tracker/pt: fix center with dynamic pose set

It was necessary to center _twice_ in order to reset
dynamic pose. Put a spinlock around the code.

2 files changed, 16 insertions, 4 deletions

diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index 5f88786a..0d99ccd0 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -20,7 +20,7 @@
 #include <QFile>
 #include <QCoreApplication>
 
-using namespace types;
+namespace pt_module {
 
 Tracker_PT::Tracker_PT(pointer<pt_runtime_traits> const& traits) :
     traits { traits },
@@ -69,6 +69,9 @@ void Tracker_PT::run()
 
         if (new_frame)
         {
+            while (center_flag.test_and_set())
+                (void)0;
+
             *preview_frame = *frame;
 
             point_extractor->extract_points(*frame, *preview_frame, points);
@@ -113,6 +116,8 @@ void Tracker_PT::run()
                     preview_frame = traits->make_preview(w, h);
                 }
             }
+
+            center_flag.clear();
         }
     }
     qDebug() << "pt: thread stopped";
@@ -192,7 +197,13 @@ void Tracker_PT::data(double *data)
 
 bool Tracker_PT::center()
 {
+    while (center_flag.test_and_set())
+        (void)0;
+
     point_tracker.reset_state();
+
+    center_flag.clear();
+
     return false;
 }
 
@@ -217,4 +228,4 @@ bool Tracker_PT::get_cam_info(pt_camera_info* info)
     return ret;
 }
 
-
+} // ns pt_module
diff --git a/tracker-pt/ftnoir_tracker_pt.h b/tracker-pt/ftnoir_tracker_pt.h
index 31bdc6bb..8cf609c3 100644
--- a/tracker-pt/ftnoir_tracker_pt.h
+++ b/tracker-pt/ftnoir_tracker_pt.h
@@ -39,7 +39,7 @@ class Tracker_PT : public QThread, public ITracker
 public:
     template<typename t> using pointer = pt_pointer<t>;
 
-    Tracker_PT(pointer<pt_runtime_traits> const& pt_runtime_traits);
+    explicit Tracker_PT(pointer<pt_runtime_traits> const& pt_runtime_traits);
     ~Tracker_PT() override;
     module_status start_tracker(QFrame* parent_window) override;
     void data(double* data) override;
@@ -76,6 +76,7 @@ private:
 
     std::atomic<unsigned> point_count { 0 };
     std::atomic<bool> ever_success { false };
+    std::atomic_flag center_flag = ATOMIC_FLAG_INIT;
 
     static constexpr inline f rad2deg = f(180/M_PI);
     //static constexpr float deg2rad = float(M_PI/180);
@@ -83,4 +84,4 @@ private:
 
 } // ns pt_impl
 
-using pt_module::Tracker_PT;
+using Tracker_PT = pt_module::Tracker_PT;