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-rw-r--r--ftnoir_tracker_pt/FTNoIR_PT_Controls.ui44
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.cpp40
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.h13
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp74
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h9
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h1
-rw-r--r--ftnoir_tracker_pt/point_extractor.cpp17
-rw-r--r--ftnoir_tracker_pt/point_extractor.h9
-rw-r--r--ftnoir_tracker_pt/point_tracker.cpp20
-rw-r--r--ftnoir_tracker_pt/point_tracker.h46
10 files changed, 86 insertions, 187 deletions
diff --git a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
index 109e50cb..88b65e7e 100644
--- a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
+++ b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
@@ -42,13 +42,6 @@
<string>Status</string>
</property>
<layout class="QGridLayout" name="gridLayout_10">
- <item row="2" column="2">
- <widget class="QDialogButtonBox" name="buttonBox">
- <property name="standardButtons">
- <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
- </property>
- </widget>
- </item>
<item row="1" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
@@ -56,6 +49,13 @@
</property>
</widget>
</item>
+ <item row="2" column="1">
+ <widget class="QDialogButtonBox" name="buttonBox">
+ <property name="standardButtons">
+ <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+ </property>
+ </widget>
+ </item>
<item row="0" column="0">
<widget class="QLabel" name="label_38">
<property name="text">
@@ -63,17 +63,20 @@
</property>
</widget>
</item>
- <item row="2" column="1">
- <widget class="QDialogButtonBox" name="buttonBox_2">
- <property name="standardButtons">
- <set>QDialogButtonBox::Apply</set>
+ <item row="1" column="1">
+ <widget class="QLabel" name="pointinfo_label">
+ <property name="minimumSize">
+ <size>
+ <width>50</width>
+ <height>0</height>
+ </size>
</property>
- <property name="centerButtons">
- <bool>true</bool>
+ <property name="text">
+ <string/>
</property>
</widget>
</item>
- <item row="0" column="2">
+ <item row="0" column="1">
<widget class="QLabel" name="caminfo_label">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -92,19 +95,6 @@
</property>
</widget>
</item>
- <item row="1" column="2">
- <widget class="QLabel" name="pointinfo_label">
- <property name="minimumSize">
- <size>
- <width>50</width>
- <height>0</height>
- </size>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
</layout>
</widget>
</item>
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 3abaa35e..61216000 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -21,10 +21,10 @@ using namespace cv;
Tracker::Tracker()
: mutex(QMutex::Recursive),
commands(0),
- video_widget(NULL),
- video_frame(NULL),
- new_settings(nullptr)
+ video_widget(NULL),
+ video_frame(NULL)
{
+ connect(s.b.get(), SIGNAL(saving()), this, SLOT(apply_settings()));
}
Tracker::~Tracker()
@@ -65,7 +65,6 @@ void Tracker::run()
while((commands & ABORT) == 0)
{
- apply_inner();
const double dt = time.elapsed() * 1e-9;
time.start();
cv::Mat frame;
@@ -92,7 +91,7 @@ void Tracker::run()
4);
}
if (points.size() == PointModel::N_POINTS)
- point_tracker.track(points, model, get_focal_length());
+ point_tracker.track(points, PointModel(s), get_focal_length());
video_widget->update_image(frame);
}
#ifdef PT_PERF_LOG
@@ -103,36 +102,14 @@ void Tracker::run()
}
qDebug()<<"Tracker:: Thread stopping";
}
-void Tracker::apply(settings& s)
-{
- // caller guarantees object lifetime
- new_settings = &s;
-}
-void Tracker::apply_inner()
+void Tracker::apply_settings()
{
- // XXX this nonsense oughta reference settings directly,
- // rather than keep its own state -sh 20141102
- // applies to -- camera, extractor, this tracker class
- settings* tmp = new_settings.exchange(nullptr);
- if (tmp == nullptr)
- return;
- auto& s = *tmp;
qDebug()<<"Tracker:: Applying settings";
-
- {
