From 7c52b9e74692fbe8d31c9069388c52043a67727a Mon Sep 17 00:00:00 2001 From: mm0zct Date: Tue, 25 Jun 2013 00:48:48 +0100 Subject: Added Sixense Razer Hydra --- .../ftnoir_hydra_clientcontrols.ui | 372 +++++++++++++++++++++ ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp | 155 +++++++++ ftnoir_tracker_hydra/ftnoir_tracker_hydra.h | 89 +++++ .../ftnoir_tracker_hydra_dialog.cpp | 180 ++++++++++ ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp | 55 +++ 5 files changed, 851 insertions(+) create mode 100644 ftnoir_tracker_hydra/ftnoir_hydra_clientcontrols.ui create mode 100644 ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp create mode 100644 ftnoir_tracker_hydra/ftnoir_tracker_hydra.h create mode 100644 ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp create mode 100644 ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp (limited to 'ftnoir_tracker_hydra') diff --git a/ftnoir_tracker_hydra/ftnoir_hydra_clientcontrols.ui b/ftnoir_tracker_hydra/ftnoir_hydra_clientcontrols.ui new file mode 100644 index 00000000..1daf7a5b --- /dev/null +++ b/ftnoir_tracker_hydra/ftnoir_hydra_clientcontrols.ui @@ -0,0 +1,372 @@ + + + UIHydraControls + + + + 0 + 0 + 411 + 142 + + + + Sixense Hydra tracker settings FaceTrackNoIR + + + + images/FaceTrackNoIR.pngimages/FaceTrackNoIR.png + + + Qt::LeftToRight + + + false + + + + + + + 0 + 85 + + + + Enable Axis + + + + + 10 + 20 + 143 + 60 + + + + + + + + + + + + + + + Pitch: + + + + + + + + + 20 + 16777215 + + + + Qt::LeftToRight + + + + + + + + + + + + + + Yaw: + + + + + + + + + + 20 + 16777215 + + + + Qt::LeftToRight + + + + + + + + + + + + + Roll: + + + + + + + + + 20 + 16777215 + + + + Qt::LeftToRight + + + + + + + + + + + + + + + + + + + + + + + + + + + + + X: + + + + + + + + + 20 + 16777215 + + + + Qt::LeftToRight + + + + + + + + + + + + + + Y: + + + + + + + + + + 20 + 16777215 + + + + Qt::LeftToRight + + + + + + + + + + + + + Z: + + + + + + + + + 20 + 16777215 + + + + Qt::LeftToRight + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + QLayout::SetDefaultConstraint + + + + + + 0 + 0 + + + + + 100 + 0 + + + + + 100 + 16777215 + + + + OK + + + + + + + + 0 + 0 + + + + + 100 + 0 + + + + + 100 + 16777215 + + + + Cancel + + + + + + + + + Qt::Horizontal + + + QSizePolicy::Fixed + + + + 10 + 20 + + + + + + + + + + btnOK + btnCancel + + + + + startEngineClicked() + stopEngineClicked() + cameraSettingsClicked() + + diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp new file mode 100644 index 00000000..24ffedcd --- /dev/null +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp @@ -0,0 +1,155 @@ +/* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */ +#include "ftnoir_tracker_hydra.h" +#include "facetracknoir/global-settings.h" +#include "facetracknoir/rotation.h" +#include +#define SIXENSE_STATIC_LIB +#define SIXENSE_UTILS_STATIC_LIB +#include +#include +#ifdef WIN32 +#include +#endif +#include +#include +#include +#include + +Hydra_Tracker::Hydra_Tracker() +{ + bEnableRoll = true; + bEnablePitch = true; + bEnableYaw = true; + bEnableX = true; + bEnableY = true; + bEnableZ = true; + should_quit = false; + for (int i = 0; i < 6; i++) + newHeadPose[i] = 0; +} + +Hydra_Tracker::~Hydra_Tracker() +{ + + sixenseExit(); +} + +/* +void controller_manager_setup_callback( sixenseUtils::ControllerManager::setup_step step ) { + + QMessageBox::warning(0,"OpenTrack Info", "controller manager callback",QMessageBox::Ok,QMessageBox::NoButton); + if( sixenseUtils::getTheControllerManager()->isMenuVisible() ) { + // Ask the controller manager what the next instruction string should be. + std::string controller_manager_text_string = sixenseUtils::getTheControllerManager()->getStepString(); + QMessageBox::warning(0,"OpenTrack Info", controller_manager_text_string.c_str(),QMessageBox::Ok,QMessageBox::NoButton); + // We could also load the supplied controllermanager textures using the filename: sixenseUtils::getTheControllerManager()->getTextureFileName(); + + } +}*/ + +void Hydra_Tracker::StartTracker(QFrame* videoFrame) +{ + //QMessageBox::warning(0,"FaceTrackNoIR Notification", "Tracking loading settings...",QMessageBox::Ok,QMessageBox::NoButton); + loadSettings(); + + // Init sixense + //QMessageBox::warning(0,"OpenTrack Info", "sixense