src/marker_tracker/MarkerTracker.cpp - master - klischa/AstraScanner2

src/marker_tracker/MarkerTracker.cpp
80 строк3 KB
Astra2
fix: harden project state and tests
20 июн 2026, 08:27
20 июн 2026, 08:274fd91fd
#include "MarkerTracker.h"
#include "CircularMarkerDetector.h"
#ifdef ASTRA_ENABLE_CCTAG
#include "CCTagMarkerDetector.h"
#endif

#include <QDebug>

MarkerTracker::MarkerTracker() : m_detectorType("Circular"), m_detector(nullptr)
{
}

MarkerTracker::~MarkerTracker()
{
}

void MarkerTracker::init(const QString& detectorType)
{
    updateParams(detectorType);
}

void MarkerTracker::updateParams(const QString& detectorType, int numRings, float minIdentProba)
{
    if (detectorType == m_detectorType && m_detector != nullptr) {
        // Если тип не изменился и детектор уже создан, обновляем только параметры
        if (detectorType == "CCTag" && m_detector) {
#ifdef ASTRA_ENABLE_CCTAG
            CCTagMarkerDetector* cctagDetector = dynamic_cast<CCTagMarkerDetector*>(m_detector.get());
            if (cctagDetector) {
                cctagDetector->setNumRings(numRings);
                cctagDetector->setMinIdentProba(minIdentProba);
            }
#endif
        }
        return;
    }

    // Создаем новый детектор
    m_detectorType = detectorType;
    
    if (detectorType == "Circular") {
        createCircularDetector();
    } else if (detectorType == "CCTag") {
#ifdef ASTRA_ENABLE_CCTAG
        createCCTagDetector(numRings, minIdentProba);
#else
        qWarning() << "[MarkerTracker] CCTag requested, but CCTag support is not compiled; using Circular";
        m_detectorType = "Circular";
        createCircularDetector();
#endif
    } else {
        qWarning() << "[MarkerTracker] Unknown detector type:" << detectorType << ", using Circular by default";
        createCircularDetector();
    }
}

void MarkerTracker::createCircularDetector()
{
    m_detector = std::make_unique<CircularMarkerDetector>();
    qDebug() << "[MarkerTracker] Created CircularMarkerDetector";
}

void MarkerTracker::createCCTagDetector(int numRings, float minIdentProba)
{
#ifdef ASTRA_ENABLE_CCTAG
    m_detector = std::make_unique<CCTagMarkerDetector>();
    CCTagMarkerDetector* cctagDetector = dynamic_cast<CCTagMarkerDetector*>(m_detector.get());
    if (cctagDetector) {
        cctagDetector->setNumRings(numRings);
        cctagDetector->setMinIdentProba(minIdentProba);
    }
    qDebug() << "[MarkerTracker] Created CCTagMarkerDetector with" << numRings << "rings";
#else
    Q_UNUSED(numRings);
    Q_UNUSED(minIdentProba);
    qWarning() << "[MarkerTracker] CCTag support is not compiled; using Circular";
    m_detectorType = "Circular";
    createCircularDetector();
#endif
}