Mickey::~Mickey()
{
if(linuxtrack_get_tracking_state() == RUNNING){
linuxtrack_suspend();
}
updateTimer.stop();
delete trans;
trans = NULL;
btnThread.setFinish();
btnThread.wait();
}
int main(int argc, char *argv[]) {
char *section = NULL;//"Default [ \nblablabla";
float heading, pitch, roll;
float tx, ty, tz;
unsigned int counter;
int retval;
if(argc > 1){
section = argv[1];
}
printf("Section: %s\n", section);
retval = linuxtrack_init(section);
while(linuxtrack_get_tracking_state() == INITIALIZING){
ltr_int_usleep(333333);
}
if (retval != 0) {
printf("Error %d detected! Aborting!\n", retval);
return retval;
};
printf("Trying to recenter!\n");
linuxtrack_recenter();
pthread_create(&reader, NULL, kbd_reader, NULL);
unsigned int cntr=-1;
while (!quit_flag) {
retval = linuxtrack_get_pose (&heading,&pitch,&roll,
&tx, &ty, &tz, &counter);
if(retval < 0){
printf("Problem reading update!\n");
break;
}
if(cntr != counter){
cntr = counter;
printf("hdg:%8.3f pitch:%8.3f roll:%8.3f ", heading, pitch, roll);
printf("tx:%8.3f y:%8.3f z:%8.3f\n", tx, ty, tz);
}
ltr_int_usleep(100000);
}
pthread_join(reader, NULL);
return 0;
}
bool intialise_tracking(void)
{
linuxtrack_state_type state;
// Initialize the tracking using Default profile
state = linuxtrack_init(nullptr);
if (state < LINUXTRACK_OK){
printf("%s\n", linuxtrack_explain(state));
return false;
}
int timeout = 0;
// Wait up to 20 seconds for the tracker initialization
while (timeout < 200){
state = linuxtrack_get_tracking_state();
printf("Status: %s\n", linuxtrack_explain(state));
if((state == RUNNING) || (state == PAUSED)){
return true;
}
usleep(100000);
++timeout;
}
printf("Linuxtrack doesn't work right!\n");
printf("Make sure it is installed and configured correctly.\n");
return false;
}
void Mickey::updateTimer_activated()
{
static float heading_p = 0.0;
static float pitch_p = 0.0;
linuxtrack_pose_t full_pose;
float blobs[3*3];
int blobs_read;
//float heading, pitch, roll, tx, ty, tz;
//unsigned int counter;
static int lastTrackingState = -1;
int trackingState = linuxtrack_get_tracking_state();
if(lastTrackingState != trackingState){
lastTrackingState = trackingState;
if(trackingState == RUNNING){
switch(state){
case TRACKING:
GUI.setStatusLabel(QString::fromUtf8("Tracking"));
break;
case CALIBRATING:
GUI.setStatusLabel(QString::fromUtf8("Calibrating"));
break;
case STANDBY:
GUI.setStatusLabel(QString::fromUtf8("Paused"));
break;
}
}else{
switch(trackingState){
case INITIALIZING:
GUI.setStatusLabel(QString::fromUtf8("Initializing"));
break;
case err_NOT_INITIALIZED:
case err_SYMBOL_LOOKUP:
case err_NO_CONFIG:
case err_NOT_FOUND:
case err_PROCESSING_FRAME:
GUI.setStatusLabel(QString::fromUtf8("Error"));
break;
default:
GUI.setStatusLabel(QString::fromUtf8("Inactive"));
break;
}
}
}
if(trackingState != RUNNING){
return;
}
if(recenterFlag){
if(initTimer.elapsed() < settleTime){
return;
}else{
linuxtrack_recenter();
recenterFlag = false;
}
}
// if(linuxtrack_get_pose(&heading, &pitch, &roll, &tx, &ty, &tz, &counter) > 0){
if(linuxtrack_get_pose_full(&full_pose, blobs, 3, &blobs_read) > 0){
//new frame has arrived
/*heading = full_pose.yaw;
pitch = full_pose.pitch;
roll = full_pose.roll;
tx = full_pose.tx;
ty = full_pose.ty;
tz = full_pose.tz;
counter = full_pose.counter;
*/
heading_p = full_pose.raw_yaw;
pitch_p = full_pose.raw_pitch;
//ui.XLabel->setText(QString("X: %1").arg(heading));
//ui.YLabel->setText(QString("Y: %1").arg(pitch));
}
int elapsed = updateElapsed.elapsed();
updateElapsed.restart();
//reversing signs to get the cursor move according to the head movement
float dx, dy;
trans->update(heading_p, pitch_p, relative, elapsed, dx, dy);
if(state == TRACKING){
if(relative){
int idx = (int)dx;
int idy = (int)dy;
if((idx != 0) || (idy != 0)){
mouse.move((int)dx, (int)dy);
//QPoint pos = QCursor::pos();
//pos += QPoint(dx,dy);
//QCursor::setPos(pos);
}
}else{
QPoint c = screenCenter + QPoint(screenCenter.x() * dx, screenCenter.y() * dy);
QCursor::setPos(c);
}
}
}
