MainWindow::MainWindow(QWidget *parent) :
QWidget(parent),
m_mousePos(0, 0),
m_mapping(),
m_points(),
m_pointsOffset(0),
m_move(psmove_connect()),
m_tracker(psmove_tracker_new()),
m_timer(),
m_path(),
m_rect(rect()),
m_rectOffset(0)
{
m_points[0] = QPointF(1, 1);
m_points[1] = QPointF(640, 0);
m_points[2] = QPointF(640, 480);
m_points[3] = QPointF(0, 480);
m_mapping.set(m_points);
setMouseTracking(true);
if (m_move) {
while (psmove_tracker_enable(m_tracker, m_move) != Tracker_CALIBRATED);
}
QObject::connect(&m_timer, SIGNAL(timeout()),
this, SLOT(timeout()));
m_timer.start(1);
}
int main(int arg, char** args) {
int count = psmove_count_connected();
int i;
void *frame;
if (count == 0) {
printf("No controllers connected.\n");
return 1;
}
PSMove **moves = (PSMove **)calloc(count, sizeof(PSMove *));
PSMoveTracker* tracker = psmove_tracker_new();
for (i=0; i<count; i++) {
moves[i] = psmove_connect_by_id(i);
assert(moves[i] != NULL);
while (psmove_tracker_enable(tracker, moves[i])
!= Tracker_CALIBRATED);
}
unsigned char r, g, b;
psmove_tracker_get_camera_color(tracker, moves[0], &r, &g, &b);
printf("Controller color: %02x%02x%02x\n", r, g, b);
CvVideoWriter *writer = cvCreateVideoWriter("out.avi",
CV_FOURCC('M','J','P','G'), 30, cvSize(640, 480), 1);
while ((cvWaitKey(1) & 0xFF) != 27) {
psmove_tracker_update_image(tracker);
psmove_tracker_update(tracker, NULL);
frame = psmove_tracker_get_frame(tracker);
if (frame) {
cvWriteFrame(writer, frame);
}
psmove_tracker_annotate(tracker);
frame = psmove_tracker_get_frame(tracker);
if (frame) {
cvShowImage("live camera feed", frame);
}
}
cvReleaseVideoWriter(&writer);
for (i=0; i<count; i++) {
psmove_disconnect(moves[i]);
}
psmove_tracker_free(tracker);
free(moves);
return 0;
}
Tracker::Tracker() : m_moves(NULL), m_count(psmove_count_connected()), mocapRecorder("psmovedata") {
// PSMove *move;
// move = psmove_connect();
// if (move == NULL) {
// printf("Could not connect to default Move controller.\n"
// "Please connect one via USB or Bluetooth.\n");
// exit(1);
// }
// char *serial = psmove_get_serial(move);
// auto ctype = psmove_connection_type(move);
// switch (ctype) {
// case Conn_USB:
// printf("Connected via USB.\n");
// break;
// case Conn_Bluetooth:
// printf("Connected via Bluetooth.\n");
// break;
// case Conn_Unknown:
// printf("Unknown connection type.\n");
// break;
// }
std::cout << "PSMOVE : Initialising Tracker..." << std::endl;
m_tracker = psmove_tracker_new();
std::cout << "PSMOVE : Tracker Initialised" << std::endl;
std::cout << "PSMOVE : Initialising Fusion..." << std::endl;
m_fusion = psmove_fusion_new(m_tracker, 1., 1000.);
std::cout << "PSMOVE : Fusion Initialised" << std::endl;
psmove_tracker_set_mirror(m_tracker, PSMove_False);
psmove_tracker_set_exposure(m_tracker, Exposure_HIGH);
m_moves = (PSMove**) calloc(m_count, sizeof(PSMove*));
m_items = (int*) calloc(m_count, sizeof(int));
for (int i = 0; i < m_count; i++) {
std::cout << "PSMOVE : Initialising Controller " << i << "..." << std::endl;
m_moves[i] = psmove_connect_by_id(i);
m_items[i] = WIRE_CUBE;
psmove_enable_orientation(m_moves[i], PSMove_True);
assert(psmove_has_orientation(m_moves[i]));
std::cout << "PSMOVE : Calibrating Controller " << i << "..." << std::endl;
while (psmove_tracker_enable(m_tracker, m_moves[i]) != Tracker_CALIBRATED)
;
std::cout << "PSMOVE : Controller Calibrated " << i << "..." << std::endl;
}
// psmove_tracker_set_dimming(m_tracker,1);
std::cout << "PSMOVE INITIALISED" << std::endl;
}
bool MoveHandler::connectTracker()
{
std::stringstream string;