init",QMessageBox::Ok,QMessageBox::NoButton); + sixenseInit(); + //QMessageBox::warning(0,"OpenTrack Info", "sixense init complete, setting controller manager",QMessageBox::Ok,QMessageBox::NoButton); + // Init the controller manager. This makes sure the controllers are present, assigned to left and right hands, and that + // the hemisphere calibration is complete. + //sixenseUtils::getTheControllerManager()->setGameType( sixenseUtils::ControllerManager::ONE_PLAYER_TWO_CONTROLLER ); + //sixenseUtils::getTheControllerManager()->registerSetupCallback( controller_manager_setup_callback ); + //QMessageBox::warning(0,"OpenTrack Info", "controller manager callback registered",QMessageBox::Ok,QMessageBox::NoButton); + return; +} + + +bool Hydra_Tracker::GiveHeadPoseData(double *data) +{ + + sixenseSetActiveBase(0); + sixenseAllControllerData acd; + sixenseGetAllNewestData( &acd ); + //sixenseUtils::getTheControllerManager()->update( &acd ); + + //sixenseControllerData cd; + Rotation quat = Rotation(acd.controllers[0].rot_quat[0],acd.controllers[0].rot_quat[1],acd.controllers[0].rot_quat[2],acd.controllers[0].rot_quat[3]); + double yaw = 0.0f; + double pitch = 0.0f; + double roll = 0.0f; + + quat.toEuler(yaw, pitch, roll); + + newHeadPose[RY] = pitch; + newHeadPose[RZ] = roll; + newHeadPose[RX] = yaw; + + + + newHeadPose[TX] = acd.controllers[0].pos[0]/50.0f; + newHeadPose[TY] = acd.controllers[0].pos[1]/50.0f; + newHeadPose[TZ] = acd.controllers[0].pos[2]/50.0f; + + //if (bEnableX) { + data[TX] = newHeadPose[TX]; + //} + //if (bEnableY) { + data[TY] = newHeadPose[TY]; + //} + //if (bEnableY) { + data[TZ] = newHeadPose[TZ]; + //} + + if (bEnableYaw) { + data[RX] = newHeadPose[RX] * 57.295781f; + } + if (bEnablePitch) { + data[RY] = newHeadPose[RY] * 57.295781f; + } + if (bEnableRoll) { + data[RZ] = newHeadPose[RZ] * 57.295781f; + } + + return true; +} + + +// +// Load the current Settings from the currently 'active' INI-file. +// +void Hydra_Tracker::loadSettings() { + + qDebug() << "FTNoIR_Tracker::loadSettings says: Starting "; + QSettings settings("opentrack"); // 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) + + qDebug() << "FTNoIR_Tracker::loadSettings says: iniFile = " << currentFile; + + iniFile.beginGroup ( "Hydra" ); + bEnableRoll = iniFile.value ( "EnableRoll", 1 ).toBool(); + bEnablePitch = iniFile.value ( "EnablePitch", 1 ).toBool(); + bEnableYaw = iniFile.value ( "EnableYaw", 1 ).toBool(); + bEnableX = iniFile.value ( "EnableX", 1 ).toBool(); + bEnableY = iniFile.value ( "EnableY", 1 ).toBool(); + bEnableZ = iniFile.value ( "EnableZ", 1 ).toBool(); + + iniFile.endGroup (); +} + + +//////////////////////////////////////////////////////////////////////////////// +// Factory function that creates instances if the Tracker object. + +// Export both decorated and undecorated names. +// GetTracker - Undecorated name, which can be easily used with GetProcAddress +// Win32 API function. +// _GetTracker@0 - Common name decoration for __stdcall functions in C language. +//#pragma comment(linker, "/export:GetTracker=_GetTracker@0") + +extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor() +{ + return new Hydra_Tracker; +} diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h new file mode 100644 index 00000000..3f7bf0a8 --- /dev/null +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h @@ -0,0 +1,89 @@ +#include "ftnoir_tracker_base/ftnoir_tracker_base.h" +#include "ui_ftnoir_hydra_clientcontrols.h" +#include +#include +#include +#include +#include "facetracknoir/global-settings.h" +class Hydra_Tracker : public ITracker +{ +public: + Hydra_Tracker(); + ~Hydra_Tracker(); + + void StartTracker( QFrame *videoframe ); + bool GiveHeadPoseData(double *data); + void loadSettings(); + volatile bool should_quit; + void WaitForExit() { + return; + } +protected: + void run(); // qthread override run method + +private: + bool isCalibrated; + + double newHeadPose[6]; // Structure with new headpose + bool bEnableRoll; + bool bEnablePitch; + bool bEnableYaw; + + bool bEnableX; + bool bEnableY; + bool bEnableZ; + + QMutex mutex; +}; + +// Widget that has controls for FTNoIR protocol client-settings. +class TrackerControls: public QWidget, public ITrackerDialog +{ + Q_OBJECT +public: + + explicit