buffer flush

1 files changed, 14 insertions, 16 deletions

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
index a3e8919b..7bd447cb 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
@@ -83,8 +83,8 @@ void Tracker::run()
         if (new_frame && !frame.empty())

         {

             frame = frame_rotation.rotate_frame(frame);

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

-            tracking_valid = point_tracker.track(points, camera.get_info().fov, dt, frame.cols, frame.rows, t_MH);

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

+            tracking_valid = point_tracker.track(points, camera.get_info().fov, dt, frame.cols, frame.rows);

             video_widget->update_image(frame);

         }

 #ifdef PT_PERF_LOG

@@ -119,15 +119,13 @@ void Tracker::apply(settings& s)
     point_tracker.dt_reset = s.reset_time / 1000.0;

     t_MH = cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z);

     R_GC =  Matx33f( cos(deg2rad*s.cam_yaw), 0, sin(deg2rad*s.cam_yaw),

-		                                         0, 1,                             0,

-                    -sin(deg2rad*s.cam_yaw), 0, cos(deg2rad*s.cam_yaw));

-	R_GC = R_GC * Matx33f( 1,                                0,                               0,

+                     0, 1,                             0,

+                     -sin(deg2rad*s.cam_yaw), 0, cos(deg2rad*s.cam_yaw));

+    R_GC = R_GC * Matx33f( 1,                                0,                               0,

                            0,  cos(deg2rad*s.cam_pitch), sin(deg2rad*s.cam_pitch),

                            0, -sin(deg2rad*s.cam_pitch), cos(deg2rad*s.cam_pitch));

-

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

-	X_GH_0 = R_GC * X_MH;

-

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

+    X_GH_0 = R_GC * X_MH;

 	qDebug()<<"Tracker::apply ends";

 }

 

@@ -140,10 +138,10 @@ void Tracker::reset()
 void Tracker::center()

 {

 	point_tracker.reset();	// we also do a reset here since there is no reset shortkey yet

-	QMutexLocker lock(&mutex);

-	FrameTrafo X_CM_0 = point_tracker.get_pose();

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

-	X_GH_0 = R_GC * X_CM_0 * X_MH;

+    QMutexLocker lock(&mutex);

+    FrameTrafo X_CM_0 = point_tracker.get_pose();

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

+    X_GH_0 = R_GC * X_CM_0 * X_MH;

 }

 

 bool Tracker::get_frame_and_points(cv::Mat& frame_copy, boost::shared_ptr< std::vector<Vec2f> >& points)

@@ -198,10 +196,10 @@ void Tracker::GetHeadPoseData(THeadPoseData *data)
         if (!tracking_valid) return;

 

 		FrameTrafo X_CM = point_tracker.get_pose();

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

-		FrameTrafo X_GH = R_GC * X_CM * X_MH;

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

+        FrameTrafo X_GH = R_GC * X_CM * X_MH;

         Matx33f R = X_GH.R * X_GH_0.R.t();

-		Vec3f   t = X_GH.t - X_GH_0.t;		

+        Vec3f   t = X_GH.t - X_GH_0.t;

 

         // get translation(s)

         if (s.bEnableX) data[TX] = t[0] / 10.0;	// convert to cm