diff options
Diffstat (limited to 'ftnoir_tracker_pt/ftnoir_tracker_pt.cpp')
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 15 |
1 files changed, 7 insertions, 8 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index b4cb613b..96017d52 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -66,7 +66,6 @@ void Tracker::run() {
{
- refreshVideo();
QMutexLocker lock(&mutex);
if (should_quit)
break;
@@ -84,14 +83,16 @@ void Tracker::run() const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, draw_frame);
tracking_valid = point_tracker.track(points, camera.get_info().f, dt);
frame_count++;
+ fresh = true;
}
#ifdef PT_PERF_LOG
log_stream<<"dt: "<<dt;
if (!frame.empty()) log_stream<<" fps: "<<camera.get_info().fps;
log_stream<<"\n";
#endif
+ refreshVideo();
}
- msleep(sleep_time);
+ msleep(sleep_time);
}
qDebug()<<"Tracker:: Thread stopping";
@@ -143,12 +144,12 @@ void Tracker::center() void Tracker::refreshVideo()
{
- if (video_widget)
+ if (video_widget && fresh)
{
Mat frame_copy;
std::auto_ptr< vector<Vec2f> > points;
{
- QMutexLocker lock(&mutex);
+//QMutexLocker lock(&mutex);
if (!draw_frame || frame.empty()) return;
// copy the frame and points from the tracker thread
@@ -157,8 +158,7 @@ void Tracker::refreshVideo() }
video_widget->update_image(frame_copy, points);
- fresh = true;
- }
+ }
}
void Tracker::StartTracker(QFrame* videoframe)
@@ -194,7 +194,6 @@ void Tracker::paint_widget() { bool Tracker::GiveHeadPoseData(THeadPoseData *data)
{
- refreshVideo();
const float rad2deg = 180.0/3.14159265;
const float deg2rad = 1.0/rad2deg;
{
@@ -245,7 +244,7 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data) data->yaw = rad2deg * alpha;
}
if (bEnablePitch) {
- data->pitch = -rad2deg * beta;
+ data->pitch = rad2deg * beta;
}
if (bEnableRoll) {
data->roll = rad2deg * gamma;
|