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include/control.h
View file @ bfe7efd3
...@@ -36,6 +36,16 @@ namespace Ui ...@@ -36,6 +36,16 @@ namespace Ui
class Control; class Control;
} }
/**
* @brief struct used for storing intrinsic camera params.
*
* Central place to store this information and easier passing in methods
*/
using IntrinsicCameraParams = struct IntrinsicCameraParams
{
cv::Mat cameraMatrix = cv::Mat::eye(cv::Size(3, 3), CV_64F);
};
class Control : public QWidget class Control : public QWidget
{ {
Q_OBJECT Q_OBJECT
...@@ -124,6 +134,8 @@ public: ...@@ -124,6 +134,8 @@ public:
bool getRecoRoiFix() const; bool getRecoRoiFix() const;
void setRecoRoiFix(bool b); void setRecoRoiFix(bool b);
reco::RecognitionMethod getRecoMethod() const;
bool getTrackRoiShow() const; bool getTrackRoiShow() const;
void setTrackRoiShow(bool b); void setTrackRoiShow(bool b);
bool getTrackRoiFix() const; bool getTrackRoiFix() const;
...@@ -348,6 +360,13 @@ public: ...@@ -348,6 +360,13 @@ public:
bool isExportCommentChecked() const; bool isExportCommentChecked() const;
/**
* @brief Get read-only IntrinsicCameraParams.
*
* The params can be changed by setting its content e.g. camera params (fx, fy, cx, cy) directly
*/
inline IntrinsicCameraParams getIntrinsicCameraParams() const { return mIntrinsicCameraParams; }
#ifdef QWT #ifdef QWT
AnalysePlot *getAnalysePlot() const; AnalysePlot *getAnalysePlot() const;
#endif #endif
...@@ -363,9 +382,6 @@ public: ...@@ -363,9 +382,6 @@ public:
return mMainWindow; return mMainWindow;
} }
private:
reco::RecognitionMethod getRecoMethod() const;
private slots: private slots:
void on_anaCalculate_clicked(); void on_anaCalculate_clicked();
...@@ -717,10 +733,11 @@ signals: ...@@ -717,10 +733,11 @@ signals:
void userChangedRecoMethod(reco::RecognitionMethod method); void userChangedRecoMethod(reco::RecognitionMethod method);
private: private:
Petrack *mMainWindow; Petrack *mMainWindow;
Ui::Control *mUi; Ui::Control *mUi;
QGraphicsScene *mScene; IntrinsicCameraParams mIntrinsicCameraParams;
bool mColorChanging; QGraphicsScene *mScene;
bool mColorChanging;
bool mIndexChanging; // shows, if the index of the color model is really changing; nor while constructor (initialer bool mIndexChanging; // shows, if the index of the color model is really changing; nor while constructor (initialer
// durchlauf) and may be while loading xml file // durchlauf) and may be while loading xml file
bool mLoading; // shows, if new project is just loading bool mLoading; // shows, if new project is just loading
......
include/petrack.h
View file @ bfe7efd3
...@@ -109,6 +109,7 @@ public: ...@@ -109,6 +109,7 @@ public:
~Petrack(); ~Petrack();
static int trcVersion; // version numbr for writing TRC-Trajectorie files static int trcVersion; // version numbr for writing TRC-Trajectorie files
protected: protected:
void closeEvent(QCloseEvent *event); void closeEvent(QCloseEvent *event);
......
