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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(false),
enabledp(true),
should_quit(false),
libs(libs),
r_b (cv::Matx33d::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;
}
// http://stackoverflow.com/a/18436193
static cv::Vec3d rmat_to_euler(const cv::Matx33d& R)
{
const double beta = atan2( -R(2,0), sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) );
const double alpha = atan2( R(1,0), R(0,0));
const double gamma = atan2( R(2,1), R(2,2));
return cv::Vec3d { alpha, beta, gamma };
}
// tait-bryan angles, not euler
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 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 cv::Matx33d(foo);
}
void Tracker::t_compensate(const cv::Matx33d& rmat, const double* xyz, double* output, bool rz)
{
const double xyz_[3] = { xyz[2], xyz[1], xyz[0] };
cv::Matx31d tvec(xyz_);
const cv::Matx31d ret = rmat * tvec;
if (!rz)
output[2] = ret(0, 0);
output[1] = ret(1, 0);
output[0] = ret(2, 0);
}
void Tracker::logic()
{
libs.pTracker->data(newpose);
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;
// must invert early as euler_to_rmat's sensitive to sign change
for (int i = 0; i < 6; i++)
filtered_pose[i] *= m(i).opts.invert ? -1. : 1.;
if (centerp)
{
centerp = false;
cv::Matx31d tmp;
r_b = euler_to_rmat(&filtered_pose[Yaw]);
for (int i = 0; i < 3; i++)
t_b[i] = filtered_pose(i);
}
Pose raw_centered;
{
const cv::Matx33d rmat = euler_to_rmat(&filtered_pose[Yaw]);
const cv::Matx33d m_ = (r_b * rmat * r_b.t()) * r_b.t();
const auto euler = rmat_to_euler(m_);
for (int i = 0; i < 3; i++)
{
static constexpr double pi = 3.141592653;
raw_centered(i) = filtered_pose(i) - t_b[i];
raw_centered(i+3) = euler(i) * 180./pi;
}
}
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_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();
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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