Updated vc9 project files.

PT: Undo of Wim's last wrong commit, some code cleanup, added preliminary resolution change support.


git-svn-id: svn+ssh://svn.code.sf.net/p/facetracknoir/code@184 19e81ba0-9b1a-49c3-bd6c-561e1906d5fb

1 files changed, 22 insertions, 40 deletions

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
index db1512cb..aa0e4272 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
@@ -58,13 +58,12 @@ void Tracker::run()
 			if (commands & PAUSE) continue;

 			commands = 0;

 			

-			float dt = time.elapsed();

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

 			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++;

@@ -77,24 +76,33 @@ void Tracker::run()
 

 void Tracker::apply(const TrackerSettings& settings)

 {

-	apply_without_camindex(settings);

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

 	QMutexLocker lock(&mutex);

-	qDebug()<<"Tracker: setting cam index "<<settings.cam_index;

 	camera.set_index(settings.cam_index);

-	qDebug()<<"Tracker: done setting cam index";

-}

-

-void Tracker::apply_without_camindex(const TrackerSettings& settings)

-{

-	qDebug()<<"Tracker::apply_without_camindex";

-	QMutexLocker lock(&mutex);

 	camera.set_f(settings.cam_f);

+	camera.set_res(settings.cam_res_x, settings.cam_res_y);

+	camera.set_fps(settings.cam_fps);

 	point_extractor.threshold_val = settings.threshold;

 	point_extractor.min_size = settings.min_point_size;

 	point_extractor.max_size = settings.max_point_size;

 	point_tracker.point_model = boost::shared_ptr<PointModel>(new PointModel(settings.M01, settings.M02));

 	sleep_time = settings.sleep_time;

+	// TODO: reset time

 	draw_frame = settings.video_widget;

+	t_MH = settings.t_MH;

+}

+

+void Tracker::reset()

+{

+	//TODO

+}

+

+void Tracker::center()

+{

+	QMutexLocker lock(&mutex);

+	FrameTrafo X_CM_0 = point_tracker.get_pose();

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

+	X_CH_0 = X_CM_0 * X_MH;

 }

 

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

@@ -123,7 +131,6 @@ void Tracker::refreshVideo()
 	{

 		Mat frame_copy;

 		shared_ptr< vector<Vec2f> > points;

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

 		{

 			QMutexLocker lock(&mutex);

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

@@ -152,21 +159,6 @@ 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);

@@ -194,23 +186,13 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data)
 		alpha = atan2( R(1,0), R(0,0));

 		gamma = atan2( R(2,1), R(2,2));		

 

-		data->yaw   = rad2deg * alpha;

-		data->pitch = rad2deg * beta;

-		data->roll  = rad2deg * gamma;

->>>>>>> .r148

+		data->yaw   =  rad2deg * alpha;

+		data->pitch = -rad2deg * beta;	// this is what ftnoir expects?

+		data->roll  =  rad2deg * gamma;

 	}

 	return true;

 }

 

-void Tracker::CenterTracker()

-{

-	QMutexLocker lock(&mutex);

-	FrameTrafo X_CM_0 = point_tracker.get_pose();

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

-	X_CH_0 = X_CM_0 * X_MH;

-

-}

-

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

 #pragma comment(linker, "/export:GetTracker=_GetTracker@0")