include/recognition.h
View file @ bfe7efd3
...@@ -27,12 +27,14 @@ ...@@ -27,12 +27,14 @@
#include <QObject> #include <QObject>
#include <opencv2/aruco.hpp> #include <opencv2/aruco.hpp>
class TrackPoint; class TrackPoint;
class QRect; class QRect;
class BackgroundFilter; class BackgroundFilter;
class Control; class Control;
class ImageItem; class ImageItem;
class CodeMarkerItem; class CodeMarkerItem;
struct IntrinsicCameraParams;
namespace reco namespace reco
{ {
...@@ -183,6 +185,7 @@ signals: ...@@ -183,6 +185,7 @@ signals:
void indexOfMarkerDictChanged(); void indexOfMarkerDictChanged();
}; };
class Recognizer : public QObject class Recognizer : public QObject
{ {
Q_OBJECT Q_OBJECT
...@@ -195,8 +198,13 @@ private: ...@@ -195,8 +198,13 @@ private:
RecognitionMethod mRecoMethod = RecognitionMethod::MultiColor; RecognitionMethod mRecoMethod = RecognitionMethod::MultiColor;
public: public:
QList<TrackPoint> QList<TrackPoint> getMarkerPos(
getMarkerPos(cv::Mat &img, QRect &roi, Control *controlWidget, int borderSize, BackgroundFilter *bgFilter); cv::Mat &img,
QRect &roi,
Control *controlWidget,
int borderSize,
BackgroundFilter *bgFilter,
const IntrinsicCameraParams &intrinsicCameraParams);
RecognitionMethod getRecoMethod() const { return mRecoMethod; } RecognitionMethod getRecoMethod() const { return mRecoMethod; }
CodeMarkerOptions &getCodeMarkerOptions() { return mCodeMarkerOptions; } CodeMarkerOptions &getCodeMarkerOptions() { return mCodeMarkerOptions; }
...@@ -285,10 +293,11 @@ namespace detail ...@@ -285,10 +293,11 @@ namespace detail
QList<TrackPoint> &crossList, QList<TrackPoint> &crossList,
const BlackDotOptions &options); const BlackDotOptions &options);
void refineWithAruco( void refineWithAruco(
std::vector<ColorBlob> &blobs, std::vector<ColorBlob> &blobs,
const cv::Mat &img, const cv::Mat &img,
QList<TrackPoint> &crossList, QList<TrackPoint> &crossList,
ArucoOptions &options); ArucoOptions &options,
const IntrinsicCameraParams &intrinsicCameraParams);
void resolveMoreThanOneCode( void resolveMoreThanOneCode(
const int lengthini, const int lengthini,
...@@ -297,10 +306,11 @@ namespace detail ...@@ -297,10 +306,11 @@ namespace detail
const Vec2F offset); const Vec2F offset);
void findCodeMarker( void findCodeMarker(
cv::Mat &img, cv::Mat &img,
QList<TrackPoint> &crossList, QList<TrackPoint> &crossList,
RecognitionMethod recoMethod, RecognitionMethod recoMethod,
const CodeMarkerOptions &opt); const CodeMarkerOptions &opt,
const IntrinsicCameraParams &intrinsicCameraParams);
cv::Ptr<cv::aruco::Dictionary> getDictMip36h12(); cv::Ptr<cv::aruco::Dictionary> getDictMip36h12();
} // namespace detail } // namespace detail
} // namespace reco } // namespace reco
......
