/* ------------------------------------------------------------------------------------ */
geXForm3d CCameraManager::ViewPoint()
{
geXForm3d theViewPoint;
TrackMotion();
// changed QD 10715/05
//geXForm3d_SetIdentity(&theViewPoint); // Clear the matrix
//geXForm3d_RotateZ(&theViewPoint, Rotation.Z); // Rotate then translate
geXForm3d_SetZRotation(&theViewPoint, Rotation.Z);
// end change
geXForm3d_RotateX(&theViewPoint, Rotation.X);
geXForm3d_RotateY(&theViewPoint, Rotation.Y);
geXForm3d_Translate(&theViewPoint, Translation.X, Translation.Y, Translation.Z);
return theViewPoint;
}
bool CVisionPipeline::ProcessImage (CIplImage& image, float& xVel, float& yVel)
{
AllocWorkingSpace (image);
// TODO: fine grained synchronization
m_imageCopyMutex.Enter();
TrackMotion (image, xVel, yVel);
// Store current image as previous
m_imgPrev.Swap (&m_imgCurr);
m_imageCopyMutex.Leave();
// Notifies face detection thread when needed
if (m_trackFace) {
m_trackArea.SetDegradation(255 - m_trackAreaTimeout.PercentagePassed() * 255 / 100);
m_condition.Signal();
}
if (m_trackFace && m_enableWhenFaceDetected && !IsFaceDetected())
return false;
else
return true;
}
