diff options
Diffstat (limited to 'tracker-easy/tracker-easy.cpp')
| -rw-r--r-- | tracker-easy/tracker-easy.cpp | 85 |
1 files changed, 75 insertions, 10 deletions
diff --git a/tracker-easy/tracker-easy.cpp b/tracker-easy/tracker-easy.cpp index 85b04026..0487d031 100644 --- a/tracker-easy/tracker-easy.cpp +++ b/tracker-easy/tracker-easy.cpp @@ -170,10 +170,15 @@ namespace EasyTracker { MatchFiveVertices(aTopIndex, aRightIndex, aLeftIndex, aTopRight, aTopLeft); } - else + else if (!iSettings.iClipModelThree) { MatchThreeOrFourVertices(aTopIndex, aRightIndex, aLeftIndex, aCenterIndex); } + else + { + // Clip model + MatchClipVertices(aTopIndex, aRightIndex, aLeftIndex); + } } @@ -342,7 +347,56 @@ namespace EasyTracker } } - + /** + */ + void Tracker::MatchClipVertices(int& aTopIndex, int& aMiddleIndex, int& aBottomIndex) + { + //Bitmap origin is top left + iTrackedPoints.clear(); + // 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 < (int)iPoints.size(); i++) + { + if (iPoints[i].y < minY) + { + minY = iPoints[i].y; + aTopIndex = i; + } + } + + + int maxY = 0; + + // Find bottom most point + for (int i = 0; i < (int)iPoints.size(); i++) + { + // Excluding top most point + if (i != aTopIndex && iPoints[i].y > maxY) + { + maxY = iPoints[i].y; + aBottomIndex = i; + } + } + + + // Find center point, the last one + for (int i = 0; i < (int)iPoints.size(); i++) + { + // Excluding the three points we already have + if (i != aTopIndex && i != aBottomIndex) + { + aMiddleIndex = i; + } + } + + // Order matters + iTrackedPoints.push_back(iPoints[aTopIndex]); + iTrackedPoints.push_back(iPoints[aMiddleIndex]); + iTrackedPoints.push_back(iPoints[aBottomIndex]); + } + + /// /// @@ -725,18 +779,29 @@ namespace EasyTracker // We are converting them from millimeters to centimeters. // TODO: Need to support clip too. That's cap only for now. iModel.clear(); - 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 - iModel.push_back(cv::Point3f(iSettings.iVertexLeftX / 10.0, iSettings.iVertexLeftY / 10.0, iSettings.iVertexLeftZ / 10.0)); // Left - if (iSettings.iCustomModelFour) + if (!iSettings.iClipModelThree) { - iModel.push_back(cv::Point3f(iSettings.iVertexCenterX / 10.0, iSettings.iVertexCenterY / 10.0, iSettings.iVertexCenterZ / 10.0)); // Center + 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 + iModel.push_back(cv::Point3f(iSettings.iVertexLeftX / 10.0, iSettings.iVertexLeftY / 10.0, iSettings.iVertexLeftZ / 10.0)); // Left + + if (iSettings.iCustomModelFour) + { + iModel.push_back(cv::Point3f(iSettings.iVertexCenterX / 10.0, iSettings.iVertexCenterY / 10.0, iSettings.iVertexCenterZ / 10.0)); // Center + } + else if (iSettings.iCustomModelFive) + { + iModel.push_back(cv::Point3f(iSettings.iVertexTopRightX / 10.0, iSettings.iVertexTopRightY / 10.0, iSettings.iVertexTopRightZ / 10.0)); // Top Right + iModel.push_back(cv::Point3f(iSettings.iVertexTopLeftX / 10.0, iSettings.iVertexTopLeftY / 10.0, iSettings.iVertexTopLeftZ / 10.0)); // Top Left + } } - else if (iSettings.iCustomModelFive) + else { - iModel.push_back(cv::Point3f(iSettings.iVertexTopRightX / 10.0, iSettings.iVertexTopRightY / 10.0, iSettings.iVertexTopRightZ / 10.0)); // Top Right - iModel.push_back(cv::Point3f(iSettings.iVertexTopLeftX / 10.0, iSettings.iVertexTopLeftY / 10.0, iSettings.iVertexTopLeftZ / 10.0)); // Top Left + // Clip model type + iModel.push_back(cv::Point3f(iSettings.iVertexClipTopX / 10.0, iSettings.iVertexClipTopY / 10.0, iSettings.iVertexClipTopZ / 10.0)); // Top + iModel.push_back(cv::Point3f(iSettings.iVertexClipMiddleX / 10.0, iSettings.iVertexClipMiddleY / 10.0, iSettings.iVertexClipMiddleZ / 10.0)); // Middle + iModel.push_back(cv::Point3f(iSettings.iVertexClipBottomX / 10.0, iSettings.iVertexClipBottomY / 10.0, iSettings.iVertexClipBottomZ / 10.0)); // Bottom } infout << "Update model - end"; |