- cv::Vec3f M01(s.m01_x, s.m01_y, s.m01_z);
- cv::Vec3f M02(s.m02_x, s.m02_y, s.m02_z);
- model = PointModel(M01, M02);
- }
+ QMutexLocker lock(&mutex);
camera.set_device_index(s.cam_index);
camera.set_res(s.cam_res_x, s.cam_res_y);
camera.set_fps(s.cam_fps);
- point_extractor.threshold_val = s.threshold;
- point_extractor.threshold_secondary_val = s.threshold_secondary;
- point_extractor.min_size = s.min_point_size;
- point_extractor.max_size = s.max_point_size;
- t_MH = cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z);
qDebug()<<"Tracker::apply ends";
}
@@ -147,8 +124,7 @@ void Tracker::start_tracker(QFrame *parent_window)
video_layout->addWidget(video_widget);
video_frame->setLayout(video_layout);
video_widget->resize(video_frame->width(), video_frame->height());
- apply(s);
- apply_inner();
+ apply_settings();
camera.start();
start();
}
@@ -169,7 +145,7 @@ void Tracker::data(THeadPoseData *data)
Affine X_CM = point_tracker.pose();
- Affine X_MH(Matx33f::eye(), t_MH);
+ Affine X_MH(Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z));
Affine X_GH = X_CM * X_MH;
Matx33f R = X_GH.R;
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
index 3dd15618..8e4d58ee 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
@@ -33,20 +33,20 @@
//-----------------------------------------------------------------------------
// Constantly processes the tracking chain in a separate thread
-class Tracker : public ITracker, protected QThread
+class Tracker : public QThread, public ITracker
{
+ Q_OBJECT
public:
Tracker();
~Tracker() override;
void start_tracker(QFrame* parent_window) override;
void data(double* data) override;
- void apply(settings& s);
- void apply_inner();
-
void pose(Affine* X_CM) { QMutexLocker lock(&mutex); *X_CM = point_tracker.pose(); }
int get_n_points() { QMutexLocker lock(&mutex); return point_extractor.get_points().size(); }
void get_cam_info(CamInfo* info) { QMutexLocker lock(&mutex); *info = camera.get_info(); }
+public slots:
+ void apply_settings();
protected:
void run() override;
private:
@@ -66,19 +66,14 @@ private:
PointExtractor point_extractor;
PointTracker point_tracker;
- cv::Vec3f t_MH; // translation from model frame to head frame
-
PTVideoWidget* video_widget;
QFrame* video_frame;
settings s;
- std::atomic<settings*> new_settings;
Timer time;
static constexpr double rad2deg = 180.0/3.14159265;
static constexpr double deg2rad = 3.14159265/180.0;
-
- PointModel model;
};
#undef VideoWidget
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
index 8f6edc2f..98dbfb7b 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
@@ -67,53 +67,16 @@ TrackerDialog::TrackerDialog()
tie_setting(s.t_MH_z, ui.tz_spin);
tie_setting(s.fov, ui.fov);
+
+ tie_setting(s.active_model_panel, ui.model_tabs);
connect( ui.tcalib_button,SIGNAL(toggled(bool)), this,SLOT(startstop_trans_calib(bool)) );
- connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
+ connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
- ui.model_tabs->setCurrentIndex(s.active_model_panel);
-
- connect(ui.model_tabs, SIGNAL(currentChanged(int)), this, SLOT(set_model(int)));
connect(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info()));
timer.start(100);
-
- connect(ui.buttonBox_2, SIGNAL(clicked(QAbstractButton*)), this, SLOT(do_apply_without_saving(QAbstractButton*)));
-}
-
-void TrackerDialog::set_model_clip()
-{
- s.m01_x = 0;
- s.m01_y = static_cast<double>(s.clip_ty);
- s.m01_z = -static_cast<double>(s.clip_tz);
- s.m02_x = 0;
- s.m02_y = -static_cast<double>(s.clip_by);
- s.m02_z = -static_cast<double>(s.clip_bz);
-
- settings_changed();
-}
-
-void TrackerDialog::set_model_cap()
-{
- s.m01_x = -static_cast<double>(s.cap_x);
- s.m01_y = -static_cast<double>(s.cap_y);
- s.m01_z = -static_cast<double>(s.cap_z);
- s.m02_x = static_cast<double>(s.cap_x);
- s.m02_y = -static_cast<double>(s.cap_y);
- s.m02_z = -static_cast<double>(s.cap_z);
-
- settings_changed();
-}
-