logger->LogEvent("Initializeing tracker...");
tracker = psmove_tracker_new();
if(this->tracker == nullptr || this->tracker == NULL)
{
logger->LogEvent("Could not create tracker.\nAborting!");
return false;
}
logger->LogEvent("OK");
for(int i = 0; i < this->connections; i++)
{
this->timer.start();
while (*this->running && this->timer.secondsElapsed() < 60)
{
string.str("");
string << "Calibrating connection #" << i;
logger->LogEvent(string.str());
if (psmove_tracker_enable(this->tracker, this->controllers[i]) == Tracker_CALIBRATED)
{
string.str("");
string << "Enable automatic LED update for connection #" << i;
logger->LogEvent(string.str());
psmove_tracker_set_auto_update_leds(this->tracker, this->controllers[i], PSMove_True);
break;
}
else
{
logger->LogEvent("Caibration failed. Retrying.");
}
}
logger->LogEvent("Calibration finished.");
this->bulbHandler->startTimer();
}
logger->LogEvent("Enable tracker mirroring");
psmove_tracker_set_mirror(this->tracker, PSMove_True);
logger->LogEvent("Controller initialization finished");
return true;
}
Tracker::Tracker()
: m_moves(NULL),
m_count(psmove_count_connected()),
m_tracker(psmove_tracker_new()),
m_fusion(psmove_fusion_new(m_tracker, 1., 1000.))
{
psmove_tracker_set_mirror(m_tracker, PSMove_True);
psmove_tracker_set_exposure(m_tracker, Exposure_HIGH);
m_moves = (PSMove**)calloc(m_count, sizeof(PSMove*));
m_items = (int*)calloc(m_count, sizeof(int));
for (int i=0; i<m_count; i++) {
m_moves[i] = psmove_connect_by_id(i);
m_items[i] = WIRE_CUBE;
psmove_enable_orientation(m_moves[i], PSMove_True);
assert(psmove_has_orientation(m_moves[i]));
while (psmove_tracker_enable(m_tracker, m_moves[i]) != Tracker_CALIBRATED);
}
}
int
main(int arg, char** args)
{
measurement measurements[MEASUREMENTS];
float distance = MEASUREMENTS_CM_START;
int pos = 0;
PSMove *move = psmove_connect();
if (move == NULL) {
printf("Could not connect to the default controller.\n");
return 1;
}
PSMoveTracker* tracker = psmove_tracker_new();
if (tracker == NULL) {
printf("Could not create tracker.\n");
return 2;
}
printf("Calibrating controller...\n");
while (psmove_tracker_enable(tracker, move) != Tracker_CALIBRATED);
while (cvWaitKey(1) != 27 && pos < MEASUREMENTS) {
psmove_tracker_update_image(tracker);
psmove_tracker_update(tracker, NULL);
printf("Distance: %.2f cm\n", distance);
void *frame = psmove_tracker_get_image(tracker);
cvShowImage("Camera", frame);
unsigned char r, g, b;
psmove_tracker_get_color(tracker, move, &r, &g, &b);
psmove_set_leds(move, r, g, b);
psmove_update_leds(move);
float x, y, radius;
psmove_tracker_get_position(tracker, move, &x, &y, &radius);
unsigned int pressed, released;
while (psmove_poll(move));
psmove_get_button_events(move, &pressed, &released);
if (pressed & Btn_CROSS) {
// Save current measurement
save(frame, (int)distance);
measurements[pos].distance_cm = distance;
measurements[pos].radius_px = radius;
distance += MEASUREMENTS_CM_STEP;
pos++;
} else if (pressed & Btn_CIRCLE && pos > 0) {
// Go back and retry previous measurement
distance -= MEASUREMENTS_CM_STEP;
pos--;
}
}
int i;
FILE *fp = fopen("distance.csv", "w");
fprintf(fp, "distance,radius\n");
for (i=0; i<pos; i++) {
fprintf(fp, "%.5f,%.5f\n",
measurements[i].distance_cm,
measurements[i].radius_px);
}
fclose(fp);
psmove_tracker_free(tracker);
psmove_disconnect(move);
return 0;
}
uint32 FPSMoveWorker::Run()
{
if (!psmove_init(PSMOVE_CURRENT_VERSION))
{
UE_LOG(LogPSMove, Error, TEXT("PS Move API init failed (wrong version?)"));
return -1;
}
// I want the psmoves and psmove_tracker to be local variables in the thread.
