1 files changed, 16 insertions, 5 deletions

diff --git a/FaceTrackNoIR/tracker.cpp b/FaceTrackNoIR/tracker.cpp
index 633af24e..d1ebe6ea 100644
--- a/FaceTrackNoIR/tracker.cpp
+++ b/FaceTrackNoIR/tracker.cpp
@@ -53,7 +53,7 @@
 // Definitions for testing purposes

 //

 #define USE_HEADPOSE_CALLBACK

-#define USE_DEBUG_CLIENT

+//#define USE_DEBUG_CLIENT

 

 using namespace sm::faceapi;

 using namespace sm::faceapi::qt;

@@ -489,6 +489,7 @@ void Tracker::run() {
 				// Pitch

 				if (Tracker::useFilter) {

 					rotX = lowPassFilter ( getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos - Pitch.initial_headPos, 

+//					rotX = lowPassFilter ( getSmoothFromList( &Pitch.rawList ), 

 												   &Pitch.prevPos, dT, Tracker::Pitch.red );

 				}

 				else {

@@ -615,13 +616,21 @@ void Tracker::run() {
 				}

 			}

 		}

-		ReleaseMutex(Tracker::hTrackMutex);

-		server_Game->sendHeadposeToGame();

 

 #       ifdef USE_DEBUG_CLIENT

-		debug_Client->sendHeadposeToGame();

+		debug_Client->confidence = Tracker::Pitch.confidence;

+		debug_Client->newSample = Tracker::Pitch.newSample;

+		debug_Client->smoothvalue = getSmoothFromList( &Pitch.rawList );

+		debug_Client->prev_value = Tracker::Pitch.prevPos;

+		debug_Client->dT = dT;

+		debug_Client->sendHeadposeToGame();									// Log to Excel

+		Tracker::Pitch.newSample = false;

 #       endif

 

+		ReleaseMutex(Tracker::hTrackMutex);

+		server_Game->sendHeadposeToGame();

+

+

 		//for lower cpu load 

 		usleep(10000);

 		yieldCurrentThread(); 

@@ -664,6 +673,8 @@ void Tracker::addHeadPose( smEngineHeadPoseData head_pose )
 		// Pitch

 		Tracker::Pitch.headPos = head_pose.head_rot.x_rads * 57.295781f;			// 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.head_rot.y_rads * 57.295781f;				// degrees

@@ -781,7 +792,7 @@ float Tracker::getCorrectedNewRaw ( float NewRaw, float rotNeutral ) {
 // The code was adopted from Melchior Franz, who created it for FlightGear (aircraft.nas).

 //

 // The function takes the new value, the delta-time (sec) and a weighing coefficient (>0 and <1)

-// All previou values are taken into account, the weight of this is determined by 'coeff'.

+// All previous values are taken into account, the weight of this is determined by 'coeff'.

 //

 float Tracker::lowPassFilter ( float newvalue, float *oldvalue, float dt, float coeff) {

 float c = 0.0f;