include/tracker.h
View file @ bfe7efd3
...@@ -59,6 +59,8 @@ private: ...@@ -59,6 +59,8 @@ private:
int mMarkerID; // ID of detected Marker int mMarkerID; // ID of detected Marker
Vec3F mSp; // measured 3d point with stereo // mZdistanceToCam; // distance in z direction to camera - measured with Vec3F mSp; // measured 3d point with stereo // mZdistanceToCam; // distance in z direction to camera - measured with
// stereo // stereo
cv::Vec3d
mOrientation; // orientation of marker i. e. head direction if the marker is placed facing that way (aruco)
public: public:
TrackPoint(); TrackPoint();
...@@ -68,16 +70,18 @@ public: ...@@ -68,16 +70,18 @@ public:
TrackPoint(const Vec2F &p, int qual, const QColor &col); TrackPoint(const Vec2F &p, int qual, const QColor &col);
TrackPoint(const Vec2F &p, int qual, const Vec2F &colPoint, const QColor &col); TrackPoint(const Vec2F &p, int qual, const Vec2F &colPoint, const QColor &col);
inline const Vec2F &colPoint() const { return mColPoint; } inline const Vec2F &colPoint() const { return mColPoint; }
inline void setColPoint(Vec2F &cp) { mColPoint = cp; } inline void setColPoint(Vec2F &cp) { mColPoint = cp; }
inline const QColor &color() const { return mCol; } inline const QColor &color() const { return mCol; }
inline void setColor(QColor &col) { mCol = col; } inline void setColor(QColor &col) { mCol = col; }
inline void setColPoint(const Vec2F &colPoint) { mColPoint = colPoint; } inline void setColPoint(const Vec2F &colPoint) { mColPoint = colPoint; }
inline void setCol(const QColor &col) { mCol = col; } inline void setCol(const QColor &col) { mCol = col; }
inline int qual() const { return mQual; } inline int qual() const { return mQual; }
inline void setQual(int qual) { mQual = qual; } inline void setQual(int qual) { mQual = qual; }
inline int getMarkerID() const { return mMarkerID; } inline int getMarkerID() const { return mMarkerID; }
inline void setMarkerID(int markerID) { mMarkerID = markerID; } inline void setMarkerID(int markerID) { mMarkerID = markerID; }
inline const cv::Vec3d &getOrientation() const { return mOrientation; }
inline void setOrientation(const cv::Vec3d &orientation) { mOrientation = orientation; }
inline const Vec3F &sp() const { return mSp; } inline const Vec3F &sp() const { return mSp; }
inline void setSp(const Vec3F &sp) { mSp = sp; } inline void setSp(const Vec3F &sp) { mSp = sp; }
......
include/trackerReal.h
View file @ bfe7efd3
...@@ -56,6 +56,7 @@ public: ...@@ -56,6 +56,7 @@ public:
inline void setAngleOfView(float a) { mAngleOfView = a; } inline void setAngleOfView(float a) { mAngleOfView = a; }
inline int getMarkerID() const { return mMarkerID; } inline int getMarkerID() const { return mMarkerID; }
inline void setMarkerID(int markerID) { mMarkerID = markerID; } inline void setMarkerID(int markerID) { mMarkerID = markerID; }
inline void setViewDirection(const Vec2F &dir) { mViewDir = dir; }
}; };
inline QTextStream &operator<<(QTextStream &s, const TrackPointReal &tp) inline QTextStream &operator<<(QTextStream &s, const TrackPointReal &tp)
......
src/control.cpp
View file @ bfe7efd3
...@@ -2536,6 +2536,7 @@ void Control::on_apply_stateChanged(int i) ...@@ -2536,6 +2536,7 @@ void Control::on_apply_stateChanged(int i)
