diff options
| -rw-r--r-- | tracker-neuralnet/ftnoir_tracker_neuralnet.cpp | 20 |
1 files changed, 17 insertions, 3 deletions
diff --git a/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp b/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp index c8aab8de..62209978 100644 --- a/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp +++ b/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp @@ -273,7 +273,7 @@ quat world_to_image(quat q) return image_to_world(q); } - +// Intersection over union. A value between 0 and 1 which measures the match between the bounding boxes. template<class T> T iou(const cv::Rect_<T> &a, const cv::Rect_<T> &b) { @@ -611,19 +611,33 @@ bool NeuralNetTracker::detect() inference_time_ = inference_time; } }; - // Note: BGR colors! + // If there is no past ROI from the localizer or if the match of its output + // with the current ROI is too poor we have to run it again. This causes a + // latency spike of maybe an additional 50%. But it only occurs when the user + // moves his head far enough - or when the tracking ist lost ... if (!last_localizer_roi_ || !last_roi_ || iou(*last_localizer_roi_,*last_roi_)<0.25) { auto [p, rect] = localizer_->run(grayscale_); inference_time += localizer_->last_inference_time_millis(); - if (p > 0.5 || rect.height < 5 || rect.width < 5) + + if (last_roi_ && iou(rect,*last_roi_)>=0.25 && p > 0.5) + { + // The new ROI matches the result from tracking, so the user is + // still there and to not disturb recurrent models, we only update + // ... + last_localizer_roi_ = rect; + } + else if (p > 0.5 && rect.height > 32 && rect.width > 32) { + // Tracking probably got lost since the ROI's don't match, but the + // localizer still finds a face, so we use the ROI from the localizer last_localizer_roi_ = rect; last_roi_ = rect; } else { + // Tracking lost and no localization result. The user probably can't be seen. last_roi_.reset(); last_localizer_roi_.reset(); } |