diff options
Diffstat (limited to 'FTNoIR_Tracker_PT')
| -rw-r--r-- | FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 17 |
1 files changed, 16 insertions, 1 deletions
diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index 53d9c9e4..39825168 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -82,7 +82,22 @@ void Tracker::run() if (new_frame && !frame.empty())
{
frame = frame_rotation.rotate_frame(frame);
- const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, false);
+ const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, true);
+ for (auto p : points)
+ {
+ auto p2 = cv::Point(p[0] * frame.cols + frame.cols/2, -p[1] * frame.cols + frame.rows/2);
+ cv::Scalar color(0, 255, 0);
+ cv::line(frame,
+ cv::Point(p2.x - 20, p2.y),
+ cv::Point(p2.x + 20, p2.y),
+ color,
+ 4);
+ cv::line(frame,
+ cv::Point(p2.x, p2.y - 20),
+ cv::Point(p2.x, p2.y + 20),
+ color,
+ 4);
+ }
tracking_valid = point_tracker.track(points, camera.get_info().f, dt);
video_widget->update_image(frame);
}
|