bool processFrame(const cv::Mat& cameraFrame, std::auto_ptr<MarkerDetectionFacade>& detector, ARDrawingContext& drawingCtx)
{
// Clone image used for background (we will draw overlay on it)
cv::Mat img = cameraFrame.clone();
// Draw information:
// if (pipeline.m_patternDetector.enableHomographyRefinement)
// cv::putText(img, "Pose refinement: On ('h' to switch off)", cv::Point(10,15), CV_FONT_HERSHEY_PLAIN, 1, CV_RGB(0,200,0));
// else
// cv::putText(img, "Pose refinement: Off ('h' to switch on)", cv::Point(10,15), CV_FONT_HERSHEY_PLAIN, 1, CV_RGB(0,200,0));
// cv::putText(img, "RANSAC threshold: " + ToString(pipeline.m_patternDetector.homographyReprojectionThreshold) + "( Use'-'/'+' to adjust)", cv::Point(10, 30), CV_FONT_HERSHEY_PLAIN, 1, CV_RGB(0,200,0));
// Set a new camera frame:
drawingCtx.updateBackground(img);
// Find a pattern and update it's detection status:
BGRAVideoFrame cameraImage(cameraFrame);
drawingCtx.isPatternPresent = detector->processFrame(cameraImage);
std::vector<Transformation> vec_trans = detector->getTransformations();
if(!vec_trans.empty())
{
// Update a pattern pose:
drawingCtx.patternPose = vec_trans[0];
// Request redraw of the window:
drawingCtx.updateWindow();
}
// Read the keyboard input:
int keyCode = cv::waitKey(5);
bool shouldQuit = false;
//if (keyCode == '+' || keyCode == '=')
//{
// pipeline.m_patternDetector.homographyReprojectionThreshold += 0.2f;
// pipeline.m_patternDetector.homographyReprojectionThreshold =/* std::*/min(10.0f, pipeline.m_patternDetector.homographyReprojectionThreshold);
//}
//else if (keyCode == '-')
//{
// pipeline.m_patternDetector.homographyReprojectionThreshold -= 0.2f;
// pipeline.m_patternDetector.homographyReprojectionThreshold = /*std::*/max(0.0f, pipeline.m_patternDetector.homographyReprojectionThreshold);
//}
//else if (keyCode == 'h')
//{
// pipeline.m_patternDetector.enableHomographyRefinement = !pipeline.m_patternDetector.enableHomographyRefinement;
//}
//else if (keyCode == 27 || keyCode == 'q')
//{
// shouldQuit = true;
//}
return shouldQuit;
}
/**
* Performs full detection routine on camera frame and draws the scene using drawing context.
* In addition, this function draw overlay with debug information on top of the AR window.
* Returns true if processing loop should be stopped; otherwise - false.
*/
bool processFrame(const cv::Mat& cameraFrame, ARPipeline& pipeline, ARDrawingContext& drawingCtx)
{
// Clone image used for background (we will draw overlay on it)
cv::Mat img = cameraFrame.clone();
// Draw information:
if (pipeline.m_patternDetector.enableHomographyRefinement)
cv::putText(img, "Pose refinement: On ('h' to switch off)", cv::Point(10,15), CV_FONT_HERSHEY_PLAIN, 1, CV_RGB(0,200,0));
else
cv::putText(img, "Pose refinement: Off ('h' to switch on)", cv::Point(10,15), CV_FONT_HERSHEY_PLAIN, 1, CV_RGB(0,200,0));
cv::putText(img, "RANSAC threshold: " + ToString(pipeline.m_patternDetector.homographyReprojectionThreshold) + "( Use'-'/'+' to adjust)", cv::Point(10, 30), CV_FONT_HERSHEY_PLAIN, 1, CV_RGB(0,200,0));
// Set a new camera frame:
drawingCtx.updateBackground(img);
// Find a pattern and update it's detection status:
drawingCtx.isPatternPresent = pipeline.processFrame(cameraFrame);
// Update a pattern pose:
drawingCtx.patternPose = pipeline.getPatternLocation();
// Request redraw of the window:
drawingCtx.updateWindow();
// Read the keyboard input:
int keyCode = cv::waitKey(5);
bool shouldQuit = false;
if (keyCode == '+' || keyCode == '=')
{
pipeline.m_patternDetector.homographyReprojectionThreshold += 0.2f;
pipeline.m_patternDetector.homographyReprojectionThreshold = std::min(10.0f, pipeline.m_patternDetector.homographyReprojectionThreshold);
}
else if (keyCode == '-')
{
pipeline.m_patternDetector.homographyReprojectionThreshold -= 0.2f;
pipeline.m_patternDetector.homographyReprojectionThreshold = std::max(0.0f, pipeline.m_patternDetector.homographyReprojectionThreshold);
}
else if (keyCode == 'h')
{
pipeline.m_patternDetector.enableHomographyRefinement = !pipeline.m_patternDetector.enableHomographyRefinement;
}
else if (keyCode == 27 || keyCode == 'q')
{
shouldQuit = true;
}
return shouldQuit;
}