Updated orientation example

examples/labs/orientation/README

@@ -1,12 +1,33 @@
+This example demonstrates rendering the PS Move controller orientation in 3D using Qt5/Qt6 + modern Qt3D.
 
-This application expects that the PS Move API has been
-build in "build/" in the root source folder.
+Requirements
 
-After you have built the PS Move API in this way, you can
-use "qmake" to generate a Makefile and then "make" to build
-the application.
+Qt 5.15+ or Qt 6.x with these modules:
 
-Additional requirements:
+Core, Gui, Widgets
 
-  This requires Qt 4.8.2 + Qt3D 1.0.
+3DCore, 3DRender, 3DInput, 3DLogic, 3DExtras
 
+Optional: OpenCV 4 if you want to show tracker camera frames.
+
+Building
+
+From the orientation/ directory:
+
+```
+qmake
+make -j
+```
+
+Running
+```
+./orientation
+```
+
+Notes
+
+- This example has been ported from the old Qt 4.8 + Qt3D 1.0 API (QGLView, QGLTeapot) to modern Qt3D.
+
+- The rendered object is a torus (QTorusMesh) by default, but you can switch to a sphere, cube, or a custom mesh.
+
+- The camera frame preview (cvShowImage) is disabled by default. To enable, replace it with OpenCV4 cv::imshow.

examples/labs/orientation/main.cpp

@@ -1,5 +1,4 @@
-
- /**
+/**
  * PS Move API - An interface for the PS Move Motion Controller
  * Copyright (c) 2012 Thomas Perl <m@thp.io>
  * All rights reserved.
@@ -27,26 +26,25 @@
  * POSSIBILITY OF SUCH DAMAGE.
  **/
 
-
-#include <QtGui>
+#include <QApplication>
 #include "orientationview.h"
 #include "orientation.h"
 
 int main(int argc, char **argv)
 {
     QApplication app(argc, argv);
-    OrientationView view;
 
+    OrientationView view;   // QWidget that embeds a Qt3D window
     Orientation orientation;
     orientation.start();
 
     QObject::connect(&orientation,
-            SIGNAL(orientation(qreal,qreal,qreal,qreal,qreal,qreal,qreal)),
-            &view,
-            SLOT(orientation(qreal,qreal,qreal,qreal,qreal,qreal,qreal)));
+        &Orientation::orientation,           // new function-pointer syntax
+        &view,
+        &OrientationView::orientation);
 
+    view.resize(900, 700);
     view.show();
 
     return app.exec();
 }
-

examples/labs/orientation/orientation.h

@@ -1,5 +1,4 @@
-
- /**
+/**
  * PS Move API - An interface for the PS Move Motion Controller
  * Copyright (c) 2012 Thomas Perl <m@thp.io>
  * All rights reserved.
@@ -27,10 +26,11 @@
  * POSSIBILITY OF SUCH DAMAGE.
  **/
 
+#ifndef ORIENTATION_H
+#define ORIENTATION_H
 
 #include <QApplication>
 #include <QThread>
-#include "qglscenenode.h"
 
 #include <unistd.h>
 #include <stdio.h>
@@ -42,70 +42,70 @@
 #include "psmove_tracker.h"
 #include "psmove_tracker_opencv.h"
 
-extern "C" {
-    void cvShowImage(const char *, void*);
-};
-
 class Orientation : public QThread
 {
     Q_OBJECT
+signals:
+    void orientation(qreal a, qreal b, qreal c, qreal d,
+                     qreal scale, qreal x, qreal y);
+
+public:
+    Orientation() : QThread() {}
+
+    void run() override
+    {
+        PSMove *move = psmove_connect();
+        int quit = 0;
+        float q0, q1, q2, q3;
+
+        if (move == NULL) {
+            fprintf(stderr, "Could not connect to controller.\n");
+            QMetaObject::invokeMethod(qApp, "quit", Qt::QueuedConnection);
+            return;
+        }
 
