTrackingActive( false );
- GlobalPose->X.curvePtrAlt->setTrackingActive( false );
- GlobalPose->Y.curvePtrAlt->setTrackingActive( false );
- GlobalPose->Z.curvePtrAlt->setTrackingActive( false );
- GlobalPose->Yaw.curvePtrAlt->setTrackingActive( false );
- GlobalPose->Pitch.curvePtrAlt->setTrackingActive( false );
- GlobalPose->Roll.curvePtrAlt->setTrackingActive( false );
if (Libraries->pFilter)
Libraries->pFilter->Initialize();
}
@@ -306,13 +255,11 @@ void Tracker::run() { usleep(1000);
}
- GlobalPose->X.curvePtr->setTrackingActive( false );
- GlobalPose->Y.curvePtr->setTrackingActive( false );
- GlobalPose->Z.curvePtr->setTrackingActive( false );
- GlobalPose->Yaw.curvePtr->setTrackingActive( false );
- GlobalPose->Pitch.curvePtr->setTrackingActive( false );
- GlobalPose->Pitch.curvePtrAlt->setTrackingActive( false );
- GlobalPose->Roll.curvePtr->setTrackingActive( false );
+ for (int i = 0; i < 6; i++)
+ {
+ GlobalPose->axes[i].curvePtr->setTrackingActive(false);
+ GlobalPose->axes[i].curvePtrAlt->setTrackingActive(false);
+ }
}
//
@@ -352,27 +299,19 @@ bool Tracker::handleGameCommand ( int command ) { //
// Get the raw headpose, so it can be displayed.
//
-void Tracker::getHeadPose( THeadPoseData *data ) {
- data->x = GlobalPose->X.headPos; // centimeters
- data->y = GlobalPose->Y.headPos;
- data->z = GlobalPose->Z.headPos;
-
- data->pitch = GlobalPose->Pitch.headPos; // degrees
- data->yaw = GlobalPose->Yaw.headPos;
- data->roll = GlobalPose->Roll.headPos;
+void Tracker::getHeadPose( double *data ) {
+ for (int i = 0; i < 6; i++)
+ {
+ data[i] = GlobalPose->axes[i].headPos;
+ }
}
//
// Get the output-headpose, so it can be displayed.
//
-void Tracker::getOutputHeadPose( THeadPoseData *data ) {
- data->x = output_camera.x; // centimeters
- data->y = output_camera.y;
- data->z = output_camera.z;
-
- data->pitch = output_camera.pitch; // degrees
- data->yaw = output_camera.yaw;
- data->roll = output_camera.roll;
+void Tracker::getOutputHeadPose( double *data ) {
+ for (int i = 0; i < 6; i++)
+ data[i] = output_camera.axes[i];
}
//
@@ -395,19 +334,22 @@ void Tracker::loadSettings() { YawAngle4ReverseAxis = iniFile.value ( "RA_Yaw", 40 ).toInt();
Z_Pos4ReverseAxis = iniFile.value ( "RA_ZPos", 50 ).toInt();
Z_PosWhenReverseAxis = iniFile.value ( "RA_ToZPos", 80 ).toInt();
- inhibit_rx = iniFile.value("Inhibit_Yaw", false).toBool();
- inhibit_ry = iniFile.value("Inhibit_Pitch", false).toBool();
- inhibit_rz = iniFile.value("Inhibit_Roll", false).toBool();
- inhibit_tx = iniFile.value("Inhibit_X", false).toBool();
- inhibit_ty = iniFile.value("Inhibit_Y", false).toBool();
- inhibit_tz = iniFile.value("Inhibit_Z", false).toBool();
+
+ static const char* names[] = {
+ "Inhibit_Yaw",
+ "Inhibit_Pitch",
+ "Inhibit_Roll",
+ "Inhibit_X",
+ "Inhibit_Y",
+ "Inhibit_Z"
+ };
+
+ 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::setInvertPitch(bool invert) { GlobalPose->Pitch.invert = invert?-1.0f:1.0f; }
