diff options
Diffstat (limited to 'virtual-programs')
| -rw-r--r-- | virtual-programs/apriltags.folk | 28 |
1 files changed, 20 insertions, 8 deletions
diff --git a/virtual-programs/apriltags.folk b/virtual-programs/apriltags.folk index d9557644..1f38f29b 100644 --- a/virtual-programs/apriltags.folk +++ b/virtual-programs/apriltags.folk @@ -105,17 +105,29 @@ On process { } } -When the collected matches for [list /someone/ detects tags /tags/ at /timestamp/ in time /aprilTime/] are /matches/ { - # Find all tag IDs, then find the latest for each ID. - # Sort by timestamp, earliest first. - proc mcomp {a b} {> [dict get $a timestamp] [dict get $b timestamp]} - set matches [lsort -command mcomp $matches] +# This cache is used to remember the last seen position of each tag, +# so that if the incremental detector blinks out, we still use the +# tag's last-found position from it, instead of the older position +# from the full detector, so as you move a tag its position doesn't +# glitch backward. +set ::tagsCache [dict create] +# TODO: Garbage-collect this cache. +When the collected matches for [list /someone/ detects tags /tags/ at /timestamp/ in time /aprilTime/] are /matches/ { set tagsSeen [dict create] foreach match $matches { - set tags [dict get $match tags] - foreach tag $tags { - dict set tagsSeen [dict get $tag id] $tag + set timestamp [dict get $match timestamp] + foreach tag [dict get $match tags] { + set id [dict get $tag id] + dict set tag timestamp $timestamp + + if {[dict exists $::tagsCache $id] && + [dict get $::tagsCache $id timestamp] > $timestamp} { + set tag [dict get $::tagsCache $id] + } else { + dict set ::tagsCache $id $tag + } + dict set tagsSeen $id $tag } } |