void Control::on_fx_valueChanged(double d) void Control::on_fx_valueChanged(double d)
{ {
mIntrinsicCameraParams.cameraMatrix.at<double>(0, 0) = d;
mMainWindow->getCalibFilter()->getFx()->setValue(d); mMainWindow->getCalibFilter()->getFx()->setValue(d);
if(mUi->quadAspectRatio->isChecked()) if(mUi->quadAspectRatio->isChecked())
{ {
...@@ -2551,6 +2552,7 @@ void Control::on_fx_valueChanged(double d) ...@@ -2551,6 +2552,7 @@ void Control::on_fx_valueChanged(double d)
void Control::on_fy_valueChanged(double d) void Control::on_fy_valueChanged(double d)
{ {
mIntrinsicCameraParams.cameraMatrix.at<double>(1, 1) = d;
mMainWindow->getCalibFilter()->getFy()->setValue(d); mMainWindow->getCalibFilter()->getFy()->setValue(d);
if(!mMainWindow->isLoading()) if(!mMainWindow->isLoading())
{ {
...@@ -2562,6 +2564,7 @@ void Control::on_fy_valueChanged(double d) ...@@ -2562,6 +2564,7 @@ void Control::on_fy_valueChanged(double d)
void Control::on_cx_valueChanged(double d) void Control::on_cx_valueChanged(double d)
{ {
mIntrinsicCameraParams.cameraMatrix.at<double>(0, 2) = d;
mMainWindow->setStatusPosReal(); mMainWindow->setStatusPosReal();
mMainWindow->getCalibFilter()->getCx()->setValue(d); mMainWindow->getCalibFilter()->getCx()->setValue(d);
if(!mMainWindow->isLoading()) if(!mMainWindow->isLoading())
...@@ -2573,6 +2576,7 @@ void Control::on_cx_valueChanged(double d) ...@@ -2573,6 +2576,7 @@ void Control::on_cx_valueChanged(double d)
void Control::on_cy_valueChanged(double d) void Control::on_cy_valueChanged(double d)
{ {
mIntrinsicCameraParams.cameraMatrix.at<double>(1, 2) = d;
mMainWindow->setStatusPosReal(); mMainWindow->setStatusPosReal();
mMainWindow->getCalibFilter()->getCy()->setValue(d); mMainWindow->getCalibFilter()->getCy()->setValue(d);
if(!mMainWindow->isLoading()) if(!mMainWindow->isLoading())
......
src/petrack.cpp
View file @ bfe7efd3
...@@ -3359,6 +3359,7 @@ void Petrack::updateImage(bool imageChanged) // default = false (only true for n ...@@ -3359,6 +3359,7 @@ void Petrack::updateImage(bool imageChanged) // default = false (only true for n
{ {
updateControlImage(mImgFiltered); updateControlImage(mImgFiltered);
} }
#ifndef STEREO_DISABLED #ifndef STEREO_DISABLED
if(imageChanged || swapChanged || brightContrastChanged || borderChanged || calibChanged) if(imageChanged || swapChanged || brightContrastChanged || borderChanged || calibChanged)
{ {
...@@ -3539,7 +3540,12 @@ void Petrack::updateImage(bool imageChanged) // default = false (only true for n ...@@ -3539,7 +3540,12 @@ void Petrack::updateImage(bool imageChanged) // default = false (only true for n
(recoMethod == reco::RecognitionMethod::Code)) // else (recoMethod == reco::RecognitionMethod::Code)) // else
{ {
persList = mReco.getMarkerPos( persList = mReco.getMarkerPos(
mImgFiltered, rect, mControlWidget, getImageBorderSize(), getBackgroundFilter()); mImgFiltered,
rect,
mControlWidget,
getImageBorderSize(),
getBackgroundFilter(),
mControlWidget->getIntrinsicCameraParams());
} }
#ifndef STEREO_DISABLED #ifndef STEREO_DISABLED
if(mStereoContext && mStereoWidget->stereoUseForReco->isChecked()) if(mStereoContext && mStereoWidget->stereoUseForReco->isChecked())
......
