add SingleObjectTracker position xyz output

algorithm/sv_algorithm_base.cpp

@@ -758,6 +758,19 @@ int SingleObjectTrackerBase::getTarget()
 {
   return this->_target;
 }
+//增加跟踪目标位置输出
+double SingleObjectTrackerBase::getObjectWs()
+{
+  return this->_object_ws;
+}
+double SingleObjectTrackerBase::getObjectHs()
+{
+  return this->_object_hs;
+}
+int SingleObjectTrackerBase::useWidthOrHeight()
+{
+  return this->_use_width_or_height;
+}
 
 void SingleObjectTrackerBase::warmUp()
 {
@@ -803,6 +816,22 @@ void SingleObjectTrackerBase::track(cv::Mat img_, TargetsInFrame& tgts_)
     tgt.setBox(rect.x, rect.y, rect.x+rect.width, rect.y+rect.height, img_.cols, img_.rows);
     tgt.setTrackID(1);
     tgt.setLOS(tgt.cx, tgt.cy, this->camera_matrix, img_.cols, img_.rows);
+    int ow = int(round(rect.width));
+    int oh = int(round(rect.height));
+    if (this->_use_width_or_height == 0)
+    {
+      double z = this->camera_matrix.at<double>(0, 0) * this->_object_ws / ow;
+      double x = tan(tgt.los_ax / SV_RAD2DEG) * z;
+      double y = tan(tgt.los_ay / SV_RAD2DEG) * z;
+      tgt.setPosition(x, y, z);
+    }
+    else if (this->_use_width_or_height == 1)
+    {
+      double z = this->camera_matrix.at<double>(1, 1) * this->_object_hs / oh;
+      double x = tan(tgt.los_ax / SV_RAD2DEG) * z;
+      double y = tan(tgt.los_ay / SV_RAD2DEG) * z;
+      tgt.setPosition(x, y, z);
+    }
     tgts_.targets.push_back(tgt);
   }
 
@@ -840,6 +869,18 @@ void SingleObjectTrackerBase::_load()
     else if ("target" == std::string(i->key)) {
       this->_target = i->value.toNumber();
     }
+    else if ("useWidthOrHeight" == std::string(i->key))
+    {
+      this->_use_width_or_height = i->value.toNumber();
+    }
+    else if ("sigleobjectW" == std::string(i->key))
+    {
+      this->_object_ws = i->value.toNumber();
+    }
+    else if ("sigleobjectH" == std::string(i->key))
+    {
+      this->_object_hs = i->value.toNumber();
+    }
   }
 
   setupImpl();

include/sv_algorithm_base.h

@@ -105,6 +105,9 @@ public:
   std::string getAlgorithm();
   int getBackend();
   int getTarget();
+  double getObjectWs();
+  double getObjectHs();
+  int useWidthOrHeight();
 protected:
   virtual bool setupImpl();
   virtual void initImpl(cv::Mat img_, const cv::Rect& bounding_box_);
@@ -114,6 +117,9 @@ protected:
   std::string _algorithm;
   int _backend;
   int _target;
+  int _use_width_or_height;
+  double _object_ws;
+  double _object_hs;
 };