summaryrefslogtreecommitdiffhomepage
path: root/opentrack/tracker.cpp
blob: 07ea22b53e40f150479c1c57cf08ad9d02eb84be (plain)
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
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
/* 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 "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),
    r_b(dmat<3,3>::eye()),
    t_b {0,0,0}
{
}

Tracker::~Tracker()
{
    should_quit = true;
    wait();
}

double Tracker::map(double pos, bool invertp, Mapping& axis)
{
    bool altp = (pos < 0) == !invertp && axis.opts.altp;
    axis.curve.setTrackingActive( !altp );
    axis.curveAlt.setTrackingActive( altp );
    auto& fc = altp ? axis.curveAlt : axis.curve;
    return fc.getValue(pos) + axis.opts.zero;
}

// http://stackoverflow.com/a/18436193
static dmat<3, 1> rmat_to_euler(const dmat<3, 3>& R)
{
    static constexpr double pi = 3.141592653;
    const double up = 90 * pi / 180.;
    static constexpr double bound = 1. - 2e-4;
    if (R(0, 2) > bound)
    {
        double roll = atan(R(1, 0) / R(2, 0));
        return dmat<3, 1>({0., up, roll});
    }
    if (R(0, 2) < -bound)
    {
        double roll = atan(R(1, 0) / R(2, 0));
        return dmat<3, 1>({0., -up, roll});
    }
    double pitch = asin(-R(0, 2));
    double roll = atan2(R(1, 2), R(2, 2));
    double yaw = atan2(R(0, 1), R(0, 0));
    return dmat<3, 1>({yaw, pitch, roll});
}

// tait-bryan angles, not euler
static dmat<3, 3> euler_to_rmat(const double* input)
{
    static constexpr double pi = 3.141592653;
    auto H = input[0] * pi / 180;
    auto P = input[1] * pi / 180;
    auto B = input[2] * pi / 180;

    const auto c1 = cos(H);
    const auto s1 = sin(H);
    const auto c2 = cos(P);
    const auto s2 = sin(P);
    const auto c3 = cos(B);
    const auto s3 = sin(B);

    double foo[] = {
        // z
        c1 * c2,
        c1 * s2 * s3 - c3 * s1,
        s1 * s3 + c1 * c3 * s2,
        // y
        c2 * s1,
        c1 * c3 + s1 * s2 * s3,
        c3 * s1 * s2 - c1 * s3,
        // x
        -s2,
        c2 * s3,
        c2 * c3
    };

    return dmat<3, 3>(foo);
}

void Tracker::t_compensate(const dmat<3, 3>& 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()
{
    if (enabledp)
        for (int i = 0; i < 6; i++)
            final_raw(i) = newpose[i];

    Pose filtered_pose;

    if (libs.pFilter)
        libs.pFilter->filter(final_raw, filtered_pose);
    else
        filtered_pose = final_raw;

    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,
    };

    // must invert early as euler_to_rmat's sensitive to sign change
    for (int i = 0; i < 6; i++)
        filtered_pose[i] *= inverts[i] ? -1. : 1.;

    static constexpr double pi = 3.141592653;
    static constexpr double r2d = 180. / pi;

    if (centerp)
    {
        centerp = false;
        for (int i = 0; i < 3; i++)
            t_b[i] = filtered_pose(i);
        r_b = euler_to_rmat(&filtered_pose[Yaw]);
    }

    Pose raw_centered;

    {
        const dmat<3, 3> rmat = euler_to_rmat(&filtered_pose[Yaw]);
        const dmat<3, 3> m_ = rmat * r_b.t();
        const dmat<3, 1> euler = rmat_to_euler(m_);
        for (int i = 0; i < 3; i++)
        {
            raw_centered(i) = filtered_pose(i) - t_b[i];
            raw_centered(i+3) = euler(i, 0) * r2d;
        }
    }

    Pose mapped_pose_precomp;

    for (int i = 0; i < 6; i++)
        mapped_pose_precomp(i) = map(raw_centered(i), inverts[i], m(i));

    Pose mapped_pose_ = mapped_pose_precomp;

    if (s.tcomp_p)
        t_compensate(euler_to_rmat(&mapped_pose_precomp[Yaw]),
                     mapped_pose_precomp,
                     mapped_pose_,
                     s.tcomp_tz);

    Pose mapped_pose;

    for (int i = 0; i < 6; i++)
    {
        auto& axis = m(i);
        int k = axis.opts.src;
        if (k < 0 || k >= 6)
            mapped_pose(i) = 0;
        else
            mapped_pose(i) = mapped_pose_(i);
    }


    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();

        libs.pTracker->data(newpose);
        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);
    }
}