bool ProjectProxyModel::lessThan(const QModelIndex & left, const QModelIndex & right) const
{
KDevelop::ProjectBaseItem *iLeft=projectModel()->item(left), *iRight=projectModel()->item(right);
if(!iLeft || !iRight) return false;
return( iLeft->lessThan( iRight ) );
}
KDevelop::ProjectBaseItem* ProjectProxyModel::itemFromProxyIndex( const QModelIndex& idx ) const
{
return static_cast<KDevelop::ProjectBaseItem*>( projectModel()->itemFromIndex( mapToSource( idx ) ) );
}
QModelIndex ProjectProxyModel::proxyIndexFromItem(QStandardItem* item) const
{
return mapFromSource(projectModel()->indexFromItem(item));
}
void
activeModelTracker::deformSilhouette(vpHomogeneousMatrix& cMo_)
{
// step 1: based on the pose and cad model, forward project the silhouette of the model onto the image plane.
// step 1.1: find visible lines
findVisibleLines(cMo_);
// step 1.2: generate the control points, based on the distance between corners
controlPoints.clear();
projectModel(cMo_, cam);
for (int i = 0; i < 12; i++)
{
if (isVisible[i])
{
int p1, p2;
line2Pts(i, p1, p2);
vpPoint c1, c2;
c1.set_x(prjCorners[p1].x);
c1.set_y(prjCorners[p1].y);
c1.setWorldCoordinates(corners[p1].x,corners[p1].y,corners[p1].z);
c2.set_x(prjCorners[p2].x);
c2.set_y(prjCorners[p2].y);
c2.setWorldCoordinates(corners[p2].x,corners[p2].y,corners[p2].z);
// save the corners first
controlPoints[i].push_back(c1);
controlPoints[i].push_back(c2);
//then generate the control points
genControlPoints(controlPoints[i]);
}
}
// step 2: actively find the high gradient region
// step 2.1: for each line, get its slope
// step 2.2: for each control point on the line, find the position with the highest gradient magnitude
//
for (int i = 0; i < 12; i++)
{
if (isVisible[i])
{
cv::Point p1(controlPoints[i][0].get_x(), controlPoints[i][0].get_y());
cv::Point p2(controlPoints[i][1].get_x(), controlPoints[i][1].get_y());
bool isHorizontal;
double step = lineSlope(p1, p2, isHorizontal);
int detectionRange = 5;
deformLine(step, isHorizontal, controlPoints[i], gradient, rows, cols, detectionRange);
}
}
// step 3: based on the tentatively moved control points, estimate the pose
//
vpPoseFeatures pose;
for (int i = 0; i < 12; i++)
{
if (isVisible[i])
{
for (size_t j = 0; j < controlPoints[i].size(); j++)
{
// debug only
// tracked features
// TODO: this will plot all the deformation step of the tracker
cv::circle(processedImg, cv::Point(controlPoints[i][j].get_x(), controlPoints[i][j].get_y()), 3, cv::Scalar(0, 0, 255));
double x, y;
vpPixelMeterConversion::convertPoint(cam, controlPoints[i][j].get_x(), controlPoints[i][j].get_y(), x, y);
controlPoints[i][j].set_x(x);
controlPoints[i][j].set_y(y);
pose.addFeaturePoint(controlPoints[i][j]);
}
}
}
pose.setLambda(0.6);
try
{
pose.computePose(cMo_);
}
catch(...) // catch all kinds of Exceptions
{
std::cout<<"Exception raised in computing pose"<<std::endl;
}
}