From 45e48310779c8adec67de7cf76328aa7bd034466 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Fri, 20 Jan 2023 13:50:43 +0100
Subject: tracker/nn: try fixing center on startup

---
 tracker-neuralnet/ftnoir_tracker_neuralnet.cpp | 10 +++++++---
 tracker-neuralnet/ftnoir_tracker_neuralnet.h   |  3 ++-
 2 files changed, 9 insertions(+), 4 deletions(-)

(limited to 'tracker-neuralnet')

diff --git a/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp b/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp
index e9a490fa..d8077326 100644
--- a/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp
+++ b/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp
@@ -353,7 +353,7 @@ bool NeuralNetTracker::detect()
         last_pose_affine_ = pose_affine;
     }
 
-    draw_gizmos(*face, last_pose_affine_);
+    draw_gizmos(*face, pose_affine);
 
     return true;
 }
@@ -652,12 +652,16 @@ void NeuralNetTracker::update_fps(double dt)
 
 void NeuralNetTracker::data(double *data)
 {
-    Affine tmp = [&]()
+    auto tmp2 = [&]()
     {
         QMutexLocker lck(&mtx_);
         return last_pose_affine_;
     }();
 
+    if (!tmp2)
+        return;
+    const auto& tmp = *tmp2;
+
     const auto& mx = tmp.R.col(0);
     const auto& my = tmp.R.col(1);
     const auto& mz = -tmp.R.col(2);
@@ -682,7 +686,7 @@ void NeuralNetTracker::data(double *data)
 Affine NeuralNetTracker::pose()
 {
     QMutexLocker lck(&mtx_);
-    return last_pose_affine_;
+    return last_pose_affine_ ? *last_pose_affine_ : Affine{};
 }
 
 std::tuple<cv::Size,double, double> NeuralNetTracker::stats() const
diff --git a/tracker-neuralnet/ftnoir_tracker_neuralnet.h b/tracker-neuralnet/ftnoir_tracker_neuralnet.h
index 3548335e..df71a7a8 100644
--- a/tracker-neuralnet/ftnoir_tracker_neuralnet.h
+++ b/tracker-neuralnet/ftnoir_tracker_neuralnet.h
@@ -31,6 +31,7 @@
 #include <memory>
 #include <cinttypes>
 #include <array>
+#include <optional>
 
 #include <opencv2/core.hpp>
 #include <opencv2/imgproc.hpp>
@@ -151,7 +152,7 @@ private:
 
     QMutex mtx_ = {}; // Protects the pose
     std::optional<QuatPose> last_pose_ = {};
-    Affine last_pose_affine_ = {};
+    std::optional<Affine> last_pose_affine_ = {};
 
     Preview preview_;
     std::unique_ptr<cv_video_widget> video_widget_;
-- 
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