diff options
Diffstat (limited to 'tracker-easy/tracker-easy.cpp')
| -rw-r--r-- | tracker-easy/tracker-easy.cpp | 58 |
1 files changed, 30 insertions, 28 deletions
diff --git a/tracker-easy/tracker-easy.cpp b/tracker-easy/tracker-easy.cpp index 1bb6b5e1..e13bdf37 100644 --- a/tracker-easy/tracker-easy.cpp +++ b/tracker-easy/tracker-easy.cpp @@ -118,33 +118,6 @@ namespace EasyTracker } /// - /// Create our model from settings specifications - /// - void Tracker::UpdateModel() - { - infout << "Update model"; - - QMutexLocker lock(&iProcessLock); - // Construct the points defining the object we want to detect based on settings. - // 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) - { - 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 - } - } - - /// void Tracker::CreateCameraIntrinsicsMatrices() { // Create our camera matrix @@ -700,6 +673,34 @@ namespace EasyTracker iKf.Init(18, 6, 0, dt); } + + /// + /// Create our model from settings specifications + /// + void Tracker::UpdateModel() + { + infout << "Update model"; + + QMutexLocker lock(&iProcessLock); + // Construct the points defining the object we want to detect based on settings. + // 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) + { + 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 + } + } + /// /// Take a copy of the settings needed by our thread to avoid deadlocks /// @@ -715,6 +716,7 @@ namespace EasyTracker iDebug = iSettings.debug; } + /// module_status Tracker::start_tracker(QFrame* video_frame) { // Check that we support that solver @@ -773,7 +775,7 @@ namespace EasyTracker QMutexLocker l(&iDataLock); // If there was no new data recently then we provide center data. // Basically, if our user remove her hat, we will go back to center position until she puts it back on. - if (iBestTime.elapsed_seconds() > 1) + if (iSettings.iAutoCenter && iBestTime.elapsed_ms() > iSettings.iAutoCenterTimeout) { // Reset to center until we get new data FeedData(aData, iCenterAngles, iCenterTranslation); |