diff options
Diffstat (limited to 'FaceTrackNoIR')
| -rw-r--r-- | FaceTrackNoIR/tracker.cpp | 43 | ||||
| -rw-r--r-- | FaceTrackNoIR/tracker.h | 1 |
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);
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