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https://github.com/azaion/autopilot.git
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Your Name
71 lines
2.2 KiB
C++
71 lines
2.2 KiB
C++
#include <QDebug>
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#include <QVector>
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#include "aienginegimbalcontrol.h"
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AiEngineGimbalControl::AiEngineGimbalControl(QObject *parent)
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: QObject{parent}
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{}
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AiEngineRectangle AiEngineGimbalControl::getGroupCoordinates(QVector<AiEngineObject> &objects)
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{
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AiEngineRectangle groupRectangle;
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groupRectangle.top = 1000000;
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groupRectangle.left = 1000000;
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groupRectangle.bottom = 0;
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groupRectangle.right = 0;
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for (int i = 0; i < objects.size(); i++) {
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const AiEngineRectangle &objectRectangle = objects[i].rectangle;
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if (objectRectangle.top < groupRectangle.top) {
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groupRectangle.top = objectRectangle.top;
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}
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if (objectRectangle.left < groupRectangle.left) {
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groupRectangle.left = objectRectangle.left;
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}
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if (objectRectangle.bottom > groupRectangle.bottom) {
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groupRectangle.bottom = objectRectangle.bottom;
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}
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if (objectRectangle.right > groupRectangle.right) {
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groupRectangle.right = objectRectangle.right;
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}
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}
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return groupRectangle;
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}
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void AiEngineGimbalControl::inferenceResultSlot(AiEngineInferenceResult result)
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{
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if (result.objects.size() == 0) {
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return;
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}
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// We got list of all recognized objects, but at least for now we will zoom to all objects at
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// once and not for each invidually. Got minimal coordinates which contains the all objects.
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AiEngineRectangle groupRect = getGroupCoordinates(result.objects);
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// AI did inference with 640x360 resolution. Scale back to A8's 1280x720 resolution.
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groupRect.top *= 2;
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groupRect.left *= 2;
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groupRect.bottom *= 2;
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groupRect.right *= 2;
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if (groupRect.top > 720 || groupRect.bottom > 720) {
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return;
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}
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if (groupRect.left > 1280 || groupRect.right > 1280) {
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return;
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}
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if ((groupRect.bottom <= groupRect.top) || (groupRect.right <= groupRect.left)) {
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return;
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}
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qDebug() << "TUOMAS!! Zooming to square" << groupRect.top << "x" << groupRect.left << "and" << groupRect.bottom << "x" << groupRect.right;
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mRemoteControl.sendData(groupRect.top, groupRect.left, groupRect.left, groupRect.right);
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}
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