diff options
Diffstat (limited to 'ftnoir_tracker_pt/ftnoir_tracker_pt.cpp')
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 21 |
1 files changed, 6 insertions, 15 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index 3fa6910d..768a3a71 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -26,7 +26,6 @@ Tracker::Tracker() commands(0), video_widget(NULL), video_frame(NULL), - tracking_valid(false), new_settings(nullptr) { @@ -68,16 +67,13 @@ void Tracker::run() #endif time.start(); - double dt; bool new_frame; forever { if (commands & ABORT) break; - if (commands & PAUSE) continue; commands = 0; - apply_inner(); - dt = time.start() / 1000000000.; - + apply_inner(); + const double dt = time.start() * 1e-9; new_frame = camera.get_frame(dt, &frame); if (new_frame && !frame.empty()) @@ -101,7 +97,7 @@ void Tracker::run() color, 4); } - tracking_valid = point_tracker.track(points, camera.get_info().f, dt); + point_tracker.track(points, camera.get_info().f); video_widget->update_image(frame); } #ifdef PT_PERF_LOG @@ -124,12 +120,13 @@ void Tracker::apply_inner() settings* tmp = new_settings.exchange(nullptr); if (tmp == nullptr) return; + reset(); auto& s = *tmp; qDebug()<<"Tracker:: Applying settings"; camera.set_device_index(s.cam_index); camera.set_res(s.cam_res_x, s.cam_res_y); camera.set_fps(s.cam_fps); - camera.set_f(s.cam_f); + camera.set_f(1); frame_rotation.rotation = static_cast<RotationType>(static_cast<int>(s.cam_roll)); point_extractor.threshold_val = s.threshold; point_extractor.threshold_secondary_val = s.threshold_secondary; @@ -140,8 +137,6 @@ void Tracker::apply_inner() cv::Vec3f M02(s.m02_x, s.m02_y, s.m02_z); point_tracker.point_model = std::shared_ptr<PointModel>(new PointModel(M01, M02)); } - point_tracker.dynamic_pose_resolution = s.dyn_pose_res; - point_tracker.dt_reset = s.reset_time / 1000.0; t_MH = cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z); R_GC = Matx33f( cos(deg2rad*s.cam_yaw), 0, sin(deg2rad*s.cam_yaw), 0, 1, 0, @@ -152,7 +147,6 @@ void Tracker::apply_inner() FrameTrafo X_MH(Matx33f::eye(), t_MH); X_GH_0 = R_GC * X_MH; - qDebug()<<"Tracker::apply ends"; } @@ -201,7 +195,6 @@ void Tracker::StartTracker(QFrame *parent_window) camera.start(); apply(s); start(); - reset_command(PAUSE); } #ifndef OPENTRACK_API @@ -220,9 +213,7 @@ void Tracker::GetHeadPoseData(THeadPoseData *data) { QMutexLocker lock(&mutex); - if (!tracking_valid) return; - - FrameTrafo X_CM = point_tracker.get_pose(); + FrameTrafo X_CM = point_tracker.get_pose(); FrameTrafo X_MH(Matx33f::eye(), t_MH); FrameTrafo X_GH = R_GC * X_CM * X_MH; Matx33f R = X_GH.R * X_GH_0.R.t(); |