Work on DLL-FTNoir-Tracker.

git-svn-id: svn+ssh://svn.code.sf.net/p/facetracknoir/code@41 19e81ba0-9b1a-49c3-bd6c-561e1906d5fb

2 files changed, 42 insertions, 2 deletions

diff --git a/FaceTrackNoIR/tracker.cpp b/FaceTrackNoIR/tracker.cpp
index 974b1251..73023b2f 100644
--- a/FaceTrackNoIR/tracker.cpp
+++ b/FaceTrackNoIR/tracker.cpp
@@ -194,7 +194,9 @@ Tracker::~Tracker() {
 	::SetEvent(m_StopThread);

 

 	// Wait until thread finished

-	::WaitForSingleObject(m_WaitThread, INFINITE);

+	if (isRunning()) {

+		::WaitForSingleObject(m_WaitThread, INFINITE);

+	}

 

 	// Close handles

 	::CloseHandle(m_StopThread);

@@ -245,6 +247,7 @@ void Tracker::setup(QWidget *head, FaceTrackNoIR *parent) {
 	if (selectedTracker == FT_FTNOIR) {

 		int fooResult = pTracker->Foo(42);

 		qDebug() << "Tracker::setup Foo gives: " << fooResult;

+		pTracker->StartTracker();

 	}

 

 	// set up the line edits for calling

@@ -438,6 +441,13 @@ void Tracker::run() {
 			}

 #       endif

 

+			if (selectedTracker == FT_FTNOIR) {

+				THeadPoseData newpose;

+				pTracker->GiveHeadPoseData(&newpose);

+				addHeadPose(newpose);

+				Tracker::confid = true;

+			}

+

 			//

 			// Get the System-time and substract the time from the previous call.

 			// dT will be used for the EWMA-filter.

@@ -653,7 +663,6 @@ void Tracker::run() {
 		ReleaseMutex(Tracker::hTrackMutex);

 		server_Game->sendHeadposeToGame();

 

-

 		//for lower cpu load 

 		usleep(10000);

 		yieldCurrentThread(); 

@@ -720,6 +729,36 @@ void Tracker::addHeadPose( smEngineHeadPoseData head_pose )
 		addRaw2List ( &Z.rawList, Z.maxItems, Tracker::Z.headPos );

 }

 

+/** Add the headpose-data to the Lists **/

+void Tracker::addHeadPose( THeadPoseData head_pose )

+{

+		// Pitch

+		Tracker::Pitch.headPos = head_pose.pitch;									// degrees

+		addRaw2List ( &Pitch.rawList, Pitch.maxItems, Tracker::Pitch.headPos );

+//		Tracker::Pitch.confidence = head_pose.confidence;							// Just this one ...

+		Tracker::Pitch.newSample = true;

+

+		// Yaw

+		Tracker::Yaw.headPos = head_pose.yaw;										// degrees

+		addRaw2List ( &Yaw.rawList, Yaw.maxItems, Tracker::Yaw.headPos );

+

+		// Roll

+		Tracker::Roll.headPos = head_pose.roll;										// degrees

+		addRaw2List ( &Roll.rawList, Roll.maxItems, Tracker::Roll.headPos );

+

+		// X-position

+		Tracker::X.headPos = head_pose.x;											// centimeters

+		addRaw2List ( &X.rawList, X.maxItems, Tracker::X.headPos );

+

+		// Y-position

+		Tracker::Y.headPos = head_pose.y;											// centimeters

+		addRaw2List ( &Y.rawList, Y.maxItems, Tracker::Y.headPos );

+

+		// Z-position (distance to camera, absolute!)

+		Tracker::Z.headPos = head_pose.z;											// centimeters

+		addRaw2List ( &Z.rawList, Z.maxItems, Tracker::Z.headPos );

+}

+

 //

 // Get the ProgramName from the Game and return it.

 //

diff --git a/FaceTrackNoIR/tracker.h b/FaceTrackNoIR/tracker.h
index 20fd60d8..ab14e06a 100644
--- a/FaceTrackNoIR/tracker.h
+++ b/FaceTrackNoIR/tracker.h
@@ -143,6 +143,7 @@ private:
 	/** static callback method for the head pose tracking **/

 	static void STDCALL receiveHeadPose(void *,smEngineHeadPoseData head_pose, smCameraVideoFrame video_frame);

 	static void addHeadPose( smEngineHeadPoseData head_pose );

+	static void addHeadPose( THeadPoseData head_pose );

 	static void addRaw2List ( QList<float> *rawList, float maxIndex, float raw );

 	static float lowPassFilter ( float newvalue, float *oldvalue, float dt, float coeff);

 	static float rateLimiter ( float newvalue, float *oldvalue, float dt, float max_rate);