diff options
| -rw-r--r-- | ftnoir_tracker_aruco/aruco-trackercontrols.ui | 310 | ||||
| -rw-r--r-- | ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 53 | ||||
| -rw-r--r-- | ftnoir_tracker_aruco/ftnoir_tracker_aruco.h | 2 |
3 files changed, 233 insertions, 132 deletions
diff --git a/ftnoir_tracker_aruco/aruco-trackercontrols.ui b/ftnoir_tracker_aruco/aruco-trackercontrols.ui index d4b64c23..340ed0ad 100644 --- a/ftnoir_tracker_aruco/aruco-trackercontrols.ui +++ b/ftnoir_tracker_aruco/aruco-trackercontrols.ui @@ -10,7 +10,7 @@ <x>0</x> <y>0</y> <width>704</width> - <height>308</height> + <height>399</height> </rect> </property> <property name="sizePolicy"> @@ -32,7 +32,106 @@ <property name="spacing"> <number>-1</number> </property> - <item row="7" column="1" rowspan="2"> + <item row="0" column="0"> + <widget class="QLabel" name="label"> + <property name="text"> + <string>Horizontal FOV</string> + </property> + </widget> + </item> + <item row="0" column="3" rowspan="3" colspan="2"> + <widget class="QGroupBox" name="groupBox"> + <property name="title"> + <string>Enable axes</string> + </property> + <layout class="QFormLayout" name="formLayout"> + <property name="horizontalSpacing"> + <number>-1</number> + </property> + <property name="leftMargin"> + <number>6</number> + </property> + <property name="topMargin"> + <number>0</number> + </property> + <property name="rightMargin"> + <number>6</number> + </property> + <property name="bottomMargin"> + <number>0</number> + </property> + <item row="0" column="0"> + <widget class="QCheckBox" name="rx"> + <property name="text"> + <string>RX</string> + </property> + </widget> + </item> + <item row="0" column="1"> + <widget class="QCheckBox" name="tx"> + <property name="text"> + <string>TX</string> + </property> + </widget> + </item> + <item row="1" column="0"> + <widget class="QCheckBox" name="ry"> + <property name="text"> + <string>RY</string> + </property> + </widget> + </item> + <item row="1" column="1"> + <widget class="QCheckBox" name="ty"> + <property name="text"> + <string>TY</string> + </property> + </widget> + </item> + <item row="2" column="0"> + <widget class="QCheckBox" name="rz"> + <property name="text"> + <string>RZ</string> + </property> + </widget> + </item> + <item row="2" column="1"> + <widget class="QCheckBox" name="tz"> + <property name="text"> + <string>TZ</string> + </property> + </widget> + </item> + </layout> + </widget> + </item> + <item row="1" column="0"> + <widget class="QLabel" name="label_2"> + <property name="text"> + <string>Frames per second</string> + </property> + </widget> + </item> + <item row="2" column="1" colspan="2"> + <widget class="QComboBox" name="cameraName"/> + </item> + <item row="0" column="1" colspan="2"> + <widget class="QDoubleSpinBox" name="cameraFOV"> + <property name="locale"> + <locale language="English" country="UnitedStates"/> + </property> + <property name="minimum"> + <double>35.000000000000000</double> + </property> + <property name="maximum"> + <double>180.000000000000000</double> + </property> + <property name="value"> + <double>52.000000000000000</double> + </property> + </widget> + </item> + <item row="8" column="1"> <widget class="QGroupBox" name="groupBox_2"> <property name="title"> <string>Head centroid position</string> @@ -124,79 +223,6 @@ </layout> </widget> </item> - <item row="0" column="3" rowspan="3" colspan="2"> - <widget class="QGroupBox" name="groupBox"> - <property name="title"> - <string>Enable axes</string> - </property> - <layout class="QFormLayout" name="formLayout"> - <property name="horizontalSpacing"> - <number>-1</number> - </property> - <property name="leftMargin"> - <number>6</number> - </property> - <property name="topMargin"> - <number>0</number> - </property> - <property name="rightMargin"> - <number>6</number> - </property> - <property name="bottomMargin"> - <number>0</number> - </property> - <item row="0" column="0"> - <widget