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/********************************************************************************
* FaceTrackNoIR This program is a private project of the 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 <http://www.gnu.org/licenses/>. *
*********************************************************************************/
/*
Modifications (last one on top):
20121215 - WVR: Fixed crash after message: protocol not installed correctly... by terminating the thread.
20120921 - WVR: Fixed centering when no filter is selected.
20120917 - WVR: Added Mouse-buttons to ShortKeys.
20120827 - WVR: Signal tracking = false to Curve-widget(s) when quitting run(). Also when Alternative Pitch curve is used.
20120805 - WVR: The FunctionConfig-widget is used to configure the Curves. It was tweaked some more, because the Accela filter now also
uses the Curve(s). ToDo: make the ranges configurable by the user. Development on the Toradex IMU makes us realize, that
a fixed input-range may not be so handy after all..
20120427 - WVR: The Protocol-code was already in separate DLLs, but the ListBox was still filled �statically�. Now, a Dir() of the
EXE-folder is done, to locate Protocol-DLLs. The Icons were also moved to the DLLs
20120317 - WVR: The Filter and Tracker-code was moved to separate DLLs. The calling-method
was changed accordingly.
The face-tracker member-functions NotifyZeroed and refreshVideo were added, as
requested by Stanislaw.
20110411 - WVR: Finished moving all Protocols to separate C++ projects. Every protocol now
has it's own Class, that's inside it's own DLL. This reduces the size of the program,
makes it more structured and enables a more sophisticated installer.
20110328 - WVR: Changed the camera-structs into class-instances. This makes initialisation
easier and hopefully solves the remaining 'start-up problem'.
20110313 - WVR: Removed 'set_initial'. Less is more.
20110109 - WVR: Added setZero option to define behaviour after STOP tracking via shortkey.
20110104 - WVR: Removed a few nasty bugs (it was impossible to stop tracker without crash).
20101224 - WVR: Removed the QThread inheritance of the Base Class for the protocol-servers.
Again, this drastically simplifies the code in the protocols.
20101217 - WVR: Created Base Class for the protocol-servers. This drastically simplifies
the code needed here.
20101024 - WVR: Added shortkey to disable/enable one or more axis during tracking.
20101021 - WVR: Added FSUIPC server for FS2004.
20101011 - WVR: Added SimConnect server.
20101007 - WVR: Created 6DOF-curves and drastically changed the tracker for that.
Also eliminated a 'glitch' in the process.
20100607 - WVR: Re-installed Rotation Neutral Zone and improved reaction
after 'start/stop'. MessageBeep when confidence is back...
20100604 - WVR: Created structure for DOF-data and changed timing of
ReceiveHeadPose end run().
20100602 - WVR: Implemented EWMA-filtering, according to the example of
Melchior Franz. Works like a charm...
20100601 - WVR: Added DirectInput keyboard-handling. '=' used for center,
'BACK' for start (+center)/stop.
20100517 - WVR: Added upstream command(s) from FlightGear
20100523 - WVR: Checkboxes to invert 6DOF's was implemented. Multiply by
1 or (-1).
*/
#include "tracker.h"
#include "facetracknoir.h"
/** constructor **/
Tracker::Tracker( FaceTrackNoIR *parent ) :
confid(false),
should_quit(false),
do_center(false)
{
// Retieve the pointer to the parent
mainApp = parent;
// Load the settings from the INI-file
loadSettings();
}
Tracker::~Tracker()
{
}
static void get_curve(double pos, double& out, THeadPoseDOF& axis) {
bool altp = (pos < 0) && axis.altp;
if (altp) {
out = axis.invert * axis.curveAlt.getValue(pos);
axis.curve.setTrackingActive( false );
axis.curveAlt.setTrackingActive( true );
}
else {
out = axis.invert * axis.curve.getValue(pos);
axis.curve.setTrackingActive( true );
axis.curveAlt.setTrackingActive( false );
}
out += axis.zero;
}
/** QThread run method @override **/
void Tracker::run() {
T6DOF current_camera; // Used for filtering
T6DOF target_camera;
T6DOF new_camera;
/** Direct Input variables **/
T6DOF offset_camera;
T6DOF gameoutput_camera;
bool bTracker1Confid = false;
bool bTracker2Confid = false;
double newpose[6];
double last_post_filter[6];
forever
{
if (should_quit)
break;
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);
}
if (Libraries->pTracker) {
bTracker1Confid = Libraries->pTracker->GiveHeadPoseData(newpose);
}
confid = bTracker1Confid || bTracker2Confid;
if ( confid ) {
for (int i = 0; i < 6; i++)
mainApp->axis(i).headPos = newpose[i];
}
//
// If Center is pressed, copy the current values to the offsets.
//
if (do_center) {
//
// Only copy valid values
//
if (confid) {
for (int i = 0; i < 6; i++)
offset_camera.axes[i] = mainApp->axis(i).headPos;
}
Tracker::do_center = false;
if (Libraries->pTracker)
Libraries->pTracker->NotifyCenter();
if (Libraries->pSecondTracker)
Libraries->pSecondTracker->NotifyCenter();
}
if (getTrackingActive()) {
// get values
for (int i = 0; i < 6; i++)
target_camera.axes[i] = mainApp->axis(i).headPos;
// do the centering
target_camera = target_camera - offset_camera;
//
// Use advanced filtering, when a filter was selected.
//
if (Libraries->pFilter) {
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;
}
for (int i = 0; i < 6; i++) {
get_curve(new_camera.axes[i], output_camera.axes[i], mainApp->axis(i));
}
//
// Send the headpose to the game
//
if (Libraries->pProtocol) {
gameoutput_camera = output_camera;
Libraries->pProtocol->sendHeadposeToGame( gameoutput_camera.axes, newpose ); // degrees & centimeters
}
}
//for lower cpu load
usleep(1000);
}
for (int i = 0; i < 6; i++)
{
mainApp->axis(i).curve.setTrackingActive(false);
mainApp->axis(i).curveAlt.setTrackingActive(false);
}
}
//
// Get the raw headpose, so it can be displayed.
//
void Tracker::getHeadPose( double *data ) {
for (int i = 0; i < 6; i++)
{
data[i] = mainApp->axis(i).headPos;
}
}
//
// Get the output-headpose, so it can be displayed.
//
void Tracker::getOutputHeadPose( double *data ) {
for (int i = 0; i < 6; i++)
data[i] = output_camera.axes[i];
}
//
// Load the current Settings from the currently 'active' INI-file.
//
void Tracker::loadSettings() {
qDebug() << "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)
iniFile.beginGroup("Tracking");
qDebug() << "loadSettings says: iniFile = " << currentFile;
const char* names2[] = {
"zero_tx",
"zero_ty",
"zero_tz",
"zero_rx",
"zero_ry",
"zero_rz"
};
for (int i = 0; i < 6; i++)
mainApp->axis(i).zero = iniFile.value(names2[i], 0).toDouble();
iniFile.endGroup();
}
void Tracker::setInvertAxis(Axis axis, bool invert) { mainApp->axis(axis).invert = invert?-1.0f:1.0f; }
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