diff options
Diffstat (limited to 'tracker-easy/tracker-easy.cpp')
| -rw-r--r-- | tracker-easy/tracker-easy.cpp | 115 |
1 files changed, 83 insertions, 32 deletions
diff --git a/tracker-easy/tracker-easy.cpp b/tracker-easy/tracker-easy.cpp index e0ab5f7c..199bf95a 100644 --- a/tracker-easy/tracker-easy.cpp +++ b/tracker-easy/tracker-easy.cpp @@ -48,7 +48,12 @@ namespace EasyTracker // We could not get this working, nevermind //connect(&iSettings.cam_fps, value_::value_changed<int>(), this, &Tracker::SetFps, Qt::DirectConnection); + // Make sure deadzones are updated whenever the settings are changed + connect(&iSettings.DeadzoneRectHalfEdgeSize, value_::value_changed<int>(), this, &Tracker::UpdateDeadzones, Qt::DirectConnection); + CreateModelFromSettings(); + + UpdateDeadzones(iSettings.DeadzoneRectHalfEdgeSize); } Tracker::~Tracker() @@ -198,47 +203,79 @@ namespace EasyTracker iTrackedPoints.push_back(iPoints[leftPointIndex]); iTrackedPoints.push_back(iPoints[topPointIndex]); - dbgout << "Object: " << iModel << "\n"; - dbgout << "Points: " << iTrackedPoints << "\n"; + bool movedEnough = true; + // Check if we moved enough since last time we were here + // This is our deadzone management + if (iSettings.DeadzoneRectHalfEdgeSize != 0 // Check if deazones are enabled + && iTrackedRects.size() == iTrackedPoints.size()) + { + movedEnough = false; + for (size_t i = 0; i < iTrackedPoints.size(); i++) + { + if (!iTrackedRects[i].contains(iTrackedPoints[i])) + { + movedEnough = true; + break; + } + } + } + + if (movedEnough) + { + // Build deadzone rectangles if needed + iTrackedRects.clear(); + if (iSettings.DeadzoneRectHalfEdgeSize != 0) // Check if deazones are enabled + { + for (const cv::Point& pt : iTrackedPoints) + { + cv::Rect rect(pt - cv::Point(iDeadzoneHalfEdge, iDeadzoneHalfEdge), cv::Size(iDeadzoneEdge, iDeadzoneEdge)); + iTrackedRects.push_back(rect); + } + } + + dbgout << "Object: " << iModel << "\n"; + dbgout << "Points: " << iTrackedPoints << "\n"; - // TODO: try SOLVEPNP_AP3P too, make it a settings option? - iAngles.clear(); - iBestSolutionIndex = -1; - int solutionCount = cv::solveP3P(iModel, iTrackedPoints, iCameraMatrix, iDistCoeffsMatrix, iRotations, iTranslations, cv::SOLVEPNP_P3P); - if (solutionCount > 0) - { - dbgout << "Solution count: " << solutionCount << "\n"; - int minPitch = std::numeric_limits<int>::max(); - // Find the solution we want amongst all possible ones - for (int i = 0; i < solutionCount; i++) + // TODO: try SOLVEPNP_AP3P too, make it a settings option? + iAngles.clear(); + iBestSolutionIndex = -1; + int solutionCount = cv::solveP3P(iModel, iTrackedPoints, iCameraMatrix, iDistCoeffsMatrix, iRotations, iTranslations, cv::SOLVEPNP_P3P); + + if (solutionCount > 0) { - dbgout << "Translation:\n"; - dbgout << iTranslations.at(i); - dbgout << "\n"; - dbgout << "Rotation:\n"; - //dbgout << rvecs.at(i); - cv::Mat rotationCameraMatrix; - cv::Rodrigues(iRotations[i], rotationCameraMatrix); - cv::Vec3d angles; - getEulerAngles(rotationCameraMatrix, angles); - iAngles.push_back(angles); - - // Check if pitch is closest to zero - int absolutePitch = std::abs(angles[0]); - if (minPitch > absolutePitch) + dbgout << "Solution count: " << solutionCount << "\n"; + int minPitch = std::numeric_limits<int>::max(); + // Find the solution we want amongst all possible ones + for (int i = 0; i < solutionCount; i++) { - // The solution with pitch closest to zero is the one we want - minPitch = absolutePitch; - iBestSolutionIndex = i; + dbgout << "Translation:\n"; + dbgout << iTranslations.at(i); + dbgout << "\n"; + dbgout << "Rotation:\n"; + //dbgout << rvecs.at(i); + cv::Mat rotationCameraMatrix; + cv::Rodrigues(iRotations[i], rotationCameraMatrix); + cv::Vec3d angles; + getEulerAngles(rotationCameraMatrix, angles); + iAngles.push_back(angles); + + // Check if pitch is closest to zero + int absolutePitch = std::abs(angles[0]); + if (minPitch > absolutePitch) + { + // The solution with pitch closest to zero is the one we want + minPitch = absolutePitch; + iBestSolutionIndex = i; + } + + dbgout << angles; + dbgout << "\n"; } - dbgout << angles; dbgout << "\n"; } - - dbgout << "\n"; } } @@ -274,6 +311,12 @@ namespace EasyTracker iPreview.DrawCross(iPoints[topPointIndex]); } + // Render our deadzone rects + for (const cv::Rect& rect : iTrackedRects) + { + cv::rectangle(iPreview.iFrameRgb,rect,cv::Scalar(255,0,0)); + } + // Show full size preview pop-up if (iSettings.debug) { @@ -397,6 +440,14 @@ namespace EasyTracker iKf.Init(18, 6, 0, dt); } + void Tracker::UpdateDeadzones(int aHalfEdgeSize) + { + QMutexLocker l(¢er_lock); + iDeadzoneHalfEdge = aHalfEdgeSize; + iDeadzoneEdge = iDeadzoneHalfEdge * 2; + iTrackedRects.clear(); + } + module_status Tracker::start_tracker(QFrame* video_frame) { |