TrackerControls(); + ~TrackerControls(); + void showEvent ( QShowEvent * event ); + + void Initialize(QWidget *parent); + void registerTracker(ITracker *tracker) {}; + void unRegisterTracker() {}; + +private: + Ui::UIHydraControls ui; + void loadSettings(); + void save(); + + /** helper **/ + bool settingsDirty; + +private slots: + void doOK(); + void doCancel(); + void settingChanged() { settingsDirty = true; }; + void settingChanged(int) { settingsDirty = true; }; +}; + +//******************************************************************************************************* +// FaceTrackNoIR Tracker DLL. Functions used to get general info on the Tracker +//******************************************************************************************************* +class FTNoIR_TrackerDll : public Metadata +{ +public: + FTNoIR_TrackerDll(); + ~FTNoIR_TrackerDll(); + + void Initialize(); + + void getFullName(QString *strToBeFilled); + void getShortName(QString *strToBeFilled); + void getDescription(QString *strToBeFilled); + void getIcon(QIcon *icon); + +private: + QString trackerFullName; // Trackers' name and description + QString trackerShortName; + QString trackerDescription; +}; + diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp new file mode 100644 index 00000000..77d4963b --- /dev/null +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp @@ -0,0 +1,180 @@ +/******************************************************************************** +* FaceTrackNoIR This program is a private project of some enthusiastic * +* gamers from Holland, who don't like to pay much for * +* head-tracking. * +* * +* Copyright (C) 2012 Wim Vriend (Developing) * +* Ron Hendriks (Researching and Testing) * +* * +* Homepage: http://facetracknoir.sourceforge.net/home/default.htm * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU General Public License as published by the * +* Free Software Foundation; either version 3 of the License, or (at your * +* option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but * +* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY * +* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for * +* more details. * +* * +* You should have received a copy of the GNU General Public License along * +* with this program; if not, see . * +* * +********************************************************************************/ +#include "ftnoir_tracker_hydra.h" +#include "facetracknoir/global-settings.h" + +//******************************************************************************************************* +// FaceTrackNoIR Client Settings-dialog. +//******************************************************************************************************* + +// +// Constructor for server-settings-dialog +// +TrackerControls::TrackerControls() : +QWidget() +{ + ui.setupUi( this ); + + // Connect Qt signals to member-functions + connect(ui.btnOK, SIGNAL(clicked()), this, SLOT(doOK())); + connect(ui.btnCancel, SIGNAL(clicked()), this, SLOT(doCancel())); + + connect(ui.chkEnableRoll, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int))); + connect(ui.chkEnablePitch, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int))); + connect(ui.chkEnableYaw, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int))); +#if 0 + connect(ui.chkEnableX, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int))); + connect(ui.chkEnableY, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int))); + connect(ui.chkEnableZ, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int))); +#endif + // Load the settings from the current .INI-file + loadSettings(); +} + +// +// Destructor for server-dialog +// +TrackerControls::~TrackerControls() { + qDebug() << "~TrackerControls() says: started"; +} + +// +// Initialize tracker-client-dialog +// +void TrackerControls::Initialize(QWidget *parent) { + + QPoint offsetpos(100, 100); + if (parent) { + this->move(parent->pos() + offsetpos); + } + show(); +} + +// +// OK clicked on server-dialog +// +void TrackerControls::doOK() { + save(); + this->close(); +} + +// override show event +void TrackerControls::showEvent ( QShowEvent * event ) { + loadSettings(); +} + +// +// Cancel clicked on server-dialog +// +void TrackerControls::doCancel() { + // + // Ask