-void TrackerDialog::set_model_custom()
-{
- settings_changed();
-}
-
-void TrackerDialog::set_model(int val)
-{
- s.active_model_panel = val;
}
void TrackerDialog::startstop_trans_calib(bool start)
@@ -134,7 +97,6 @@ void TrackerDialog::startstop_trans_calib(bool start)
s.t_MH_y = tmp[1];
s.t_MH_z = tmp[2];
}
- settings_changed();
}
}
@@ -184,14 +146,8 @@ void TrackerDialog::trans_calib_step()
}
}
-void TrackerDialog::settings_changed()
-{
- if (tracker) tracker->apply(s);
-}
-
void TrackerDialog::save()
{
- do_apply_without_saving(nullptr);
s.b->save();
}
@@ -201,28 +157,6 @@ void TrackerDialog::doOK()
close();
}
-void TrackerDialog::do_apply_without_saving(QAbstractButton*)
-{
- switch (s.active_model_panel) {
- default:
- case 0:
- set_model_clip();
- break;
- case 1:
- set_model_cap();
- break;
- case 2:
- set_model_custom();
- break;
- }
- if (tracker) tracker->apply(s);
-}
-
-void TrackerDialog::doApply()
-{
- save();
-}
-
void TrackerDialog::doCancel()
{
s.b->reload();
@@ -233,8 +167,6 @@ void TrackerDialog::register_tracker(ITracker *t)
{
qDebug()<<"TrackerDialog:: Tracker registered";
tracker = static_cast<Tracker*>(t);
- if (isVisible() & s.b->modifiedp())
- tracker->apply(s);
ui.tcalib_button->setEnabled(true);
//ui.center_button->setEnabled(true);
}
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h
index 7f634c04..c6f7f8e1 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h
@@ -36,19 +36,10 @@ public:
public slots:
void doOK();
void doCancel();
- void doApply();
- void do_apply_without_saving(QAbstractButton *);
void startstop_trans_calib(bool start);
void poll_tracker_info();
- void set_model(int idx);
private:
- void set_model_clip();
- void set_model_cap();
- void set_model_custom();
-
- void settings_changed();
-
settings s;
Tracker* tracker;
QTimer timer;
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
index 804de22e..bce89058 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
@@ -9,7 +9,6 @@
#define FTNOIR_TRACKER_PT_SETTINGS_H
#include <opencv2/core/core.hpp>
-#include "point_tracker.h"
#include "opentrack/options.hpp"
using namespace options;
diff --git a/ftnoir_tracker_pt/point_extractor.cpp b/ftnoir_tracker_pt/point_extractor.cpp
index 819bf5e8..f4eefb0f 100644
--- a/ftnoir_tracker_pt/point_extractor.cpp
+++ b/ftnoir_tracker_pt/point_extractor.cpp
@@ -37,7 +37,8 @@ const vector<Vec2f>& PointExtractor::extract_points(Mat& frame)
Mat frame_gray;
cvtColor(frame, frame_gray, CV_RGB2GRAY);
- int secondary = threshold_secondary_val;
+ int secondary = s.threshold_secondary;
+ int primary = s.threshold;
// mask for everything that passes the threshold (or: the upper threshold of the hysteresis)
Mat frame_bin;
@@ -49,15 +50,15 @@ const vector<Vec2f>& PointExtractor::extract_points(Mat& frame)
Mat frame_last_and_low;
if(secondary==0){
- threshold(frame_gray, frame_bin, threshold_val, 255, THRESH_BINARY);
+ threshold(frame_gray, frame_bin, primary, 255, THRESH_BINARY);
}else{
// we recombine a number of buffers, this might be slower than a single loop of per-pixel logic
// but it might as well be faster if openCV makes good use of SIMD
- float t = threshold_val;
+ float t = primary;
//float hyst = float(threshold_secondary_val)/512.;
//threshold(frame_gray, frame_bin, (t + ((255.-t)*hyst)), 255, THRESH_BINARY);
- float hyst = float(threshold_secondary_val)/256.;
- threshold(frame_gray, frame_bin, t, 255, THRESH_BINARY);
+ float hyst = float(primary)/256.;
+ threshold(frame_gray, frame_bin, t, 255, THRESH_BINARY);
threshold(frame_gray, frame_bin_low,std::max(float(1), t - (t*hyst)), 255, THRESH_BINARY);
frame_bin.copyTo(frame_bin_copy);
@@ -71,6 +72,10 @@ const vector<Vec2f>& PointExtractor::extract_points(Mat& frame)
frame_last.copyTo(frame_bin);
}
}
+
+ int min_size = s.min_point_size;
+ int max_size = s.max_point_size;
+
unsigned int region_size_min = 3.14*min_size*min_size/4.0;
unsigned int region_size_max = 3.14*max_size*max_size/4.0;