class="QCheckBox" name="rx"> - <property name="text"> - <string>RX</string> - </property> - </widget> - </item> - <item row="0" column="1"> - <widget class="QCheckBox" name="tx"> - <property name="text"> - <string>TX</string> - </property> - </widget> - </item> - <item row="1" column="0"> - <widget class="QCheckBox" name="ry"> - <property name="text"> - <string>RY</string> - </property> - </widget> - </item> - <item row="1" column="1"> - <widget class="QCheckBox" name="ty"> - <property name="text"> - <string>TY</string> - </property> - </widget> - </item> - <item row="2" column="0"> - <widget class="QCheckBox" name="rz"> - <property name="text"> - <string>RZ</string> - </property> - </widget> - </item> - <item row="2" column="1"> - <widget class="QCheckBox" name="tz"> - <property name="text"> - <string>TZ</string> - </property> - </widget> - </item> - </layout> - </widget> - </item> - <item row="6" column="0"> - <widget class="QLabel" name="label_4"> - <property name="text"> - <string>Resolution</string> - </property> - </widget> - </item> <item row="1" column="1" colspan="2"> <widget class="QComboBox" name="cameraFPS"> <item> @@ -221,48 +247,14 @@ </item> </widget> </item> - <item row="1" column="0"> - <widget class="QLabel" name="label_2"> + <item row="6" column="0"> + <widget class="QLabel" name="label_4"> <property name="text"> - <string>Frames per second</string> - </property> - </widget> - </item> - <item row="6" column="1"> - <widget class="QComboBox" name="resolution"> - <item> - <property name="text"> - <string>640x480</string> - </property> - </item> - <item> - <property name="text"> - <string>320x240</string> - </property> - </item> - <item> - <property name="text"> - <string>320x200</string> - </property> - </item> - <item> - <property name="text"> - <string>Default (not recommended!)</string> - </property> - </item> - </widget> - </item> - <item row="8" column="3" colspan="2"> - <widget class="QDialogButtonBox" name="buttonBox"> - <property name="standardButtons"> - <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set> + <string>Resolution</string> </property> </widget> </item> - <item row="2" column="1" colspan="2"> - <widget class="QComboBox" name="cameraName"/> - </item> - <item row="6" column="2" rowspan="2" colspan="3"> + <item row="6" column="2" rowspan="3" colspan="3"> <widget class="QLabel" name="label_6"> <property name="sizePolicy"> <sizepolicy hsizetype="Expanding" vsizetype="Preferred"> @@ -293,19 +285,34 @@ </property> </widget> </item> - <item row="0" column="1" colspan="2"> - <widget class="QDoubleSpinBox" name="cameraFOV"> - <property name="locale"> - <locale language="English" country="UnitedStates"/> - </property> - <property name="minimum"> - <double>35.000000000000000</double> - </property> - <property name="maximum"> - <double>180.000000000000000</double> - </property> - <property name="value"> - <double>52.000000000000000</double> + <item row="6" column="1"> + <widget class="QComboBox" name="resolution"> + <item> + <property name="text"> + <string>640x480</string> + </property> + </item> + <item> + <property name="text"> + <string>320x240</string> + </property> + </item> + <item> + <property name="text"> + <string>320x200</string> + </property> + </item> + <item> + <property name="text"> + <string>Default (not recommended!)