diff options
Diffstat (limited to 'tracker-pt')
| -rw-r--r-- | tracker-pt/numeric.hpp | 2 | ||||
| -rw-r--r-- | tracker-pt/point_tracker.cpp | 67 |
2 files changed, 66 insertions, 3 deletions
diff --git a/tracker-pt/numeric.hpp b/tracker-pt/numeric.hpp index c9a553f3..4761af1d 100644 --- a/tracker-pt/numeric.hpp +++ b/tracker-pt/numeric.hpp @@ -9,7 +9,7 @@ namespace types { struct constants final { constants() = delete; - static constexpr f eps = f(1e-6); + static constexpr f eps = f(1e-8); }; template<int n> using vec = cv::Vec<f, n>; diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp index d3ff658d..68e0dfea 100644 --- a/tracker-pt/point_tracker.cpp +++ b/tracker-pt/point_tracker.cpp @@ -83,7 +83,7 @@ void PointModel::get_d_order(const vec2* points, unsigned* d_order, const vec2& } -PointTracker::PointTracker() : init_phase(true) +PointTracker::PointTracker() : init_phase(true), prev_order_valid(false) { } @@ -137,6 +137,68 @@ PointTracker::PointOrder PointTracker::find_correspondences_previous(const vec2* return p; } +bool PointTracker::maybe_use_old_point_order(const PointOrder& order, const CamInfo& info) +{ + static constexpr f std_width = 640, std_height = 480; + + PointOrder scaled_order; + + const f cx = std_width / info.res_x; + const f cy = std_height / info.res_y; + + for (unsigned k = 0; k < 3; k++) + { + // note, the .y component is actually scaled by width + scaled_order[k][0] = std_width * cx * order[k][0]; + scaled_order[k][1] = std_width * cy * order[k][1]; + } + + f sum = 0; + + for (unsigned k = 0; k < 3; k++) + { + vec2 tmp = prev_scaled_order[k] - scaled_order[k]; + sum += std::sqrt(tmp.dot(tmp)); + } + + // CAVEAT don't increase over .3 + static constexpr f max_dist = f(.25); + + const bool validp = sum < max_dist; + + prev_order_valid &= validp; + + if (!prev_order_valid) + { + prev_order = order; + prev_scaled_order = scaled_order; + } + +#if 0 + { + static Timer tt; + static int cnt1 = 0, cnt2 = 0; + if (tt.elapsed_ms() >= 5000) + { + tt.start(); + if (cnt1 + cnt2) + { + qDebug() << "old-order" << ((cnt1 * 100) / f(cnt1 + cnt2)) << "nsamples" << (cnt1 + cnt2); + cnt1 = 0, cnt2 = 0; + } + } + if (validp) + cnt1++; + else + cnt2++; + } +#endif + + prev_order_valid = validp; + + return validp; +} + void PointTracker::track(const std::vector<vec2>& points, const PointModel& model, const CamInfo& info, @@ -157,7 +219,8 @@ void PointTracker::track(const std::vector<vec2>& points, else order = find_correspondences_previous(points.data(), model, info); - if (POSIT(model, order, fx) != -1) + if (maybe_use_old_point_order(order, info) || + POSIT(model, order, fx) != -1) { init_phase = false; t.start(); |