src/recognition.cpp
View file @ bfe7efd3
...@@ -604,12 +604,14 @@ void detail::refineWithBlackDot( ...@@ -604,12 +604,14 @@ void detail::refineWithBlackDot(
* @param img img in which the color blobs were detected * @param img img in which the color blobs were detected
* @param crossList list of all detected people * @param crossList list of all detected people
* @param options all options, mostly forwarded from the GUI * @param options all options, mostly forwarded from the GUI
* @param intrinsicCameraParams camera parameters needed to estimate arucomarker orientation
*/ */
void detail::refineWithAruco( void detail::refineWithAruco(
std::vector<ColorBlob> &blobs, std::vector<ColorBlob> &blobs,
const cv::Mat &img, const cv::Mat &img,
QList<TrackPoint> &crossList, QList<TrackPoint> &crossList,
ArucoOptions &options) ArucoOptions &options,
const IntrinsicCameraParams &intrinsicCameraParams)
{ {
constexpr int border = 4; // zusaetzlicher rand um subrects constexpr int border = 4; // zusaetzlicher rand um subrects
...@@ -660,7 +662,7 @@ void detail::refineWithAruco( ...@@ -660,7 +662,7 @@ void detail::refineWithAruco(
// TODO: Use Reference to actual codeMarkerOptions in MulticolorMarkerOptions // TODO: Use Reference to actual codeMarkerOptions in MulticolorMarkerOptions
// NOTE: For now, add as parameter of findMulticolorMarker // NOTE: For now, add as parameter of findMulticolorMarker
codeOpt.setOffsetCropRect2Roi(offsetCropRect2Roi); codeOpt.setOffsetCropRect2Roi(offsetCropRect2Roi);
findCodeMarker(subImg, crossList, options.method, codeOpt); findCodeMarker(subImg, crossList, options.method, codeOpt, intrinsicCameraParams);
resolveMoreThanOneCode(lengthini, crossList, blob, offsetCropRect2Roi); resolveMoreThanOneCode(lengthini, crossList, blob, offsetCropRect2Roi);
...@@ -772,15 +774,17 @@ void detail::resolveMoreThanOneCode( ...@@ -772,15 +774,17 @@ void detail::resolveMoreThanOneCode(
* @param controlWidget * @param controlWidget
* @param ignoreWithoutMarker (is ignored->overwritten by cmWidget->ignoreWithoutDot->isChecked()) * @param ignoreWithoutMarker (is ignored->overwritten by cmWidget->ignoreWithoutDot->isChecked())
* @param offset * @param offset
* @param intrinsicCameraParams needed for aruco-refinement
*/ */
void findMultiColorMarker( void findMultiColorMarker(
cv::Mat &img, cv::Mat &img,
QList<TrackPoint> &crossList, QList<TrackPoint> &crossList,
Control *controlWidget, Control *controlWidget,
bool ignoreWithoutMarker, bool ignoreWithoutMarker,
Vec2F &offset, Vec2F &offset,
RecognitionMethod method, RecognitionMethod method,
CodeMarkerOptions &codeOpt) CodeMarkerOptions &codeOpt,
const IntrinsicCameraParams &intrinsicCameraParams)
{ {
Petrack *mainWindow = controlWidget->getMainWindow(); Petrack *mainWindow = controlWidget->getMainWindow();
MultiColorMarkerItem *cmItem = mainWindow->getMultiColorMarkerItem(); MultiColorMarkerItem *cmItem = mainWindow->getMultiColorMarkerItem();
...@@ -876,7 +880,7 @@ void findMultiColorMarker( ...@@ -876,7 +880,7 @@ void findMultiColorMarker(
controlWidget, ignoreWithoutMarker, autoCorrect, autoCorrectOnlyExport, method, codeOpt}; controlWidget, ignoreWithoutMarker, autoCorrect, autoCorrectOnlyExport, method, codeOpt};
// adds to crosslist // adds to crosslist
refineWithAruco(blobs, img, crossList, options); refineWithAruco(blobs, img, crossList, options, intrinsicCameraParams);
