bool
SkinMeme::compute_delt()
{
static bool debug = ::debug || Config::get_var_bool("DEBUG_SKIN_MEMES",false);
_delt = Wvec::null();
if (is_frozen())
return false;
if (!is_tracking()) {
err_msg("SkinMeme::compute_delt: not tracking, can't proceed");
return false;
}
if (!is_boss()) {
err_adv(debug, "SkinMeme::compute_delt: non-boss; bailing...");
track_to_target(loc());
return false;
}
Wpt cur = loc();
Wpt centroid = vert()->qr_centroid();
static const double bw = Config::get_var_dbl("SKIN_SMOOTH_CENTROID_WEIGHT",0.5);
Wpt target = interp(cur, centroid, bw);
// Target is where we want to be, but we'll settle for
// somewhere on the skeleton surface that is as close as
// possible.
Wpt tp;
if (track_to_target(target, tp)) {
// double d = target.dist(tp);
// Wpt new_loc = target + norm() * (fabs(_h) - d);
// Wpt new_loc = tp + ((target - tp).normalized() * fabs(_h));
// XXX - hack
// can we figure this out, one day, soon??
Wpt new_loc;
if (is_border(track_simplex())) {
new_loc = tp + track_norm()*_h;
} else {
new_loc = tp + ((target - tp).normalized() * fabs(_h));
}
_delt = new_loc - cur;
return true;
}
err_adv(debug, "SkinMeme::compute_delt: track to target failed");
return false;
}
void
SkinMeme::set_track_simplex(Bsimplex* s)
{
assert(_track_filter);
if (!s) {
_trackers.clear();
} else if (!_track_filter->accept(s)) {
err_adv(debug, "SkinMeme::set_track_simplex: error: filter rejects simplex");
} else if (is_tracking()) {
_trackers[0] = s;
} else {
add_track_simplex(s);
}
}
CWpt&
SkinMeme::compute_update()
{
static bool debug = ::debug || Config::get_var_bool("DEBUG_SKIN_UPDATE",false);
// compute 3D vertex location WRT track simplex
if (_is_sticky) {
// this meme is supposed to follow the skeleton surface
if (is_tracking()) {
// it actually is following it
return _update = skin_loc(track_simplex(), _bc, _h);
}
// supposed to follow, but has no track point: do nothing
return _update = loc();
}
// this meme is not following the skeleton surface;
// it computes its location via smooth subdivision.
// but it may still track the closest point on the skeleton
// surface to avoid penetrating inside the skeleton surface.
if (vert()->parent() == 0)
_update = loc();
else
_update = vert()->detail_loc_from_parent();
track_to_target(_update);
if (_non_penetrate && is_tracking()) {
Wvec d = penetration_correction(_update, track_simplex(), _bc, _stay_out);
if (debug && !d.is_null())
err_msg("SkinMeme::compute_update: correcting penetration, level %d",
bbase()->subdiv_level());
_update += d;
}
return _update;
}
void OpenCVTracker::update(Image& image)
{
if (!is_tracking())
return;
const cv::Mat gray = image.get_gray();
DEBUGMSG("Updating tracker \n");
active = tracker->update(gray, rectangle);
if (!active)
DEBUGMSG("Update failed \n");
}
bool
SkinMeme::track_to_target(CWpt& target, Wpt& near_pt)
{
// Do a local search to find the closest point to 'target' on the
// tracked surface. Do the search starting from our own track
// simplex, and then repeat the search starting from each track
// simplex that can be borrowed from our SkinMeme neighbors. In the
// end take the one that yielded the closest result, and store the
// corresponding track simplex.
if (is_frozen())
return is_tracking();
Wvec near_bc;
Bsimplex* track_sim = update_tracker(
target, get_local_trackers(), near_pt, near_bc
);
// Record the result, even if unsuccessful:
set(track_sim, near_bc);
return (track_simplex() != 0);
}
Wvec
SkinMeme::track_norm() const
{
return is_tracking() ? bc2norm(track_simplex(), _bc) : norm();
}
Wpt
SkinMeme::track_pt() const
{
return is_tracking() ? track_simplex()->bc2pos(_bc) : loc();
}