</string> + </property> + </item> + </widget> + </item> + <item row="9" column="4"> + <widget class="QDialogButtonBox" name="buttonBox"> + <property name="standardButtons"> + <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set> </property> </widget> </item> @@ -316,10 +323,54 @@ </property> </widget> </item> - <item row="0" column="0"> - <widget class="QLabel" name="label"> + <item row="7" column="1"> + <widget class="QComboBox" name="ewma"> + <item> + <property name="text"> + <string>0</string> + </property> + </item> + <item> + <property name="text"> + <string>1</string> + </property> + </item> + <item> + <property name="text"> + <string>2</string> + </property> + </item> + <item> + <property name="text"> + <string>3</string> + </property> + </item> + <item> + <property name="text"> + <string>4</string> + </property> + </item> + <item> + <property name="text"> + <string>5</string> + </property> + </item> + <item> + <property name="text"> + <string>6</string> + </property> + </item> + <item> + <property name="text"> + <string>7</string> + </property> + </item> + </widget> + </item> + <item row="7" column="0"> + <widget class="QLabel" name="label_10"> <property name="text"> - <string>Horizontal FOV</string> + <string>Frame EWMA</string> </property> </widget> </item> @@ -340,7 +391,6 @@ <tabstop>tx</tabstop> <tabstop>ty</tabstop> <tabstop>tz</tabstop> - <tabstop>buttonBox</tabstop> </tabstops> <resources/> <connections/> diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index 9a8c09d5..fa83955c 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -16,7 +16,7 @@ #include <opencv/highgui.h> #include <vector> #include <cstdio> -#include <memory> +#include <vector> #if defined(_WIN32) # define NO_DSHOW_STRSAFE @@ -129,12 +129,14 @@ void Tracker::load_settings() headpos[i] = iniFile.value(QString("headpos-%1").arg(i), 0).toDouble(); } headpitch = iniFile.value("pitch", 0).toDouble(); + N_hyst = iniFile.value("ewma", 0).toInt(); iniFile.endGroup(); } Tracker::Tracker() { + N_hyst = 0; layout = nullptr; stop = false; videoWidget = NULL; @@ -192,7 +194,7 @@ void Tracker::run() cv::Mat color, color_, grayscale, rvec, tvec; - const double stateful_coeff = 0.9; + const double stateful_coeff = 0.88; if (!camera.isOpened()) { @@ -209,6 +211,29 @@ void Tracker::run() int fps = 0; int last_fps = 0; cv::Point2f last_centroid; + + bool first_run = true; + + std::vector<cv::Mat> lasts; + + for (int i = 0; i < N_hyst; i++) + lasts.push_back(cv::Mat()); + + vector<float> weights; + { + const float a = 0.32; + float sum = 0; + float k = 1; + for (int i = 0; i < N_hyst; i++) + { + sum += k; + weights.push_back(k); + k *= 1./(a*N_hyst); + } + for (int i = 0; i < N_hyst; i++) + qDebug() << i << "w" << (weights[i] /= sum); + } + while (!stop) { if (!camera.read(color_)) @@ -217,6 +242,28 @@ void Tracker::run() color_.copyTo(color); cv::cvtColor(color, grayscale, cv::COLOR_BGR2GRAY); + if (first_run) + { + first_run = false; + for (int i = 0; i < N_hyst; i++) + lasts[i] = grayscale; + } + if (N_hyst > 0) + { + cv::Mat hyst(grayscale.rows, grayscale.cols, CV_32F); + hyst.setTo(0); + for (int i = 0; i < N_hyst-1; i++) + lasts[i] = lasts[i+1]; + lasts[N_hyst-1] = grayscale; + for (int i = 0; i < N_hyst; i++) + for (int y = 0; y < grayscale.rows; y++) + for (int x = 0; x < grayscale.cols; x++) + hyst.at<float>(y, x) += (float) lasts[i].at<unsigned char>(y, x) * weights[i]; + hyst.convertTo(grayscale, CV_8U); + } + + cv::cvtColor(grayscale, color, cv::COLOR_GRAY2BGR); + const int scale = frame.cols > 480 ? 2 : 1; detector.setThresholdParams(scale > 1 ? 11 : 7, 4); @@ -543,6 +590,7 @@ void TrackerControls::loadSettings() } ui.pitch_deg->setValue(iniFile.value("pitch", 0).toDouble()); + ui.ewma->setCurrentIndex(iniFile.value("ewma", 0).toInt()); iniFile.endGroup(); settingsDirty = false; @@ -583,6 +631,7 @@ void TrackerControls::save() iniFile.setValue("enable-tz", ui.tz->checkState() != Qt::Unchecked ? true : false); iniFile.setValue("resolution", ui.resolution->currentIndex()); iniFile.setValue("pitch", ui.pitch_deg->value()); + iniFile.setValue("ewma", ui.ewma->currentIndex()); QDoubleSpinBox* headpos[] = { ui.cx, diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h index be2ad3d7..249c8829 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h @@ -42,6 +42,8 @@ private: cv::Mat frame; double headpos[3], headpitch; cv::VideoCapture camera; + int N_hyst; + cv::Mat lasts; }; // Widget that has controls for FTNoIR protocol client-settings. |