} }
else else
{ {
...@@ -1021,12 +1025,15 @@ void findColorMarker(cv::Mat &img, QList<TrackPoint> &crossList, Control *contro ...@@ -1021,12 +1025,15 @@ void findColorMarker(cv::Mat &img, QList<TrackPoint> &crossList, Control *contro
* @param img * @param img
* @param crossList[out] list of detected TrackPoints * @param crossList[out] list of detected TrackPoints
* @param controlWidget * @param controlWidget
* @param opt arucomarker parameters used for detection
* @param intrinsicCameraParams used for estimating arucomarker orientation
*/ */
void detail::findCodeMarker( void detail::findCodeMarker(
cv::Mat &img, cv::Mat &img,
QList<TrackPoint> &crossList, QList<TrackPoint> &crossList,
RecognitionMethod recoMethod, RecognitionMethod recoMethod,
const CodeMarkerOptions &opt) const CodeMarkerOptions &opt,
const IntrinsicCameraParams &intrinsicCameraParams)
{ {
CodeMarkerItem *codeMarkerItem = opt.getCodeMarkerItem(); CodeMarkerItem *codeMarkerItem = opt.getCodeMarkerItem();
Control *controlWidget = opt.getControlWidget(); Control *controlWidget = opt.getControlWidget();
...@@ -1137,6 +1144,19 @@ void detail::findCodeMarker( ...@@ -1137,6 +1144,19 @@ void detail::findCodeMarker(
codeMarkerItem->addDetectedMarkers(corners, ids, opt.getOffsetCropRect2Roi()); codeMarkerItem->addDetectedMarkers(corners, ids, opt.getOffsetCropRect2Roi());
codeMarkerItem->addRejectedMarkers(rejected, opt.getOffsetCropRect2Roi()); codeMarkerItem->addRejectedMarkers(rejected, opt.getOffsetCropRect2Roi());
if(ids.empty())
{
// if no markers are found return to prevent opencv errors because of empty corners and thus empty rvecs vectors
return;
}
// value only relevant for axis length when drawing axes
float markerLength = (float) opt.getDetectorParams().getMinCornerDistance();
std::vector<cv::Vec3d> rvecs, tvecs;
cv::Mat cameraMatrix = intrinsicCameraParams.cameraMatrix;
cv::Mat distCoeff = cv::Mat::zeros(cv::Size(1, 5), CV_32F);
cv::aruco::estimatePoseSingleMarkers(corners, markerLength, cameraMatrix, distCoeff, rvecs, tvecs);
// detected code markers // detected code markers
for(size_t i = 0; i < ids.size(); i++) for(size_t i = 0; i < ids.size(); i++)
{ {
...@@ -1145,7 +1165,14 @@ void detail::findCodeMarker( ...@@ -1145,7 +1165,14 @@ void detail::findCodeMarker(
double y = double y =
(corners.at(i).at(0).y + corners.at(i).at(1).y + corners.at(i).at(2).y + corners.at(i).at(3).y) * 0.25; (corners.at(i).at(0).y + corners.at(i).at(1).y + corners.at(i).at(2).y + corners.at(i).at(3).y) * 0.25;
crossList.append(TrackPoint(Vec2F(x, y), 100, ids.at(i))); // 100 beste qualitaet cv::Matx<double, 3, 3> rotMat;
cv::Rodrigues(rvecs[i], rotMat);
cv::Vec3d orientation = cv::normalize(rotMat * cv::Vec3d(0, 1, 0));
TrackPoint trackPoint(Vec2F(x, y), 100, ids.at(i)); // 100 beste qualitaet
trackPoint.setOrientation(orientation);
crossList.append(std::move(trackPoint));
} }
} }
...@@ -1290,11 +1317,17 @@ void findContourMarker( ...@@ -1290,11 +1317,17 @@ void findContourMarker(
* @param controlWidget * @param controlWidget
* @param borderSize * @param borderSize
* @param bgFilter * @param bgFilter
* @param intrinsicCameraParams intrinsic parameters of the camera. Used for e.g. estimation of arucomarkers
* *
* @return List of detected TrackPoints * @return List of detected TrackPoints
*/ */
QList<TrackPoint> QList<TrackPoint> Recognizer::getMarkerPos(
