Unversioning local .vcproj and .sln

git-svn-id: svn+ssh://svn.code.sf.net/p/facetracknoir/code@183 19e81ba0-9b1a-49c3-bd6c-561e1906d5fb

1 files changed, 19 insertions, 3 deletions

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
index f6682c58..db1512cb 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
@@ -58,12 +58,13 @@ void Tracker::run()
 			if (commands & PAUSE) continue;

 			commands = 0;

 			

-			float dt = time.elapsed() / 1000.0;

+			float dt = time.elapsed();

 			time.restart();

 

 			frame = camera.get_frame(dt);

 			if (!frame.empty())

 			{

+				qDebug()<<"processing frame";

 				const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, draw_frame);

 				point_tracker.track(points, camera.get_info().f, dt);

 				frame_count++;

@@ -94,7 +95,6 @@ void Tracker::apply_without_camindex(const TrackerSettings& settings)
 	point_tracker.point_model = boost::shared_ptr<PointModel>(new PointModel(settings.M01, settings.M02));

 	sleep_time = settings.sleep_time;

 	draw_frame = settings.video_widget;

-	t_MH = settings.t_MH;

 }

 

 //-----------------------------------------------------------------------------

@@ -123,7 +123,7 @@ void Tracker::refreshVideo()
 	{

 		Mat frame_copy;

 		shared_ptr< vector<Vec2f> > points;

-		//qDebug("Tracker::refreshVideo()");

+		qDebug("Tracker::refreshVideo()");

 		{

 			QMutexLocker lock(&mutex);

 			if (!draw_frame || frame.empty()) return;

@@ -152,6 +152,21 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data)
 	const float rad2deg = 180.0/3.14159265;

 	{

 		QMutexLocker lock(&mutex);

+<<<<<<< .mine

+		// convert to cm

+		data->x = pose.t[0] / 10.0;

+		data->y = pose.t[1] / 10.0;

+		data->z = pose.t[2] / 10.0;

+		const Matx33f& R = pose.R;

+		data->yaw = atan2( -R(2,0), sqrt(R(0,0)*R(0,0) + R(1,0)*R(1,0)) );

+		float cos_beta = cos(data->yaw);

+		if (cos_beta != 0)

+		{

+			data->pitch = rad2deg * atan2( R(2,1)/cos_beta, R(2,2)/cos_beta);

+			data->roll  = rad2deg * atan2( R(1,0)/cos_beta, R(0,0)/cos_beta);

+		}

+		data->yaw *= rad2deg;

+=======

 

 		FrameTrafo X_CM = point_tracker.get_pose();

 		FrameTrafo X_MH(Matx33f::eye(), t_MH);

@@ -182,6 +197,7 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data)
 		data->yaw   = rad2deg * alpha;

 		data->pitch = rad2deg * beta;

 		data->roll  = rad2deg * gamma;

+>>>>>>> .r148

 	}

 	return true;

 }