diff options
| -rw-r--r-- | tracker-easy/tracker-easy.cpp | 113 | ||||
| -rw-r--r-- | tracker-easy/tracker-easy.h | 28 |
2 files changed, 132 insertions, 9 deletions
diff --git a/tracker-easy/tracker-easy.cpp b/tracker-easy/tracker-easy.cpp index 220765cc..3f0855a0 100644 --- a/tracker-easy/tracker-easy.cpp +++ b/tracker-easy/tracker-easy.cpp @@ -129,7 +129,7 @@ namespace EasyTracker // We are converting them from millimeters to centimeters. // TODO: Need to support clip too. That's cap only for now. iModel.clear(); - if (iSettings.active_model_panel == Custom) + if (iSettings.active_model_panel == Model::Custom) { iModel.push_back(cv::Point3f(iSettings.iVertexTopX / 10.0, iSettings.iVertexTopY / 10.0, iSettings.iVertexTopZ / 10.0)); // Top iModel.push_back(cv::Point3f(iSettings.iVertexRightX / 10.0, iSettings.iVertexRightY / 10.0, iSettings.iVertexRightZ / 10.0)); // Right @@ -195,6 +195,102 @@ namespace EasyTracker void Tracker::MatchFiveVertices(int& aTopIndex, int& aRightIndex, int& aLeftIndex, int& aTopRight, int& aTopLeft) { + //Bitmap origin is top left + iTrackedPoints.clear(); + + int vertexIndices[] = { -1,-1,-1,-1,-1 }; + std::vector<int> indices = { 0,1,2,3,4 }; + + // Tracked points must match the order of the object model points. + // Find top most point, that's the one with min Y as we assume our guy's head is not up side down + int minY = std::numeric_limits<int>::max(); + for (int i = 0; i < iPoints.size(); i++) + { + if (iPoints[i].y < minY) + { + minY = iPoints[i].y; + vertexIndices[VertexPosition::Top] = i; + } + } + indices.erase(std::find(indices.begin(), indices.end(), vertexIndices[VertexPosition::Top])); + + // Find right most point + int maxX = 0; + for (int i = 0; i < iPoints.size(); i++) + { + // Excluding top most point + if (i != vertexIndices[VertexPosition::Top] && iPoints[i].x > maxX) + { + maxX = iPoints[i].x; + vertexIndices[VertexPosition::Right] = i; + } + } + indices.erase(std::find(indices.begin(), indices.end(), vertexIndices[VertexPosition::Right])); + + // Find left most point + int minX = std::numeric_limits<int>::max(); + for (int i = 0; i < iPoints.size(); i++) + { + // Excluding top most point and right most point + if (i != vertexIndices[VertexPosition::Top] && i != vertexIndices[VertexPosition::Right] && iPoints[i].x < minX) + { + minX = iPoints[i].x; + vertexIndices[VertexPosition::Left] = i; + } + } + indices.erase(std::find(indices.begin(), indices.end(), vertexIndices[VertexPosition::Left])); + + // Check which of our two remaining points is on the left + int leftIndex = -1; + int rightIndex = -1; + if (iPoints[indices[0]].x > iPoints[indices[1]].x) + { + leftIndex = indices[1]; + rightIndex = indices[0]; + } + else + { + leftIndex = indices[0]; + rightIndex = indices[1]; + } + + // Check which of the left points is at the top + if (iPoints[vertexIndices[VertexPosition::Left]].y < iPoints[leftIndex].y) + { + vertexIndices[VertexPosition::TopLeft] = vertexIndices[VertexPosition::Left]; + vertexIndices[VertexPosition::Left] = leftIndex; + } + else + { + vertexIndices[VertexPosition::TopLeft] = leftIndex; + } + + // Check which of the right points is at the top + if (iPoints[vertexIndices[VertexPosition::Right]].y < iPoints[rightIndex].y) + { + vertexIndices[VertexPosition::TopRight] = vertexIndices[VertexPosition::Right]; + vertexIndices[VertexPosition::Right] = rightIndex; + } + else + { + vertexIndices[VertexPosition::TopRight] = rightIndex; + } + + + // Order matters, see UpdateModel function + iTrackedPoints.push_back(iPoints[vertexIndices[VertexPosition::Top]]); + iTrackedPoints.push_back(iPoints[vertexIndices[VertexPosition::Right]]); + iTrackedPoints.push_back(iPoints[vertexIndices[VertexPosition::Left]]); + iTrackedPoints.push_back(iPoints[vertexIndices[VertexPosition::TopRight]]); + iTrackedPoints.push_back(iPoints[vertexIndices[VertexPosition::TopLeft]]); + + // + aTopIndex = vertexIndices[VertexPosition::Top]; + aRightIndex = vertexIndices[VertexPosition::Right]; + aLeftIndex = vertexIndices[VertexPosition::Left]; + aTopRight = vertexIndices[VertexPosition::TopRight]; + aTopLeft = vertexIndices[VertexPosition::TopLeft]; + } @@ -260,8 +356,6 @@ namespace EasyTracker // We are tracking more than 3 points iTrackedPoints.push_back(iPoints[aCenterIndex]); } - - } @@ -474,6 +568,19 @@ namespace EasyTracker iPreview.DrawCross(iPoints[centerPointIndex], color); } + if (topRightPointIndex != -1) + { + static const cv::Scalar color(0, 0, 255); // Red + iPreview.DrawCross(iPoints[topRightPointIndex], color); + } + + if (topLeftPointIndex != -1) + { + static const cv::Scalar color(255, 255, 0); // Cyan + iPreview.DrawCross(iPoints[topLeftPointIndex], color); + } + + // Render our deadzone rects for (const cv::Rect& rect : iTrackedRects) { diff --git a/tracker-easy/tracker-easy.h b/tracker-easy/tracker-easy.h index e1dcee55..d99d4662 100644 --- a/tracker-easy/tracker-easy.h +++ b/tracker-easy/tracker-easy.h @@ -33,13 +33,29 @@ namespace EasyTracker { - // Order matters, it must match the order of the UI tabs - enum ModelType + namespace VertexPosition { - Clip, - Cap, - Custom - }; + enum Type + { + Top = 0, + Right, + Left, + TopRight, + TopLeft, + Center + }; + } + + namespace Model + { + // Order matters, it must match the order of the UI tabs + enum Type + { + Clip, + Cap, + Custom + }; + } static const QString KModuleName = "tracker-easy"; |