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authorStéphane Lenclud <github@lenclud.com>2019-03-31 20:50:58 +0200
committerStéphane Lenclud <github@lenclud.com>2019-04-24 18:46:12 +0200
commitaf000c404a003c046635890863f485b159ec7107 (patch)
treeda8daac0aa7d1fe68c986dde1d7666f39034f293 /tracker-points
parent2c88602928c20c1bea05fc15179c0c4866b42f8b (diff)
Fixing look-up of top point after realizing that our bitmap origin is top left.
Fixing cap clip model. Using OpenCV APIs to get Euler angles, though it's possibly slower as it is doing a bunch of other things too. It looks like angles are correct except that we are getting some yaw when pitching down.
Diffstat (limited to 'tracker-points')
-rw-r--r--tracker-points/ftnoir_tracker_pt.cpp55
1 files changed, 41 insertions, 14 deletions
diff --git a/tracker-points/ftnoir_tracker_pt.cpp b/tracker-points/ftnoir_tracker_pt.cpp
index 71dc28d6..2383694b 100644
--- a/tracker-points/ftnoir_tracker_pt.cpp
+++ b/tracker-points/ftnoir_tracker_pt.cpp
@@ -81,6 +81,26 @@ cv::Vec3f EulerAngles(cv::Mat &R)
}
+void getEulerAngles(cv::Mat &rotCamerMatrix, cv::Vec3d &eulerAngles)
+{
+
+ cv::Mat cameraMatrix, rotMatrix, transVect, rotMatrixX, rotMatrixY, rotMatrixZ;
+ double* _r = rotCamerMatrix.ptr<double>();
+ double projMatrix[12] = { _r[0],_r[1],_r[2],0,
+ _r[3],_r[4],_r[5],0,
+ _r[6],_r[7],_r[8],0 };
+
+ cv::decomposeProjectionMatrix(cv::Mat(3, 4, CV_64FC1, projMatrix),
+ cameraMatrix,
+ rotMatrix,
+ transVect,
+ rotMatrixX,
+ rotMatrixY,
+ rotMatrixZ,
+ eulerAngles);
+}
+
+
void Tracker_PT::run()
{
maybe_reopen_camera();
@@ -127,26 +147,27 @@ void Tracker_PT::run()
dynamic_pose_ms);
ever_success.store(true, std::memory_order_relaxed);
- // TODO: Solve with OpenCV
+ // Solve P3P problem with OpenCV
// Construct the points defining the object we want to detect based on settings.
// We are converting them from millimeters to meters.
// TODO: Need to support clip too. That's cap only for now.
std::vector<cv::Point3f> objectPoints;
- objectPoints.push_back(cv::Point3f(s.cap_x/1000.0,0,0)); // Right
- objectPoints.push_back(cv::Point3f(-s.cap_x/1000.0, 0, 0)); // Left
- objectPoints.push_back(cv::Point3f(0, s.cap_y/1000.0, s.cap_z/1000.0)); // Top
+ objectPoints.push_back(cv::Point3f(s.cap_x/1000.0, s.cap_z / 1000.0, -s.cap_y / 1000.0)); // Right
+ objectPoints.push_back(cv::Point3f(-s.cap_x/1000.0, s.cap_z / 1000.0, -s.cap_y / 1000.0)); // Left
+ objectPoints.push_back(cv::Point3f(0, 0, 0)); // Top
+ //Bitmap origin is top left
std::vector<cv::Point2f> trackedPoints;
- //TODO: Stuff bitmap point in there making sure they match the order of the object point
- // Find top most point
+ // Stuff bitmap point in there making sure they match the order of the object point
+ // Find top most point, that's the one with min Y as we assume our guy's head is not up side down
int topPointIndex = -1;
- int maxY = 0;
+ int minY = std::numeric_limits<int>::max();
for (int i = 0; i < 3; i++)
{
- if (iImagePoints[i][1]>maxY)
+ if (iImagePoints[i][1]<minY)
{
- maxY = iImagePoints[i][1];
+ minY = iImagePoints[i][1];
topPointIndex = i;
}
}
@@ -179,9 +200,13 @@ void Tracker_PT::run()
//
trackedPoints.push_back(cv::Point2f(iImagePoints[rightPointIndex][0], iImagePoints[rightPointIndex][1]));
- trackedPoints.push_back(cv::Point2f(iImagePoints[leftPointIndex][0], iImagePoints[leftPointIndex][1]));
+ trackedPoints.push_back(cv::Point2f(iImagePoints[leftPointIndex][0], iImagePoints[leftPointIndex][1]));
trackedPoints.push_back(cv::Point2f(iImagePoints[topPointIndex][0], iImagePoints[topPointIndex][1]));
+ std::cout << "Object: " << objectPoints << "\n";
+ std::cout << "Points: " << trackedPoints << "\n";
+
+
// Create our camera matrix
// TODO: Just do that once, use data member instead
// Double or Float?
@@ -211,7 +236,7 @@ void Tracker_PT::run()
std::vector<cv::Mat> rvecs, tvecs;
// TODO: try SOLVEPNP_AP3P too
- int solutionCount = cv::solveP3P(objectPoints, trackedPoints, cameraMatrix, distCoeffs, rvecs, tvecs, cv::SOLVEPNP_AP3P);
+ int solutionCount = cv::solveP3P(objectPoints, trackedPoints, cameraMatrix, distCoeffs, rvecs, tvecs, cv::SOLVEPNP_P3P);
if (solutionCount > 0)
{
std::cout << "Solution count: " << solutionCount << "\n";
@@ -224,9 +249,11 @@ void Tracker_PT::run()
std::cout << "\n";
std::cout << "Rotation:\n";
//std::cout << rvecs.at(i);
- cv::Mat quaternion;
- cv::Rodrigues(rvecs[i], quaternion);
- cv::Vec3f angles=EulerAngles(quaternion);
+ cv::Mat rotationCameraMatrix;
+ cv::Rodrigues(rvecs[i], rotationCameraMatrix);
+ cv::Vec3d angles;
+ getEulerAngles(rotationCameraMatrix,angles);
+ //cv::Vec3f angles=EulerAngles(quaternion);
std::cout << angles;
std::cout << "\n";
}