// Initialize an empty array of psmove controllers
PSMove* psmoves[FPSMoveWorker::k_max_controllers];
memset(psmoves, 0, sizeof(psmoves));
// Initialize and configure the psmove_tracker
PSMoveTracker *psmove_tracker = psmove_tracker_new(); // Unfortunately the API does not have a way to change the resolution and framerate.
PSMoveFusion *psmove_fusion = psmove_fusion_new(psmove_tracker, 1., 1000.);
int tracker_width = 640;
int tracker_height = 480;
if (psmove_tracker)
{
UE_LOG(LogPSMove, Log, TEXT("PSMove tracker initialized."));
//Set exposure. TODO: Expose this to component.
psmove_tracker_set_exposure(psmove_tracker, Exposure_LOW); //Exposure_LOW, Exposure_MEDIUM, Exposure_HIGH
psmove_tracker_set_smoothing(psmove_tracker, 0, 1);
psmove_tracker_set_mirror(psmove_tracker, PSMove_True);
psmove_tracker_get_size(psmove_tracker, &tracker_width, &tracker_height);
UE_LOG(LogPSMove, Log, TEXT("Camera Dimensions: %d x %d"), tracker_width, tracker_height);
}
else {
UE_LOG(LogPSMove, Log, TEXT("PSMove tracker failed to initialize."));
}
//Initial wait before starting.
FPlatformProcess::Sleep(0.03);
float xcm, ycm, zcm, oriw, orix, oriy, oriz;
while (StopTaskCounter.GetValue() == 0)
{
// Get positional data from tracker
if (psmove_tracker)
{
// Setup or tear down controller connections based on the number of active controllers
UpdateControllerConnections(psmove_tracker, psmoves);
// Renew the image on camera
if (PSMoveCount > 0)
{
psmove_tracker_update_image(psmove_tracker); // Sometimes libusb crashes here.
psmove_tracker_update_cbb(psmove_tracker, NULL); // Passing null (instead of m_moves[i]) updates all controllers.
}
}
else {
FPlatformProcess::Sleep(0.001);
}
for (int i = 0; i < PSMoveCount; i++)
{
FPSMoveRawControllerData_TLS &localControllerData = WorkerControllerDataArray[i];
//--------------
// Read the published data from the component
//--------------
localControllerData.WorkerRead();
// Get positional data from tracker
if (psmove_tracker)
{
localControllerData.IsTracked = psmove_tracker_get_status(psmove_tracker, psmoves[i]) == Tracker_TRACKING;
psmove_fusion_get_transformed_location(psmove_fusion, psmoves[i], &xcm, &ycm, &zcm);
if (localControllerData.IsTracked &&
xcm && ycm && zcm &&
!isnan(xcm) && !isnan(ycm) && !isnan(zcm) &&
xcm == xcm && ycm == ycm && zcm == zcm)
{
localControllerData.PosX = xcm;
localControllerData.PosY = ycm;
localControllerData.PosZ = zcm;
}
else {
localControllerData.IsTracked = false;
}
//UE_LOG(LogPSMove, Log, TEXT("X: %f, Y: %f, Z: %f"), xcm, ycm, zcm);
if (localControllerData.ResetPoseRequest && localControllerData.IsTracked)
{
psmove_tracker_reset_location(psmove_tracker, psmoves[i]);
}
// If we are to change the tracked colour.
if (localControllerData.UpdateLedRequest)
{
// Stop tracking the controller with the existing color
psmove_tracker_disable(psmove_tracker, psmoves[i]);
localControllerData.IsTracked = false;
localControllerData.IsCalibrated = false;
psmove_tracker_set_dimming(psmove_tracker, 0.0); // Set dimming to 0 to trigger blinking calibration.
psmove_set_leds(psmoves[i], 0, 0, 0); // Turn off the LED to make sure it isn't trackable until new colour set.
