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
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
|
/* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */
#include "ftnoir_tracker_rift.h"
#include "facetracknoir/global-settings.h"
#include "OVR.h"
#include <cstdio>
using namespace OVR;
//used to turn on the re-centre spring effect
#define RECENTRE_SPRING
Rift_Tracker::Rift_Tracker()
{
pSensor.Clear();
pHMD.Clear();
pManager.Clear();
bEnableRoll = true;
bEnablePitch = true;
bEnableYaw = true;
old_yaw = 0.0;
#if 0
bEnableX = true;
bEnableY = true;
bEnableZ = true;
#endif
isCalibrated = false;
should_quit = false;
for (int i = 0; i < 6; i++)
newHeadPose[i] = 0;
}
Rift_Tracker::~Rift_Tracker()
{
pSensor.Clear();
pHMD.Clear();
pManager.Clear();
System::Destroy();
}
/*
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 Rift_Tracker::StartTracker(QFrame* videoFrame)
{
//QMessageBox::warning(0,"FaceTrackNoIR Notification", "Tracking loading settings...",QMessageBox::Ok,QMessageBox::NoButton);
loadSettings();
//
// Startup the Oculus SDK device handling, use the first Rift sensor we find.
//
System::Init(Log::ConfigureDefaultLog(LogMask_All));
pManager = *DeviceManager::Create();
DeviceEnumerator<HMDDevice> enumerator = pManager->EnumerateDevices<HMDDevice>();
if (enumerator.IsAvailable())
{
pHMD = *enumerator.CreateDevice();
pSensor = *pHMD->GetSensor();
if (pSensor){
SFusion.AttachToSensor(pSensor);
}else{
QMessageBox::warning(0,"FaceTrackNoIR Error", "Unable to find Rift tracker",QMessageBox::Ok,QMessageBox::NoButton);
}
isCalibrated = false;
MagCal.BeginAutoCalibration(SFusion);
}
}
bool Rift_Tracker::GiveHeadPoseData(double *data)
{
if (pHMD.GetPtr() != NULL) {
if (MagCal.IsAutoCalibrating())
{
MagCal.UpdateAutoCalibration(SFusion);
if (MagCal.IsCalibrated())
{
if(isCalibrated == false){
//QMessageBox::warning(0,"OpenTrack Info", "Calibrated magnetic sensor",QMessageBox::Ok,QMessageBox::NoButton);
//fprintf(stderr,"magnetic calibration complete\n");
isCalibrated = true;
}
//Vector3f mc = MagCal.GetMagCenter();
//SetAdjustMessage("Magnetometer Calibration Complete\nCenter: %f %f %f",mc.x,mc.y,mc.z);
}
//SetAdjustMessage("Mag has been successfully calibrated");
}
Quatf hmdOrient = SFusion.GetOrientation();
float yaw = 0.0f;
float pitch = 0.0f;
float roll = 0.0f;
hmdOrient.GetEulerAngles<Axis_Y, Axis_X, Axis_Z>(&yaw, &pitch , &roll);
#ifdef RECENTRE_SPRING
newHeadPose[Yaw] = newHeadPose[Yaw]*0.99999 + (yaw-old_yaw);
if(newHeadPose[Yaw]>0.02)newHeadPose[Yaw]-= 0.000005;
if(newHeadPose[Yaw]<-0.02)newHeadPose[Yaw]+= 0.000005;
old_yaw=yaw;
#else
newHeadPose[Yaw] = yaw;
#endif
newHeadPose[Pitch] =pitch;
newHeadPose[Roll] = roll;
#if 0
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];
//}
#endif
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 pHMD.GetPtr() != NULL;
}
//
// Load the current Settings from the currently 'active' INI-file.
//
void Rift_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 ( "Rift" );
bEnableRoll = iniFile.value ( "EnableRoll", 1 ).toBool();
bEnablePitch = iniFile.value ( "EnablePitch", 1 ).toBool();
bEnableYaw = iniFile.value ( "EnableYaw", 1 ).toBool();
#if 0
bEnableX = iniFile.value ( "EnableX", 1 ).toBool();
bEnableY = iniFile.value ( "EnableY", 1 ).toBool();
bEnableZ = iniFile.value ( "EnableZ", 1 ).toBool();
#endif
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 Rift_Tracker;
}
|