-    signals:
-        void orientation(qreal a, qreal b, qreal c, qreal d,
-                qreal scale, qreal x, qreal y);
-
-    public:
-        Orientation() : QThread() {}
-
-        void run()
-        {
-            PSMove *move = psmove_connect();
-            int quit = 0;
-            float q0, q1, q2, q3;
-
-            if (move == NULL) {
-                fprintf(stderr, "Could not connect to controller.\n");
-                QApplication::quit();
-            }
-
-            PSMoveTracker *tracker = psmove_tracker_new();
-
-            while (psmove_tracker_enable(tracker, move) != Tracker_CALIBRATED) {
-                // Retry calibration until it works
-            }
-
-            psmove_enable_orientation(move, true);
-
-            while (!quit) {
-                while (psmove_poll(move)) {
-                    if (psmove_get_buttons(move) & Btn_PS) {
-                        quit = 1;
-                        break;
-                    }
+        PSMoveTracker *tracker = psmove_tracker_new();
 
-                    if (psmove_get_buttons(move) & Btn_MOVE) {
-                        psmove_reset_orientation(move);
-                    }
+        while (psmove_tracker_enable(tracker, move) != Tracker_CALIBRATED) {
+            // retry until calibrated
+        }
 
-                    psmove_get_orientation(move, &q0, &q1, &q2, &q3);
+        psmove_enable_orientation(move, true);
 
-                    float x, y, radius;
-                    psmove_tracker_get_position(tracker, move, &x, &y, &radius);
-                    emit this->orientation(q0, q1, q2, q3,
-                            1.-((qreal)radius/150.),
-                            1.-((qreal)x/640.)*2.,
-                            1.-((qreal)y/480.)*2.);
+        while (!quit) {
+            while (psmove_poll(move)) {
+                if (psmove_get_buttons(move) & Btn_PS) {
+                    quit = 1;
+                    break;
                 }
+                if (psmove_get_buttons(move) & Btn_MOVE) {
+                    psmove_reset_orientation(move);
+                }
+
+                psmove_get_orientation(move, &q0, &q1, &q2, &q3);
 
-                psmove_tracker_update_image(tracker);
-                psmove_tracker_update(tracker, NULL);
+                float x, y, radius;
+                psmove_tracker_get_position(tracker, move, &x, &y, &radius);
 
-                cvShowImage("asdf", psmove_tracker_opencv_get_frame(tracker));
+                emit orientation(q0, q1, q2, q3,
+                                 1. - (qreal)radius / 150.,
+                                 1. - ((qreal)x / 640.) * 2.,
+                                 1. - ((qreal)y / 480.) * 2.);
             }
 
-            psmove_tracker_free(tracker);
-            psmove_disconnect(move);
-            QApplication::quit();
+            psmove_tracker_update_image(tracker);
+            psmove_tracker_update(tracker, NULL);
+
+            // Legacy C API display removed. If you want it back:
+            // cv::Mat frame = cv::cvarrToMat((IplImage*)psmove_tracker_opencv_get_frame(tracker));
+            // cv::imshow("tracker", frame);
+            // cv::waitKey(1);
         }
+
+        psmove_tracker_free(tracker);
+        psmove_disconnect(move);
+        QMetaObject::invokeMethod(qApp, "quit", Qt::QueuedConnection);
+    }
 };
 
+#endif // ORIENTATION_H

examples/labs/orientation/orientation.pro

@@ -1,19 +1,35 @@
-
 TEMPLATE = app
-DEPENDPATH += .
-INCLUDEPATH += .
-
-CONFIG += qt3d
+TARGET = orientation
 
-SOURCES += main.cpp
+CONFIG += c++17
+QT += core gui widgets 3dcore 3drender 3dinput 3dextras 3dlogic
 
-SOURCES += orientationview.cpp
-HEADERS += orientationview.h
+# Sources / headers
+SOURCES += \
+    main.cpp \
+    orientationview.cpp
 
-HEADERS += orientation.h
+HEADERS += \
+    orientationview.h \
+    orientation.h
 
+# PS Move include/lib layout as before
+DEPENDPATH += .
+INCLUDEPATH += .
 DEPENDPATH += ../../../include
 INCLUDEPATH += ../../../include
 
-LIBS += -L../../../build/ -lpsmoveapi -lpsmoveapi_tracker -lopencv_highgui
+# NEW: where your psmove landed
+INCLUDEPATH += /usr/local/include
+# Sometimes headers live in a nested folder, add this too if needed:
+INCLUDEPATH += /usr/local/include/psmoveapi
+
+# Link PS Move and tracker
+LIBS += -L../../../build/ -lpsmoveapi -lpsmoveapi_tracker
+
+# Optional: OpenCV (comment out if not available)
+CONFIG += link_pkgconfig
+PKGCONFIG += opencv4
 
+# On some distros you might need pthread explicitly
+unix:LIBS += -lpthread