diff options
Diffstat (limited to 'opentrack-logic/tracker.cpp')
| -rw-r--r-- | opentrack-logic/tracker.cpp | 33 |
1 files changed, 32 insertions, 1 deletions
diff --git a/opentrack-logic/tracker.cpp b/opentrack-logic/tracker.cpp index a1f206a1..f29e3100 100644 --- a/opentrack-logic/tracker.cpp +++ b/opentrack-logic/tracker.cpp @@ -21,7 +21,7 @@ # include <windows.h> #endif -Tracker::Tracker(Mappings &m, SelectedLibraries &libs) : +Tracker::Tracker(Mappings &m, SelectedLibraries &libs, TrackLogger &logger) : m(m), newpose {0,0,0, 0,0,0}, centerp(s.center_at_startup), @@ -29,6 +29,7 @@ Tracker::Tracker(Mappings &m, SelectedLibraries &libs) : zero_(false), should_quit(false), libs(libs), + logger(logger), r_b(get_camera_offset_matrix().t()), t_b {0,0,0} { @@ -134,6 +135,8 @@ void Tracker::logic() raw(i) = newpose[i]; } + logger.write_pose(raw); // raw + if (is_nan(raw)) raw = last_raw; @@ -207,10 +210,13 @@ void Tracker::logic() } } + 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); // "filtered" } else { @@ -220,6 +226,7 @@ void Tracker::logic() if (libs.pFilter) libs.pFilter->filter(tmp, value); } + logger.write_pose(value); // "filtered" // CAVEAT rotation only, due to tcomp for (int i = 3; i < 6; i++) @@ -256,6 +263,8 @@ void Tracker::logic() for (int i = 0; i < 3; i++) value(i) = map(value(i), m(i)); + logger.write_pose(value); // "mapped" + if (nan) { value = last_mapped; @@ -265,6 +274,8 @@ void Tracker::logic() (void) map(value(i), m(i)); } + logger.next_line(); + libs.pProtocol->pose(value); last_mapped = value; @@ -283,8 +294,28 @@ void Tracker::run() (void) timeBeginPeriod(1); #endif + { + 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) { + { + double dt = t.elapsed_seconds(); + logger.write(&dt, 1); + } t.start(); double tmp[6] {0,0,0, 0,0,0}; |