diff options
| -rw-r--r-- | tracker-pt/ftnoir_tracker_pt.cpp | 11 |
1 files changed, 11 insertions, 0 deletions
diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp index ca228a24..a74d5085 100644 --- a/tracker-pt/ftnoir_tracker_pt.cpp +++ b/tracker-pt/ftnoir_tracker_pt.cpp @@ -195,6 +195,17 @@ void Tracker_PT::data(double *data) data[TX] = (double)t[0] / 10; data[TY] = (double)t[1] / 10; data[TZ] = (double)t[2] / 10; + + // Workaround an issue where our tracker is stuck reporting extrem roll and yaw values around +/-170 + // Using Kinect with a cap this is easy to reproduce by getting close enough from the sensor (<50cm) and stepping back. + if (data[Roll] > 100 || data[Roll] < -100 || data[Pitch] < -60) + { + // Hopefully our user did not break his neck, something is wrong, reset our tracker + QMutexLocker l(¢er_lock); + point_tracker.reset_state(); + // TODO: Provide the last valid data frame instead + } + } } |