psmove_update_leds(psmoves[i]);
FColor newFColor = localControllerData.LedColourRequest.Quantize();
if (psmove_tracker_enable_with_color(psmove_tracker, psmoves[i], newFColor.R, newFColor.G, newFColor.B) == Tracker_CALIBRATED)
{
this->WorkerControllerDataArray[i].IsCalibrated = true;
}
else
{
UE_LOG(LogPSMove, Error, TEXT("Failed to change tracking color for PSMove controller %d"), i);
}
localControllerData.LedColourWasUpdated = true;
}
else
{
localControllerData.LedColourWasUpdated = false;
}
}
else {
FPlatformProcess::Sleep(0.001);
}
// Do bluetooth IO: Orientation, Buttons, Rumble
//TODO: Is it necessary to keep polling until no frames are left?
while (psmove_poll(psmoves[i]) > 0)
{
// Update the controller status (via bluetooth)
psmove_poll(psmoves[i]);
// Get the controller orientation (uses IMU).
psmove_get_orientation(psmoves[i],
&oriw, &orix, &oriy, &oriz);
localControllerData.OriW = oriw;
localControllerData.OriX = orix;
localControllerData.OriY = oriy;
localControllerData.OriZ = oriz;
//UE_LOG(LogPSMove, Log, TEXT("Ori w,x,y,z: %f, %f, %f, %f"), oriw, orix, oriy, oriz);
// Get the controller button state
localControllerData.Buttons = psmove_get_buttons(psmoves[i]); // Bitwise; tells if each button is down.
psmove_get_button_events(psmoves[i], &localControllerData.Pressed, &localControllerData.Released); // i.e., state change
// Get the controller trigger value (uint8; 0-255)
localControllerData.TriggerValue = psmove_get_trigger(psmoves[i]);
// Set the controller rumble (uint8; 0-255)
psmove_set_rumble(psmoves[i], localControllerData.RumbleRequest);
}
if (localControllerData.ResetPoseRequest)
{
psmove_reset_orientation(psmoves[i]);
//TODO: reset yaw only
localControllerData.PoseWasReset = true;
}
else {
localControllerData.PoseWasReset = false;
}
//--------------
// Publish the updated worker data to the component
//--------------
localControllerData.WorkerPost();
}
//Sleeping the thread seems to crash libusb.
//FPlatformProcess::Sleep(0.005);
}
// Delete the controllers
for (int i = 0; i<PSMoveCount; i++)
{
psmove_disconnect(psmoves[i]);
}
// Delete the fusion
if (psmove_fusion)
{
psmove_fusion_free(psmove_fusion);
}
// Delete the tracker
if (psmove_tracker)
{
psmove_tracker_free(psmove_tracker);
}
psmove_shutdown();
return 0;
}
int main(int arg, char** args) {
int i;
int count = psmove_count_connected();
PSMove* controllers[count];
printf("%s", "### Trying to init PSMoveTracker...");
PSMoveTracker* tracker = psmove_tracker_new();
printf("%s\n", "OK");
printf("### Found %d controllers.\n", count);
void *frame;
unsigned char r, g, b;
int result;
for (i=0; i<count; i++) {
printf("Opening controller %d\n", i);
controllers[i] = psmove_connect_by_id(i);
assert(controllers[i] != NULL);
while (1) {
printf("Calibrating controller %d...", i);
fflush(stdout);
result = psmove_tracker_enable(tracker, controllers[i]);
if (result == Tracker_CALIBRATED) {
printf("OK\n");
break;
} else {
printf("ERROR - retrying\n");
}
}
}
while ((cvWaitKey(1) & 0xFF) != 27) {
psmove_tracker_update_image(tracker);
psmove_tracker_update(tracker, NULL);
frame = psmove_tracker_get_image(tracker);
if (frame) {
cvShowImage("live camera feed", frame);
}
for (i=0; i<count; i++) {
psmove_tracker_get_color(tracker, controllers[i], &r, &g, &b);
psmove_set_leds(controllers[i], r, g, b);
psmove_update_leds(controllers[i]);
float x, y, r;
psmove_tracker_get_position(tracker, controllers[i], &x, &y, &r);
printf("x: %10.2f, y: %10.2f, r: %10.2f\n", x, y, r);
}
}
for (i=0; i<count; i++) {
psmove_disconnect(controllers[i]);
}
psmove_tracker_free(tracker);
return 0;
}