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/* Copyright (c) 2012-2013 Stanislaw Halik <sthalik@misaki.pl>
*
* Permission to use, copy, modify, and/or distribute this software for any
* purpose with or without fee is hereby granted, provided that the above
* copyright notice and this permission notice appear in all copies.
*/
/*
* this file appeared originally in facetracknoir, was rewritten completely
* following opentrack fork.
*
* originally written by Wim Vriend.
*/
#include "tracker.h"
#include "facetracknoir.h"
#include <opencv2/core/core.hpp>
#include <cmath>
#include <algorithm>
#if defined(_WIN32)
# include <windows.h>
#endif
Tracker::Tracker(main_settings& s, Mappings &m) :
s(s),
m(m),
centerp(false),
enabledp(true),
should_quit(false)
{
}
Tracker::~Tracker()
{
should_quit = true;
wait();
}
void Tracker::get_curve(double pos, double& out, Mapping& axis) {
bool altp = (pos < 0) && axis.opts.altp;
axis.curve.setTrackingActive( !altp );
axis.curveAlt.setTrackingActive( altp );
auto& fc = altp ? axis.curveAlt : axis.curve;
out = (axis.opts.invert ? -1 : 1) * fc.getValue(pos);
out += axis.opts.zero;
}
static void t_compensate(double* input, double* output, bool rz)
{
const auto H = input[Yaw] * M_PI / -180;
const auto P = input[Pitch] * M_PI / -180;
const auto B = input[Roll] * M_PI / 180;
const auto cosH = cos(H);
const auto sinH = sin(H);
const auto cosP = cos(P);
const auto sinP = sin(P);
const auto cosB = cos(B);
const auto sinB = sin(B);
double foo[] = {
cosH * cosB - sinH * sinP * sinB,
- sinB * cosP,
sinH * cosB + cosH * sinP * sinB,
cosH * sinB + sinH * sinP * cosB,
cosB * cosP,
sinB * sinH - cosH * sinP * cosB,
- sinH * cosP,
- sinP,
cosH * cosP,
};
cv::Mat rmat(3, 3, CV_64F, foo);
const cv::Mat tvec(3, 1, CV_64F, input);
cv::Mat ret = rmat * tvec;
const int max = !rz ? 3 : 2;
for (int i = 0; i < max; i++)
output[i] = ret.at<double>(i);
}
void Tracker::run() {
T6DOF pose_offset, unstopped_pose;
double newpose[6] = {0};
int sleep_ms = 15;
if (Libraries->pTracker)
sleep_ms = std::min(sleep_ms, 1000 / Libraries->pTracker->preferredHz());
qDebug() << "tracker Hz:" << 1000 / sleep_ms;
#if defined(_WIN32)
(void) timeBeginPeriod(1);
#endif
for (;;)
{
t.start();
if (should_quit)
break;
if (Libraries->pTracker) {
Libraries->pTracker->GetHeadPoseData(newpose);
}
{
QMutexLocker foo(&mtx);
for (int i = 0; i < 6; i++)
{
auto& axis = m(i);
int k = axis.opts.src;
if (k < 0 || k >= 6)
continue;
// not really raw, after axis remap -sh
raw_6dof(i) = newpose[k];
}
if (centerp) {
centerp = false;
pose_offset = raw_6dof;
}
{
if (enabledp)
unstopped_pose = raw_6dof;
{
if (Libraries->pFilter)
Libraries->pFilter->FilterHeadPoseData(unstopped_pose, output_pose);
else
output_pose = unstopped_pose;
output_pose = output_pose - pose_offset;
}
for (int i = 0; i < 6; i++)
get_curve(output_pose(i), output_pose(i), m(i));
}
if (s.tcomp_p)
t_compensate(output_pose, output_pose, s.tcomp_tz);
if (Libraries->pProtocol) {
Libraries->pProtocol->sendHeadposeToGame(output_pose);
}
}
const long q = std::max(0L, sleep_ms * 1000L - std::max(0L, t.elapsed()));
usleep(q);
}
#if defined(_WIN32)
(void) timeEndPeriod(1);
#endif
for (int i = 0; i < 6; i++)
{
m(i).curve.setTrackingActive(false);
m(i).curveAlt.setTrackingActive(false);
}
}
void Tracker::get_raw_and_mapped_poses(double* mapped, double* raw) const {
QMutexLocker foo(&const_cast<Tracker&>(*this).mtx);
for (int i = 0; i < 6; i++)
{
raw[i] = raw_6dof(i);
mapped[i] = output_pose(i);
}
}
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