Recognizer::getMarkerPos(cv::Mat &img, QRect &roi, Control *controlWidget, int borderSize, BackgroundFilter *bgFilter) cv::Mat &img,
QRect &roi,
Control *controlWidget,
int borderSize,
BackgroundFilter *bgFilter,
const IntrinsicCameraParams &intrinsicCameraParams)
{ {
int markerBrightness = controlWidget->getMarkerBrightness(); int markerBrightness = controlWidget->getMarkerBrightness();
bool ignoreWithoutMarker = controlWidget->isMarkerIgnoreWithoutChecked(); bool ignoreWithoutMarker = controlWidget->isMarkerIgnoreWithoutChecked();
...@@ -1322,13 +1355,20 @@ Recognizer::getMarkerPos(cv::Mat &img, QRect &roi, Control *controlWidget, int b ...@@ -1322,13 +1355,20 @@ Recognizer::getMarkerPos(cv::Mat &img, QRect &roi, Control *controlWidget, int b
{ {
case RecognitionMethod::MultiColor: case RecognitionMethod::MultiColor:
findMultiColorMarker( findMultiColorMarker(
tImg, crossList, controlWidget, ignoreWithoutMarker, v, mRecoMethod, mCodeMarkerOptions); tImg,
crossList,
controlWidget,
ignoreWithoutMarker,
v,
mRecoMethod,
mCodeMarkerOptions,
intrinsicCameraParams);
break; break;
case RecognitionMethod::Color: case RecognitionMethod::Color:
findColorMarker(tImg, crossList, controlWidget); findColorMarker(tImg, crossList, controlWidget);
break; break;
case RecognitionMethod::Code: case RecognitionMethod::Code:
findCodeMarker(tImg, crossList, mRecoMethod, mCodeMarkerOptions); findCodeMarker(tImg, crossList, mRecoMethod, mCodeMarkerOptions, intrinsicCameraParams);
break; break;
case RecognitionMethod::Casern: case RecognitionMethod::Casern:
[[fallthrough]]; [[fallthrough]];
......
src/trackerReal.cpp
View file @ bfe7efd3
...@@ -191,6 +191,7 @@ int TrackerReal::calculate( ...@@ -191,6 +191,7 @@ int TrackerReal::calculate(
const auto &person = persons[i]; const auto &person = persons[i];
addFrames = 0; addFrames = 0;
firstFrame = person.firstFrame(); firstFrame = person.firstFrame();
Vec2F moveDir(0, 0); // used for head direction
if(person.height() < MIN_HEIGHT + 1) if(person.height() < MIN_HEIGHT + 1)
{ {
...@@ -297,51 +298,24 @@ int TrackerReal::calculate( ...@@ -297,51 +298,24 @@ int TrackerReal::calculate(
<< person.firstFrame() + j << ") of person " << i + 1 << person.firstFrame() + j << ") of person " << i + 1
<< ", extrapolated height is used!" << std::endl; << ", extrapolated height is used!" << std::endl;
} }
Vec2F moveDir(0, 0);
if(exportAutoCorrect) if(exportAutoCorrect)
{ {
moveDir += reco::autoCorrectColorMarker(person[j], mMainWindow->getControlWidget()); moveDir += reco::autoCorrectColorMarker(person[j], mMainWindow->getControlWidget());
} }
pos = imageItem->getPosReal((person[j] + moveDir + br).toQPointF(), bestZ); pos = imageItem->getPosReal((person[j] + moveDir + br).toQPointF(), bestZ);
trackPersonReal.addEnd(Vec3F(pos.x(), pos.y(), bestZ), firstFrame + j);
if((exportViewingDirection) &&
(person[j].color().isValid())) // wenn blickrichtung mit ausgegeben werden soll
{
colPos =
imageItem->getPosReal((person[j].colPoint() + moveDir + br).toQPointF(), bestZ);
trackPersonReal.addEnd(pos, firstFrame + j, colPos - pos);
}
else
{
trackPersonReal.addEnd(Vec3F(pos.x(), pos.y(), bestZ), firstFrame + j);
}
} }
} }
else else
{ {
Vec2F moveDir(0, 0);
if(exportAutoCorrect) if(exportAutoCorrect)
{ {
moveDir += reco::autoCorrectColorMarker(person[j], mMainWindow->getControlWidget()); moveDir += reco::autoCorrectColorMarker(person[j], mMainWindow->getControlWidget());
