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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 "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) + axis.opts.zero;
}
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;
t = cam * t;
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;
}
}
for (int i = 3; i < 6; i++)
value(i) = map(value(i), m(i));
{
Pose tmp = value;
if (libs.pFilter)
libs.pFilter->filter(tmp, value);
}
if (s.tcomp_p)
t_compensate(rmat::euler_to_rmat(&value[Yaw]),
value,
value,
s.tcomp_tz);
for (int i = 0; i < 3; i++)
value(i) = map(value(i), m(i));
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);
}
}
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