diff options
Diffstat (limited to 'tracker-easy/tracker-easy.cpp')
| -rw-r--r-- | tracker-easy/tracker-easy.cpp | 108 |
1 files changed, 89 insertions, 19 deletions
diff --git a/tracker-easy/tracker-easy.cpp b/tracker-easy/tracker-easy.cpp index 31c604c9..0487d031 100644 --- a/tracker-easy/tracker-easy.cpp +++ b/tracker-easy/tracker-easy.cpp @@ -154,8 +154,13 @@ namespace EasyTracker // 5 - Radial fourth order // 6 - Radial fifth order // 7 - Radial sixth order - for (unsigned k = 0; k < 8; k++) - iDistCoeffsMatrix(k) = (double)iCameraInfo.dist_c[k]; + // + // SL: Using distortion coefficients in this way is breaking our face tracking output. + // Just disable them for now until we invest time and effort to work it out. + // For our face tracking use case not having proper distortion coefficients ain't a big deal anyway + // See issues #1141 and #1020 + //for (unsigned k = 0; k < 8; k++) + // iDistCoeffsMatrix(k) = (double)iCameraInfo.dist_c[k]; } @@ -165,10 +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); + } } @@ -183,7 +193,7 @@ namespace EasyTracker // 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++) + for (int i = 0; i < (int)iPoints.size(); i++) { if (iPoints[i].y < minY) { @@ -195,7 +205,7 @@ namespace EasyTracker // Find right most point int maxX = 0; - for (int i = 0; i < iPoints.size(); i++) + for (int i = 0; i < (int)iPoints.size(); i++) { // Excluding top most point if (i != vertexIndices[VertexPosition::Top] && iPoints[i].x > maxX) @@ -208,7 +218,7 @@ namespace EasyTracker // Find left most point int minX = std::numeric_limits<int>::max(); - for (int i = 0; i < iPoints.size(); i++) + for (int i = 0; i < (int)iPoints.size(); i++) { // Excluding top most point and right most point if (i != vertexIndices[VertexPosition::Top] && i != vertexIndices[VertexPosition::Right] && iPoints[i].x < minX) @@ -281,7 +291,7 @@ namespace EasyTracker // 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++) + for (int i = 0; i < (int)iPoints.size(); i++) { if (iPoints[i].y < minY) { @@ -294,7 +304,7 @@ namespace EasyTracker int maxX = 0; // Find right most point - for (int i = 0; i < iPoints.size(); i++) + for (int i = 0; i < (int)iPoints.size(); i++) { // Excluding top most point if (i != aTopIndex && iPoints[i].x > maxX) @@ -306,7 +316,7 @@ namespace EasyTracker // Find left most point int minX = std::numeric_limits<int>::max(); - for (int i = 0; i < iPoints.size(); i++) + for (int i = 0; i < (int)iPoints.size(); i++) { // Excluding top most point and right most point if (i != aTopIndex && i != aRightIndex && iPoints[i].x < minX) @@ -317,7 +327,7 @@ namespace EasyTracker } // Find center point, the last one - for (int i = 0; i < iPoints.size(); i++) + for (int i = 0; i < (int)iPoints.size(); i++) { // Excluding the three points we already have if (i != aTopIndex && i != aRightIndex && i != aLeftIndex) @@ -337,7 +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]); + } + + /// /// @@ -720,18 +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"; |