Skip to content

[Hotfix] - Track Object Multiple Goalpost #30

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
mbsaloka merged 1 commit into from
Apr 14, 2026
Merged

[Hotfix] - Track Object Multiple Goalpost #30

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
19 changes: 13 additions & 6 deletions src/atama/head/process/head.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -424,8 +424,8 @@ void Head::process()
case control::SCAN_TRIANGLE:
{
if (init_scanning()) {
scan_pan_angle = get_pan_angle();
scan_tilt_angle = get_tilt_angle();
scan_pan_angle = 0.0;
scan_tilt_angle = scan_bottom_limit;

scan_position = 1;
scan_direction = 1;
Expand Down Expand Up @@ -725,14 +725,21 @@ void Head::track_object(const std::string & object_name)
// looking at the center of the object
// Pick an object with the biggest confidence
double confidence = 0.0;
double object_center_x, object_center_y;
keisan::Point2 object_center = {0.0, 0.0};

if (!filtered_result.empty()) {
for (const auto & item : filtered_result) {
if (object_name == "goalpost") {
object_center.x += (item.left + item.right / 2) / filtered_result.size();
object_center.y += (item.top + item.bottom) / filtered_result.size();
continue;
}

if (item.score > confidence) {
confidence = item.score;

object_center_x = item.left + item.right / 2;
object_center_y = item.top + item.bottom / 2;
object_center.x = item.left + item.right / 2;
object_center.y = item.top + item.bottom / 2;
}
}
} else {
Expand All @@ -753,7 +760,7 @@ void Head::track_object(const std::string & object_name)
if (object_count < object_max_count) {
++object_count;
} else {
keisan::Point2 offset = calculate_angle_offset_from_pixel(object_center_x, object_center_y);
keisan::Point2 offset = calculate_angle_offset_from_pixel(object_center.x, object_center.y);

tracking(offset.x, offset.y);
}
Expand Down
Loading