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
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
|
/* Copyright (c) 2012-2015 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.
*/
/*
* this file appeared originally in facetracknoir, was rewritten completely
* following opentrack fork.
*
* originally written by Wim Vriend.
*/
#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(s.center_at_startup),
enabledp(true),
zero_(false),
should_quit(false),
libs(libs),
r_b(dmat<3,3>::eye()),
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;
return fc.getValue(pos);
}
void Tracker::t_compensate(const rmat& rmat, const double* xyz, double* output, bool rz)
{
// TY is really yaw axis. need swapping accordingly.
dmat<3, 1> tvec({ xyz[2], -xyz[0], -xyz[1] });
const dmat<3, 1> ret = rmat * tvec;
if (!rz)
output[2] = ret(0, 0);
else
output[2] = xyz[2];
output[1] = -ret(2, 0);
output[0] = -ret(1, 0);
}
void Tracker::logic()
{
bool inverts[6] = {
m(0).opts.invert,
m(1).opts.invert,
m(2).opts.invert,
m(3).opts.invert,
m(4).opts.invert,
m(5).opts.invert,
};
static constexpr double pi = 3.141592653;
static constexpr double r2d = 180. / pi;
Pose value, raw;
if (!zero_)
for (int i = 0; i < 6; i++)
{
value(i) = newpose[i];
raw(i) = newpose[i];
}
else
{
auto mat = rmat::rmat_to_euler(r_b);
for (int i = 0; i < 3; i++)
{
raw(i+3) = value(i+3) = mat(i, 0) * r2d;
raw(i) = value(i) = t_b[i];
}
}
const double off[] = {
(double)-s.camera_yaw,
(double)-s.camera_pitch,
(double)s.camera_roll
};
const rmat cam = rmat::euler_to_rmat(off);
rmat r = rmat::euler_to_rmat(&value[Yaw]);
dmat<3, 1> t { value(0), value(1), value(2) };
r = cam * r;
bool can_center = false;
if (centerp)
{
for (int i = 0; i < 6; i++)
if (fabs(newpose[i]) != 0)
{
can_center = true;
break;
}
}
if (can_center)
{
centerp = false;
for (int i = 0; i < 3; i++)
t_b[i] = t(i, 0);
r_b = r;
}
{
double tmp[3] = { t(0, 0) - t_b[0], t(1, 0) - t_b[1], t(2, 0) - t_b[2] };
t_compensate(cam, tmp, tmp, false);
const rmat m_ = r_b.t() * r;
const dmat<3, 1> euler = rmat::rmat_to_euler(m_);
for (int i = 0; i < 3; i++)
{
value(i) = tmp[i];
value(i+3) = euler(i, 0) * r2d;
}
}
{
Pose tmp = value;
if (libs.pFilter)
libs.pFilter->filter(tmp, value);
}
for (int i = 0; i < 6; i++)
value(i) = map(value(i), m(i));
if (s.tcomp_p)
t_compensate(rmat::euler_to_rmat(&value[Yaw]),
value,
value,
s.tcomp_tz);
for (int i = 0; i < 6; i++)
value[i] *= inverts[i] ? -1. : 1.;
Pose output_pose_;
for (int i = 0; i < 6; i++)
{
auto& axis = m(i);
int k = axis.opts.src;
if (k < 0 || k >= 6)
output_pose_(i) = 0;
else
output_pose_(i) = value(k);
}
libs.pProtocol->pose(output_pose_);
QMutexLocker foo(&mtx);
output_pose = output_pose_;
raw_6dof = raw;
}
void Tracker::run() {
const int sleep_ms = 3;
#if defined(_WIN32)
(void) timeBeginPeriod(1);
#endif
while (!should_quit)
{
t.start();
double tmp[6] {0,0,0, 0,0,0};
libs.pTracker->data(tmp);
if (enabledp)
for (int i = 0; i < 6; i++)
newpose[i] = tmp[i];
logic();
long q = sleep_ms * 1000L - t.elapsed()/1000L;
usleep(std::max(1L, q));
}
{
// do one last pass with origin pose
for (int i = 0; i < 6; i++)
newpose[i] = 0;
logic();
// filter may inhibit exact origin
Pose p;
libs.pProtocol->pose(p);
}
#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);
}
}
|
