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/* Copyright (c) 2012-2013 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.
*/
/*
* this file appeared originally in facetracknoir, was rewritten completely
* following opentrack fork.
*
* originally written by Wim Vriend.
*/
#include <opencv2/core/core.hpp>
#include "./tracker.h"
#include <cmath>
#include <algorithm>
#if defined(_WIN32)
# include <windows.h>
#endif
Tracker::Tracker(main_settings& s, Mappings &m, SelectedLibraries &libs) :
s(s),
m(m),
centerp(false),
enabledp(true),
should_quit(false),
libs(libs),
t_b {0,0,0}
{
}
Tracker::~Tracker()
{
should_quit = true;
wait();
}
double Tracker::map(double pos, Mapping& axis) {
bool altp = (pos < 0) && axis.opts.altp;
axis.curve.setTrackingActive( !altp );
axis.curveAlt.setTrackingActive( altp );
auto& fc = altp ? axis.curveAlt : axis.curve;
double invert = axis.opts.invert ? -1 : 1;
return invert * (fc.getValue(pos) + axis.opts.zero);
}
static cv::Matx33d euler_to_rmat(const double* input)
{
static constexpr double pi = 3.141592653;
const auto H = input[0] * pi / -180;
const auto P = input[1] * pi / -180;
const auto B = input[2] * pi / 180;
const auto cosH = cos(H);
const auto sinH = sin(H);
const auto cosP = cos(P);
const auto sinP = sin(P);
const auto cosB = cos(B);
const auto sinB = sin(B);
double foo[] = {
cosH * cosB - sinH * sinP * sinB,
- sinB * cosP,
sinH * cosB + cosH * sinP * sinB,
cosH * sinB + sinH * sinP * cosB,
cosB * cosP,
sinB * sinH - cosH * sinP * cosB,
- sinH * cosP,
- sinP,
cosH * cosP,
};
return cv::Matx33d(foo);
}
void Tracker::t_compensate(const double* input, double* output, bool rz)
{
const cv::Matx33d rmat = euler_to_rmat(&input[Yaw]);
const cv::Vec3d tvec(input);
const cv::Vec3d ret = rmat * tvec;
const int max = !rz ? 3 : 2;
for (int i = 0; i < max; i++)
output[i] = ret(i);
}
void Tracker::logic()
{
libs.pTracker->data(newpose);
Pose final_raw_;
if (enabledp)
{
for (int i = 0; i < 6; i++)
{
auto& axis = m(i);
int k = axis.opts.src;
if (k < 0 || k >= 6)
{
final_raw_(i) = 0;
continue;
}
// not really raw, after axis remap -sh
final_raw_(i) = newpose[k];
}
final_raw = final_raw_;
}
Pose filtered_pose;
if (libs.pFilter)
libs.pFilter->filter(final_raw, filtered_pose);
else
filtered_pose = final_raw;
if (centerp)
{
centerp = false;
r_b = filtered_pose.quat();
for (int i = 0; i < 3; i++)
t_b[i] = filtered_pose(i);
}
Pose raw_centered;
{
const Quat q = filtered_pose.quat();
raw_centered = Pose::fromQuat(r_b.inv() * q);
for (int i = 0; i < 3; i++)
raw_centered(i) = filtered_pose(i) - t_b[i];
}
Pose mapped_pose_precomp;
for (int i = 0; i < 6; i++)
mapped_pose_precomp(i) = map(raw_centered(i), m(i));
Pose mapped_pose;
mapped_pose = mapped_pose_precomp;
if (s.tcomp_p)
t_compensate(mapped_pose_precomp, mapped_pose, s.tcomp_tz);
libs.pProtocol->pose(mapped_pose);
{
QMutexLocker foo(&mtx);
output_pose = mapped_pose;
raw_6dof = final_raw;
}
}
void Tracker::run() {
const int sleep_ms = 3;
#if defined(_WIN32)
(void) timeBeginPeriod(1);
#endif
while (!should_quit)
{
t.start();
logic();
double q = sleep_ms * 1000L;
q -= t.elapsed();
q = std::max(0., q);
usleep((long)q);
}
#if defined(_WIN32)
(void) timeEndPeriod(1);
#endif
for (int i = 0; i < 6; i++)
{
m(i).curve.setTrackingActive(false);
m(i).curveAlt.setTrackingActive(false);
}
}
void Tracker::get_raw_and_mapped_poses(double* mapped, double* raw) const {
QMutexLocker foo(&const_cast<Tracker&>(*this).mtx);
for (int i = 0; i < 6; i++)
{
raw[i] = raw_6dof(i);
mapped[i] = output_pose(i);
}
}
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