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authorStanislaw Halik <sthalik@misaki.pl>2015-01-24 14:54:09 +0100
committerStanislaw Halik <sthalik@misaki.pl>2015-01-24 14:54:09 +0100
commitc37f43804ed02a303826b7a6e975e005aa621ca1 (patch)
treec8b61591b2d1cd60ec6986468aa073414574881f
parentaa126b3993d940f9d892e2f62ffb7306c94fafe1 (diff)
pt: retrieve current pose under lock
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.cpp3
1 files changed, 1 insertions, 2 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index dcc8eefb..56a2991d 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -159,7 +159,7 @@ void Tracker::StopTracker(bool exit)
void Tracker::data(THeadPoseData *data)
{
- Affine X_CM = point_tracker.pose();
+ Affine X_CM = pose();
Affine X_MH(Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z));
Affine X_GH = X_CM * X_MH;
@@ -180,7 +180,6 @@ void Tracker::data(THeadPoseData *data)
alpha = atan2( R(1,0), R(0,0));
gamma = atan2( R(2,1), R(2,2));
- QMutexLocker lock(&mutex);
// extract rotation angles
data[Yaw] = rad2deg * alpha;
data[Pitch] = -rad2deg * beta;