if changed Settings should be saved + // + if (settingsDirty) { + int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel, QMessageBox::Discard ); + + qDebug() << "doCancel says: answer =" << ret; + + switch (ret) { + case QMessageBox::Save: + save(); + this->close(); + break; + case QMessageBox::Discard: + this->close(); + break; + case QMessageBox::Cancel: + // Cancel was clicked + break; + default: + // should never be reached + break; + } + } + else { + this->close(); + } +} + + +// +// Load the current Settings from the currently 'active' INI-file. +// +void TrackerControls::loadSettings() { + +// qDebug() << "loadSettings says: Starting "; + QSettings settings("opentrack"); // 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) + +// qDebug() << "loadSettings says: iniFile = " << currentFile; + + iniFile.beginGroup ( "Hydra" ); + ui.chkEnableRoll->setChecked(iniFile.value ( "EnableRoll", 1 ).toBool()); + ui.chkEnablePitch->setChecked(iniFile.value ( "EnablePitch", 1 ).toBool()); + ui.chkEnableYaw->setChecked(iniFile.value ( "EnableYaw", 1 ).toBool()); + ui.chkEnableX->setChecked(iniFile.value ( "EnableX", 1 ).toBool()); + ui.chkEnableY->setChecked(iniFile.value ( "EnableY", 1 ).toBool()); + ui.chkEnableZ->setChecked(iniFile.value ( "EnableZ", 1 ).toBool()); + + iniFile.endGroup (); + + settingsDirty = false; +} + +// +// Save the current Settings to the currently 'active' INI-file. +// +void TrackerControls::save() { + QSettings settings("opentrack"); // 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) + + iniFile.beginGroup ( "Hydra" ); + iniFile.setValue ( "EnableRoll", ui.chkEnableRoll->isChecked() ); + iniFile.setValue ( "EnablePitch", ui.chkEnablePitch->isChecked() ); + iniFile.setValue ( "EnableYaw", ui.chkEnableYaw->isChecked() ); + iniFile.setValue ( "EnableX", ui.chkEnableX->isChecked() ); + iniFile.setValue ( "EnableY", ui.chkEnableY->isChecked() ); + iniFile.setValue ( "EnableZ", ui.chkEnableZ->isChecked() ); + iniFile.endGroup (); + + settingsDirty = false; +} +//////////////////////////////////////////////////////////////////////////////// +// Factory function that creates instances if the Tracker-settings dialog object. + +// Export both decorated and undecorated names. +// GetTrackerDialog - Undecorated name, which can be easily used with GetProcAddress +// Win32 API function. +// _GetTrackerDialog@0 - Common name decoration for __stdcall functions in C language. +//#pragma comment(linker, "/export:GetTrackerDialog=_GetTrackerDialog@0") + +extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) +{ + return new TrackerControls; +} diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp new file mode 100644 index 00000000..4f5d8b10 --- /dev/null +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp @@ -0,0 +1,55 @@ +/* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */ +#include "ftnoir_tracker_hydra.h" +#include +#include "facetracknoir/global-settings.h" + +FTNoIR_TrackerDll::FTNoIR_TrackerDll() { + //populate the description strings + trackerFullName = "Hydra"; + trackerShortName = "Hydra"; + trackerDescription = "Hydra"; +} + +FTNoIR_TrackerDll::~FTNoIR_TrackerDll() +{ + +} + +void FTNoIR_TrackerDll::Initialize() +{ + return; +} + +void FTNoIR_TrackerDll::getFullName(QString *strToBeFilled) +{ + *strToBeFilled = trackerFullName; +}; + +void FTNoIR_TrackerDll::getShortName(QString *strToBeFilled) +{ + *strToBeFilled = trackerShortName; +}; + +void FTNoIR_TrackerDll::getDescription(QString *strToBeFilled) +{ + *strToBeFilled = trackerDescription; +}; + +void FTNoIR_TrackerDll::getIcon(QIcon *icon) +{ + *icon = QIcon(":/images/facetracknoir.png"); +}; + +//////////////////////////////////////////////////////////////////////////////// +// Factory function that creates instances if the Tracker object. + +// Export both decorated and undecorated names. +// GetTrackerDll - Undecorated name, which can be easily used with GetProcAddress +// Win32 API function. +// _GetTrackerDll@0 - Common name decoration for __stdcall functions in C language. +//#pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0") + +extern "C" FTNOIR_TRACKER_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +{ + return new FTNoIR_TrackerDll; +} -- cgit v1.2.3