@@ -118,7 +123,7 @@ const vector<Vec2f>& PointExtractor::extract_points(Mat& frame)
if(secondary==0){
val = frame_gray.at<unsigned char>(i,j);
- val = float(val - threshold_val)/(256 - threshold_val);
+ val = float(val - primary)/(256 - primary);
val = val*val; // makes it more stable (less emphasis on low values, more on the peak)
}else{
//hysteresis point detection gets stability from ignoring pixel noise so we decidedly leave the actual pixel values out of the picture
diff --git a/ftnoir_tracker_pt/point_extractor.h b/ftnoir_tracker_pt/point_extractor.h
index 5252b68d..2cac29a9 100644
--- a/ftnoir_tracker_pt/point_extractor.h
+++ b/ftnoir_tracker_pt/point_extractor.h
@@ -11,6 +11,8 @@
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
+#include "ftnoir_tracker_pt_settings.h"
+
// ----------------------------------------------------------------------------
// Extracts points from an opencv image
class PointExtractor
@@ -22,11 +24,8 @@ public:
const std::vector<cv::Vec2f>& extract_points(cv::Mat &frame);
const std::vector<cv::Vec2f>& get_points() { return points; }
PointExtractor();
-
- int threshold_val;
- int threshold_secondary_val;
- int min_size, max_size;
-
+
+ settings s;
private:
std::vector<cv::Vec2f> points;
cv::Mat frame_last;
diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp
index 9f04af30..3fdc60ef 100644
--- a/ftnoir_tracker_pt/point_tracker.cpp
+++ b/ftnoir_tracker_pt/point_tracker.cpp
@@ -33,26 +33,6 @@ static void set_row(Matx33f& m, int i, const Vec3f& v)
m(i,2) = v[2];
}
-PointModel::PointModel() :
- M01 { 0, 0, 0 },
- M02 { 0, 0, 0 }
-{
-}
-
-PointModel::PointModel(Vec3f M01, Vec3f M02)
- : M01(M01), M02(M02)
-{
- // calculate u
- u = M01.cross(M02);
- u /= norm(u);
-
- // calculate projection matrix on M01,M02 plane
- float s11 = M01.dot(M01);
- float s12 = M01.dot(M02);
- float s22 = M02.dot(M02);
- P = 1.0/(s11*s22-s12*s12) * Matx22f(s22, -s12, -s12, s11);
-}
-
#ifdef OPENTRACK_API
static bool d_vals_sort(const pair<float,int> a, const pair<float,int> b)
{
diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h
index d37fb726..83c7dc00 100644
--- a/ftnoir_tracker_pt/point_tracker.h
+++ b/ftnoir_tracker_pt/point_tracker.h
@@ -16,6 +16,10 @@
#endif
#include <vector>
+#include "ftnoir_tracker_pt_settings.h"
+
+#include <QObject>
+
// ----------------------------------------------------------------------------
// Affine frame trafo
class Affine
@@ -59,13 +63,6 @@ class PointModel
public:
static constexpr int N_POINTS = 3;
- PointModel(cv::Vec3f M01, cv::Vec3f M02);
- PointModel();
-
- inline const cv::Vec3f& get_M01() const { return M01; }
- inline const cv::Vec3f& get_M02() const { return M02; }
-
-private:
cv::Vec3f M01; // M01 in model frame
cv::Vec3f M02; // M02 in model frame
@@ -73,6 +70,41 @@ private:
cv::Matx22f P;
+ enum Model { Clip = 0, Cap = 1, Custom = 2 };
+
+ PointModel(settings& s)
+ {
+ set_model(s);
+ // calculate u
+ u = M01.cross(M02);
+ u /= norm(u);
+
+ // calculate projection matrix on M01,M02 plane
+ float s11 = M01.dot(M01);
+ float s12 = M01.dot(M02);
+ float s22 = M02.dot(M02);
+ P = 1.0/(s11*s22-s12*s12) * cv::Matx22f(s22, -s12, -s12, s11);
+ }
+
+ void set_model(settings& s)
+ {
+ switch (s.active_model_panel)
+ {
+ case Clip:
+ M01 = cv::Vec3f(0, static_cast<double>(s.clip_ty), -static_cast<double>(s.clip_tz));
+ M02 = cv::Vec3f(0, -static_cast<double>(s.clip_by), -static_cast<double>(s.clip_bz));
+ break;
+ case Cap:
+ M01 = cv::Vec3f(-static_cast<double>(s.cap_x), -static_cast<double>(s.cap_y), -static_cast<double>(s.cap_z));
+ M02 = cv::Vec3f(static_cast<double>(s.cap_x), -static_cast<double>(s.cap_y), -static_cast<double>(s.cap_z));
+ break;
+ case Custom:
+ M01 = cv::Vec3f(s.m01_x, s.m01_y, s.m01_z);
+ M02 = cv::Vec3f(s.m02_x, s.m02_y, s.m02_z);
+ break;
+ }
+ }
+
template<typename vec>
void get_d_order(const std::vector<vec>& points, int* d_order, vec d) const;
};
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-10 23:50:34 +0000