-void Tracker::setInvertYaw(bool invert) { GlobalPose->Yaw.invert = invert?-1.0f:+1.0f; }
-void Tracker::setInvertRoll(bool invert) { GlobalPose->Roll.invert = invert?-1.0f:+1.0f; }
-void Tracker::setInvertX(bool invert) { GlobalPose->X.invert = invert?-1.0f:+1.0f; }
-void Tracker::setInvertY(bool invert) { GlobalPose->Y.invert = invert?-1.0f:+1.0f; }
-void Tracker::setInvertZ(bool invert) { GlobalPose->Z.invert = invert?-1.0f:+1.0f; }
+void Tracker::setInvertAxis(Axis axis, bool invert) { GlobalPose->axes[axis].invert = invert?-1.0f:1.0f; }
diff --git a/facetracknoir/tracker.h b/facetracknoir/tracker.h index e413c8d7..5dc48f60 100644 --- a/facetracknoir/tracker.h +++ b/facetracknoir/tracker.h @@ -37,6 +37,7 @@ #include <QDebug>
#include <QMutex>
#include "global-settings.h"
+#include <ftnoir_tracker_base/ftnoir_tracker_types.h>
//#define DIRECTINPUT_VERSION 0x0800
//#include <Dinput.h>
@@ -101,13 +102,17 @@ extern HeadPoseData* GlobalPose; //
class THeadPoseDOF {
public:
- THeadPoseDOF(QString primary, QString secondary, int maxInput1 = 50, int maxOutput1 = 180, int maxInput2 = 50, int maxOutput2 = 90) {
+ THeadPoseDOF(QString primary = "", QString secondary= "", int maxInput1 = 50, int maxOutput1 = 180, int maxInput2 = 50, int maxOutput2 = 90) {
QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // 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)
- curvePtr = new FunctionConfig(primary, maxInput1, maxOutput1); // Create the Function-config for input-output translation
- curvePtr->loadSettings(iniFile); // Load the settings from the INI-file
+ if (primary != "")
+ {
+ curvePtr = new FunctionConfig(primary, maxInput1, maxOutput1); // Create the Function-config for input-output translation
+ curvePtr->loadSettings(iniFile); // Load the settings from the INI-file
+ }
+
if (secondary != "")
{
curvePtrAlt = new FunctionConfig(secondary, maxInput2, maxOutput2);
@@ -133,7 +138,9 @@ private: float Z_Pos4ReverseAxis;
float Z_PosWhenReverseAxis;
- volatile bool inhibit_rx, inhibit_ry, inhibit_rz, inhibit_tx, inhibit_ty, inhibit_tz, inhibit_zero;
+
+ volatile bool inhibit[6];
+ volatile bool inhibit_zero;
FaceTrackNoIR *mainApp;
@@ -157,15 +164,10 @@ public: bool getConfid() { return confid; }
- void setInvertPitch(bool invert);
- void setInvertYaw(bool invert);
- void setInvertRoll(bool invert);
- void setInvertX(bool invert);
- void setInvertY(bool invert);
- void setInvertZ(bool invert);
+ void setInvertAxis(Axis axis, bool invert);
- void getHeadPose(THeadPoseData *data); // Return the current headpose data
- void getOutputHeadPose(THeadPoseData *data); // Return the current (processed) headpose data
+ void getHeadPose(double *data); // Return the current headpose data
+ void getOutputHeadPose(double *data); // Return the current (processed) headpose data
float getDegreesFromRads ( float rads ) { return (rads * 57.295781f); }
float getRadsFromDegrees ( float degrees ) { return (degrees * 0.017453f); }
@@ -185,20 +187,15 @@ public: struct HeadPoseData {
