Merge branch 'master' of https://github.com/cboulay/PSMoveService

psmoveservice · Nov 13, 2016 · 2134c89 · 2134c89
2 parents 2ce0294 + ca440f9
commit 2134c89
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Showing 3 changed files with 15 additions and 0 deletions.
diff --git a/src/psmoveservice/Device/Manager/TrackerManager.cpp b/src/psmoveservice/Device/Manager/TrackerManager.cpp
@@ -17,6 +17,7 @@ TrackerManagerConfig::TrackerManagerConfig(const std::string &fnamebase)
     optical_tracking_timeout= 100;
 	tracker_sleep_ms = 1;
 	use_bgr_to_hsv_lookup_table = true;
+	exclude_opposed_cameras = false;
     default_tracker_profile.exposure = 32;
     default_tracker_profile.gain = 32;
 	default_tracker_profile.color_preset_table.table_name= "default_tracker_profile";
@@ -36,6 +37,8 @@ TrackerManagerConfig::config2ptree()
     pt.put("optical_tracking_timeout", optical_tracking_timeout);
 	pt.put("use_bgr_to_hsv_lookup_table", use_bgr_to_hsv_lookup_table);
 	pt.put("tracker_sleep_ms", tracker_sleep_ms);
+
+	pt.put("excluded_opposed_cameras", exclude_opposed_cameras);	
 
     pt.put("default_tracker_profile.exposure", default_tracker_profile.exposure);
     pt.put("default_tracker_profile.gain", default_tracker_profile.gain);
@@ -55,6 +58,7 @@ TrackerManagerConfig::ptree2config(const boost::property_tree::ptree &pt)
         optical_tracking_timeout= pt.get<int>("optical_tracking_timeout", optical_tracking_timeout);
 		use_bgr_to_hsv_lookup_table = pt.get<bool>("use_bgr_to_hsv_lookup_table", use_bgr_to_hsv_lookup_table);
 		tracker_sleep_ms = pt.get<int>("tracker_sleep_ms", tracker_sleep_ms);
+		exclude_opposed_cameras = pt.get<bool>("excluded_opposed_cameras", exclude_opposed_cameras);
 
         default_tracker_profile.exposure = pt.get<float>("default_tracker_profile.exposure", 32);
         default_tracker_profile.gain = pt.get<float>("default_tracker_profile.gain", 32);

diff --git a/src/psmoveservice/Device/Manager/TrackerManager.h b/src/psmoveservice/Device/Manager/TrackerManager.h
@@ -46,6 +46,7 @@ class TrackerManagerConfig : public PSMoveConfig
     int optical_tracking_timeout;
 	int tracker_sleep_ms;
 	bool use_bgr_to_hsv_lookup_table;
+	bool exclude_opposed_cameras;
     TrackerProfile default_tracker_profile;
 };
 

diff --git a/src/psmoveservice/Device/View/ServerControllerView.cpp b/src/psmoveservice/Device/View/ServerControllerView.cpp
@@ -389,6 +389,8 @@ void ServerControllerView::updateOpticalPoseEstimation(TrackerManager* tracker_m
                 position2d_list[list_index] = tracker->projectTrackerRelativePosition(&positionEstimate.position);
             }
 
+			const TrackerManagerConfig &cfg = DeviceManager::getInstance()->m_tracker_manager->getConfig();
+
             int pair_count = 0;
             CommonDevicePosition average_world_position = { 0.f, 0.f, 0.f };
             for (int list_index = 0; list_index < positions_found; ++list_index)
@@ -403,6 +405,14 @@ void ServerControllerView::updateOpticalPoseEstimation(TrackerManager* tracker_m
                     const CommonDeviceScreenLocation &other_screen_location = position2d_list[other_list_index];
                     const ServerTrackerViewPtr other_tracker = tracker_manager->getTrackerViewPtr(other_tracker_id);
 
+					// if trackers are on poposite sides
+					if (cfg.exclude_opposed_cameras) {
+						if ((tracker->getTrackerPose().Position.x > 0) == (other_tracker->getTrackerPose().Position.x < 0) &&
+							(tracker->getTrackerPose().Position.z > 0) == (other_tracker->getTrackerPose().Position.z < 0)) {
+							continue;
+						}
+					}
+
                     // Using the screen locations on two different trackers we can triangulate a world position
                     CommonDevicePosition world_position =
                         ServerTrackerView::triangulateWorldPosition(