diff options
Diffstat (limited to 'opentrack-logic/tracker.cpp')
| -rw-r--r-- | opentrack-logic/tracker.cpp | 27 |
1 files changed, 19 insertions, 8 deletions
diff --git a/opentrack-logic/tracker.cpp b/opentrack-logic/tracker.cpp index 8101932c..f29e3100 100644 --- a/opentrack-logic/tracker.cpp +++ b/opentrack-logic/tracker.cpp @@ -135,7 +135,7 @@ void Tracker::logic() raw(i) = newpose[i]; } - logger.write_pose(raw); // raw tracker input + logger.write_pose(raw); // raw if (is_nan(raw)) raw = last_raw; @@ -210,13 +210,13 @@ void Tracker::logic() } } - logger.write_pose(value); // after various transformations to account for camera position + logger.write_pose(value); // "corrected" - after various transformations to account for camera position // whenever something can corrupt its internal state due to nan/inf, elide the call if (is_nan(value)) { nan = true; - logger.write_pose(value); // for consistency with filtered value + logger.write_pose(value); // "filtered" } else { @@ -224,11 +224,9 @@ void Tracker::logic() Pose tmp = value; if (libs.pFilter) - { libs.pFilter->filter(tmp, value); - } } - logger.write_pose(value); // filtered value if filter present + logger.write_pose(value); // "filtered" // CAVEAT rotation only, due to tcomp for (int i = 3; i < 6; i++) @@ -265,7 +263,7 @@ void Tracker::logic() for (int i = 0; i < 3; i++) value(i) = map(value(i), m(i)); - logger.write_pose(value); // after mapping + logger.write_pose(value); // "mapped" if (nan) { @@ -296,7 +294,20 @@ void Tracker::run() (void) timeBeginPeriod(1); #endif - logger.write("//dt;raw;before filter;after filter;after mapping; every pose has channels TX, TY, TZ, Yaw, Pitch, Roll"); + { + const char* posechannels[6] = { "TX", "TY", "TZ", "Yaw", "Pitch", "Roll" }; + const char* datachannels[5] = { "dt", "raw", "corrected", "filtered", "mapped" }; + logger.write(datachannels[0]); + char buffer[128]; + for (int j = 1; j < 5; ++j) + { + for (int i = 0; i < 6; ++i) + { + snprintf(buffer, 128, "%s%s", datachannels[j], posechannels[i]); + logger.write(buffer); + } + } + } logger.next_line(); while (!should_quit) |