1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
|
#ifndef __TRACKER_H__
#define __TRACKER_H__
#include <QThread>
#include <QMessageBox>
#include <QLineEdit>
#include <QPoint>
#include <QWaitCondition>
#include <QList>
#include <QPainterPath>
#include <QDebug>
#include <QMutex>
#include "global-settings.h"
#include <ftnoir_tracker_base/ftnoir_tracker_types.h>
#include <qfunctionconfigurator/functionconfig.h>
#include "tracker_types.h"
class FaceTrackNoIR; // pre-define parent-class to avoid circular includes
//
// Structure to hold all variables concerning one of 6 DOF's
//
class THeadPoseDOF {
private:
THeadPoseDOF(const THeadPoseDOF &) {}
public:
THeadPoseDOF() :
headPos(0),
invert(0),
altp(false),
zero(0)
{
}
THeadPoseDOF(QString primary,
QString secondary,
int maxInput1,
int maxOutput1,
int maxInput2,
int maxOutput2) :
headPos(0),
invert(1),
curve(primary, maxInput1, maxOutput1),
curveAlt(secondary, maxInput2, maxOutput2),
zero(0)
{
QSettings settings("opentrack");
QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString();
QSettings iniFile( currentFile, QSettings::IniFormat );
curve.loadSettings(iniFile);
curveAlt.loadSettings(iniFile);
iniFile.beginGroup("Tracking");
altp = iniFile.value(secondary).toBool();
iniFile.endGroup();
}
volatile double headPos;
volatile float invert;
FunctionConfig curve;
FunctionConfig curveAlt;
volatile bool altp;
volatile double zero;
};
class Tracker : public QThread {
Q_OBJECT
private:
FaceTrackNoIR *mainApp;
QMutex mtx;
protected:
void run();
public:
Tracker( FaceTrackNoIR *parent );
~Tracker();
void setInvertAxis(Axis axis, bool invert);
void getHeadPose(double *data);
void getOutputHeadPose(double *data);
volatile bool should_quit;
volatile bool do_center;
volatile bool enabled;
volatile bool compensate;
T6DOF output_camera;
};
class HeadPoseData {
public:
THeadPoseDOF* axes[6];
HeadPoseData()
{
axes[TX] = new THeadPoseDOF("tx","tx_alt", 100, 100, 100, 100);
axes[TY] = new THeadPoseDOF("ty","ty_alt", 100, 100, 100, 100);
axes[TZ] = new THeadPoseDOF("tz","tz_alt", 100, 100, 100, 100);
axes[Yaw] = new THeadPoseDOF("rx", "rx_alt", 180, 180, 180, 180);
axes[Pitch] = new THeadPoseDOF("ry", "ry_alt", 90, 90, 90, 90);
axes[Roll] = new THeadPoseDOF("rz", "rz_alt", 180, 180, 180, 180);
}
~HeadPoseData()
{
for (int i = 0; i < 6; i++)
{
delete axes[i];
}
}
};
#endif
|