} }
pos = imageItem->getPosReal((person[j] + moveDir + br).toQPointF(), height); pos = imageItem->getPosReal((person[j] + moveDir + br).toQPointF(), height);
// die frame nummer der animation wird TrackPoint der PersonReal mitgegeben, trackPersonReal.addEnd(pos, firstFrame + j);
// da Index groesser sein kann, da vorher frames hinzugefuegt wurden duch
// trackPersonReal.init(firstFrame+addFrames, height) oder aber innerhalb des trackink path
// mit for schleife ueber f
if((exportViewingDirection) &&
(person[j].color().isValid())) // wenn blickrichtung mit ausgegeben werden soll
{
colPos = imageItem->getPosReal((person[j].colPoint() + moveDir + br).toQPointF(), height);
trackPersonReal.addEnd(pos, firstFrame + j, colPos - pos);
}
else
{
trackPersonReal.addEnd(pos, firstFrame + j);
}
if(exportAngleOfView) if(exportAngleOfView)
{ {
angle = (90. - angle = (90. -
...@@ -356,6 +330,34 @@ int TrackerReal::calculate( ...@@ -356,6 +330,34 @@ int TrackerReal::calculate(
} }
} }
if(exportViewingDirection)
{
auto method = petrack->getControlWidget()->getRecoMethod();
// multicolor markers can also be used together with code markers
if(method == reco::RecognitionMethod::Code || method == reco::RecognitionMethod::MultiColor)
{
auto orientation = person[j].getOrientation();
orientation = petrack->getExtrCalibration()->camToWorldRotation(orientation);
trackPersonReal.last().setViewDirection(Vec2F(orientation[0], orientation[1]).unit());
}
else
{
// old implementation for expeortViewingDirection did not check for specific marker, so just use
// the else
// die frame nummer der animation wird TrackPoint der PersonReal mitgegeben,
// da Index groesser sein kann, da vorher frames hinzugefuegt wurden duch
// trackPersonReal.init(firstFrame+addFrames, height) oder aber innerhalb des trackink path
// mit for schleife ueber f
if((exportViewingDirection) &&
(person[j].color().isValid())) // wenn blickrichtung mit ausgegeben werden soll
{
colPos = imageItem->getPosReal((person[j].colPoint() + moveDir + br).toQPointF(), height);
trackPersonReal.last().setViewDirection(colPos - pos);
}
}
}
if(tmpMissingList.size() > 0) if(tmpMissingList.size() > 0)
{ {
if((tmpMissingList.first() == firstFrame + j) && (person.trackPointExist(firstFrame + j + 1))) if((tmpMissingList.first() == firstFrame + j) && (person.trackPointExist(firstFrame + j + 1)))
...@@ -391,7 +393,8 @@ int TrackerReal::calculate( ...@@ -391,7 +393,8 @@ int TrackerReal::calculate(
} }
else else
{ {
Vec2F moveDir(0, 0); // use local variable an just reset the value
moveDir.set(0, 0);
if(exportAutoCorrect) if(exportAutoCorrect)
{ {
moveDir += reco::autoCorrectColorMarker(person[j], mMainWindow->getControlWidget()); moveDir += reco::autoCorrectColorMarker(person[j], mMainWindow->getControlWidget());
......
ui/control.ui
View file @ bfe7efd3
...@@ -5427,7 +5427,7 @@ ...@@ -5427,7 +5427,7 @@
</size> </size>
</property> </property>
<property name="toolTip"> <property name="toolTip">
<string>add direction of head (corresponding to view direction; possible with Japan and casern marker)</string> <string>add direction of head (corresponding to view direction; possible with Japan, casern and code marker)</string>
</property> </property>
<property name="text"> <property name="text">
<string>add head direction</string> <string>add head direction</string>
......