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/* 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 <cstdio>
#ifdef _WIN32
# define SIXENSE_STATIC_LIB
# define SIXENSE_UTILS_STATIC_LIB
#endif
#include <sixense.h>
#include <sixense_math.hpp>
#ifdef WIN32
#include <sixense_utils/mouse_pointer.hpp>
#endif
#include <sixense_utils/derivatives.hpp>
#include <sixense_utils/button_states.hpp>
#include <sixense_utils/event_triggers.hpp>
#include <sixense_utils/controller_manager/controller_manager.hpp>
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[1],acd.controllers[0].rot_quat[2],acd.controllers[0].rot_quat[3],acd.controllers[0].rot_quat[0]);
sixenseMath::Matrix4 mat = sixenseMath::Matrix4(acd.controllers[0].rot_mat);// sixenseMath::Quat(acd.controllers[0].rot_quat[1],acd.controllers[0].rot_quat[2],acd.controllers[0].rot_quat[3],acd.controllers[0].rot_quat[0]);
double yaw = 0.0f;
double pitch = 0.0f;
double roll = 0.0f;
float ypr[3];
mat.getEulerAngles().fill(ypr);
newHeadPose[Yaw] = ypr[0];
newHeadPose[Pitch] = ypr[1];
newHeadPose[Roll] = ypr[2];
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[Yaw] = newHeadPose[Yaw] * 57.295781f;
}
if (bEnablePitch) {
data[Pitch] = newHeadPose[Pitch] * 57.295781f;
}
if (bEnableRoll) {
data[Roll] = newHeadPose[Roll] * 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;
}
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