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/* Copyright (c) 2014-2015, 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.
*/
#pragma once
#include <vector>
#include "opentrack-compat/pi-constant.hpp"
#include "opentrack-compat/timer.hpp"
#include "opentrack/plugin-support.hpp"
#include "mappings.hpp"
#include "simple-mat.hpp"
#include "selected-libraries.hpp"
#include "spline-widget/functionconfig.h"
#include "main-settings.hpp"
#include "opentrack-compat/options.hpp"
#include "tracklogger.hpp"
#include <QMutex>
#include <QThread>
#include "export.hpp"
class Pose
{
private:
static constexpr double pi = OPENTRACK_PI;
static constexpr double d2r = pi/180.0;
static constexpr double r2d = 180./pi;
double axes[6];
public:
Pose() : axes {0,0,0, 0,0,0} {}
Pose(double x, double y, double z, double yaw, double pitch, double roll) : axes { x, y, z, yaw, pitch, roll } {}
inline operator double*() { return axes; }
inline operator const double*() const { return axes; }
inline double& operator()(int i) { return axes[i]; }
inline double operator()(int i) const { return axes[i]; }
};
class OPENTRACK_LOGIC_EXPORT Tracker : private QThread
{
Q_OBJECT
private:
QMutex mtx;
main_settings s;
Mappings& m;
Timer t;
Pose output_pose, raw_6dof, last_mapped, last_raw;
double newpose[6];
volatile bool centerp;
volatile bool enabledp;
volatile bool zero_;
volatile bool should_quit;
SelectedLibraries const& libs;
// The owner of the reference is the main window.
// This design might be usefull if we decide later on to swap out
// the logger while the tracker is running.
TrackLogger &logger;
using rmat = euler::rmat;
using euler_t = euler::euler_t;
rmat r_b;
double t_b[3];
double map(double pos, Mapping& axis);
void logic();
void t_compensate(const rmat& rmat, const euler_t& ypr, euler_t& output, bool rz);
void run() override;
static constexpr double pi = OPENTRACK_PI;
static constexpr double r2d = 180. / OPENTRACK_PI;
static constexpr double d2r = OPENTRACK_PI / 180.;
public:
Tracker(Mappings& m, SelectedLibraries& libs, TrackLogger &logger);
~Tracker();
rmat get_camera_offset_matrix();
void get_raw_and_mapped_poses(double* mapped, double* raw) const;
void start() { QThread::start(); }
void toggle_enabled() { enabledp = !enabledp; }
void set_toggle(bool value) { enabledp = value; }
void set_zero(bool value) { zero_ = value; }
void center() { centerp = !centerp; }
void zero() { zero_ = !zero_; }
};
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