public:
- THeadPoseDOF Pitch;
- THeadPoseDOF Yaw;
- THeadPoseDOF Roll;
- THeadPoseDOF X;
- THeadPoseDOF Y;
- THeadPoseDOF Z;
- HeadPoseData() :
- Pitch("ry", "ry_alt", 60, 180, 60, 90),
- Yaw("rx", "rx_alt", 60, 180, 60, 180),
- Roll("rz", "rz_alt", 60, 180, 60, 180),
- X("tx","tx_alt", 60, 200, 60, 200),
- Y("ty","ty_alt", 60, 200, 60, 200),
- Z("tz","tz_alt", 60, 200, 60, 200)
+ THeadPoseDOF axes[6];
+ HeadPoseData()
{
+ axes[TX] = THeadPoseDOF("tx","tx_alt", 60, 200, 60, 200);
+ axes[TY] = THeadPoseDOF("ty","ty_alt", 60, 200, 60, 200);
+ axes[TZ] = THeadPoseDOF("tz","tz_alt", 60, 200, 60, 200);
+ axes[RX] = THeadPoseDOF("rx", "rx_alt", 60, 180, 60, 180);
+ axes[RY] = THeadPoseDOF("ry", "ry_alt", 60, 180, 60, 90);
+ axes[RZ] = THeadPoseDOF("rz", "rz_alt", 60, 180, 60, 180);
}
};
diff --git a/facetracknoir/tracker_types.cpp b/facetracknoir/tracker_types.cpp index 5a6126ff..82109952 100644 --- a/facetracknoir/tracker_types.cpp +++ b/facetracknoir/tracker_types.cpp @@ -7,38 +7,38 @@ T6DOF operator-(const T6DOF& A, const T6DOF& B)
{
- Rotation R_A(A.yaw*D2R, A.pitch*D2R, A.roll*D2R);
- Rotation R_B(B.yaw*D2R, B.pitch*D2R, B.roll*D2R);
+ Rotation R_A(A.axes[RX]*D2R, A.axes[RY]*D2R, A.axes[RZ]*D2R);
+ Rotation R_B(B.axes[RX]*D2R, B.axes[RY]*D2R, B.axes[RZ]*D2R);
Rotation R_C = R_A * R_B.inv();
T6DOF C;
- R_C.toEuler(C.yaw, C.pitch, C.roll);
- C.yaw *= R2D;
- C.pitch *= R2D;
- C.roll *= R2D;
+ R_C.toEuler(C.axes[RX], C.axes[RY], C.axes[RZ]);
+ C.axes[RX] *= R2D;
+ C.axes[RY] *= R2D;
+ C.axes[RZ] *= R2D;
- C.x = A.x - B.x;
- C.y = A.y - B.y;
- C.z = A.z - B.z;
+ 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];
//C.frame_number?
return C;
}
T6DOF operator+(const T6DOF& A, const T6DOF& B)
{
- Rotation R_A(A.yaw*D2R, A.pitch*D2R, A.roll*D2R);
- Rotation R_B(B.yaw*D2R, B.pitch*D2R, B.roll*D2R);
+ Rotation R_A(A.axes[RX]*D2R, A.axes[RY]*D2R, A.axes[RZ]*D2R);
+ Rotation R_B(B.axes[RX]*D2R, B.axes[RY]*D2R, B.axes[RZ]*D2R);
Rotation R_C = R_A * R_B;
T6DOF C;
- R_C.toEuler(C.yaw, C.pitch, C.roll);
- C.yaw *= R2D;
- C.pitch *= R2D;
- C.roll *= R2D;
+ R_C.toEuler(C.axes[RX], C.axes[RY], C.axes[RZ]);
+ C.axes[RX] *= R2D;
+ C.axes[RY] *= R2D;
+ C.axes[RZ] *= R2D;
- C.x = A.x + B.x;
- C.y = A.y + B.y;
- C.z = A.z + B.z;
+ 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];
//C.frame_number?
return C;
}
diff --git a/facetracknoir/tracker_types.h b/facetracknoir/tracker_types.h index d8e7ecee..94d96de5 100644 --- a/facetracknoir/tracker_types.h +++ b/facetracknoir/tracker_types.h @@ -30,13 +30,9 @@ #include "ftnoir_tracker_base/ftnoir_tracker_types.h"
-class T6DOF : public THeadPoseData
-{
+struct T6DOF {
public:
- T6DOF() : THeadPoseData() {}
-
- T6DOF(double x, double y, double z, double yaw, double pitch, double roll)
- : THeadPoseData(x,y,z, yaw,pitch,roll) {}
+ double axes[6];
};
T6DOF operator-(const T6DOF& A, const T6DOF& B); // get new pose with respect to reference pose B
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