diff options
Diffstat (limited to 'ftnoir_tracker_pt')
| -rw-r--r-- | ftnoir_tracker_pt/FTNoIR_PT_Controls.ui | 1184 | ||||
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 62 | ||||
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt.qrc | 9 | ||||
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp | 190 | ||||
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h | 53 | ||||
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp | 20 | ||||
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h | 24 | ||||
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h | 43 | ||||
| -rw-r--r-- | ftnoir_tracker_pt/point_extractor.cpp | 137 | ||||
| -rw-r--r-- | ftnoir_tracker_pt/point_extractor.h | 1 | ||||
| -rw-r--r-- | ftnoir_tracker_pt/point_tracker.h | 27 | ||||
| -rw-r--r-- | ftnoir_tracker_pt/trans_calib.cpp | 44 | ||||
| -rw-r--r-- | ftnoir_tracker_pt/trans_calib.h | 39 |
13 files changed, 135 insertions, 1698 deletions
diff --git a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui deleted file mode 100644 index 0e6048c3..00000000 --- a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui +++ /dev/null @@ -1,1184 +0,0 @@ -<?xml version="1.0" encoding="UTF-8"?> -<ui version="4.0"> - <class>UICPTClientControls</class> - <widget class="QWidget" name="UICPTClientControls"> - <property name="windowModality"> - <enum>Qt::NonModal</enum> - </property> - <property name="geometry"> - <rect> - <x>0</x> - <y>0</y> - <width>397</width> - <height>588</height> - </rect> - </property> - <property name="sizePolicy"> - <sizepolicy hsizetype="Preferred" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="windowTitle"> - <string>PointTracker Settings</string> - </property> - <property name="windowIcon"> - <iconset resource="ftnoir_tracker_pt.qrc"> - <normaloff>:/Resources/Logo_IR.png</normaloff>:/Resources/Logo_IR.png</iconset> - </property> - <property name="layoutDirection"> - <enum>Qt::LeftToRight</enum> - </property> - <property name="autoFillBackground"> - <bool>false</bool> - </property> - <layout class="QGridLayout" name="gridLayout_9"> - <property name="sizeConstraint"> - <enum>QLayout::SetFixedSize</enum> - </property> - <item row="0" column="0"> - <widget class="QTabWidget" name="tabWidget"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="minimumSize"> - <size> - <width>0</width> - <height>0</height> - </size> - </property> - <property name="locale"> - <locale language="English" country="UnitedStates"/> - </property> - <property name="currentIndex"> - <number>0</number> - </property> - <widget class="QWidget" name="tab_2"> - <attribute name="title"> - <string>Camera</string> - </attribute> - <layout class="QVBoxLayout" name="verticalLayout"> - <item> - <widget class="QGroupBox" name="groupBox"> - <property name="title"> - <string>Camera settings</string> - </property> - <layout class="QGridLayout" name="gridLayout_2"> - <item row="0" column="0"> - <widget class="QLabel" name="label_2"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Expanding" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>Device</string> - </property> - <property name="buddy"> - <cstring>camdevice_combo</cstring> - </property> - </widget> - </item> - <item row="1" column="1"> - <widget class="QSpinBox" name="res_x_spin"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Preferred" vsizetype="Fixed"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="toolTip"> - <string>Desired capture width</string> - </property> - <property name="suffix"> - <string> px</string> - </property> - <property name="maximum"> - <number>2000</number> - </property> - <property name="singleStep"> - <number>10</number> - </property> - </widget> - </item> - <item row="2" column="0"> - <widget class="QLabel" name="label_41"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Expanding" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>Height</string> - </property> - </widget> - </item> - <item row="0" column="1"> - <widget class="QComboBox" name="camdevice_combo"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Preferred" vsizetype="Fixed"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="minimumContentsLength"> - <number>10</number> - </property> - </widget> - </item> - <item row="1" column="0"> - <widget class="QLabel" name="label_36"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Expanding" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>Width</string> - </property> - </widget> - </item> - <item row="4" column="0"> - <widget class="QLabel" name="label_4"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Expanding" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>Field of view</string> - </property> - </widget> - </item> - <item row="2" column="1"> - <widget class="QSpinBox" name="res_y_spin"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Preferred" vsizetype="Fixed"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="toolTip"> - <string>Desired capture height</string> - </property> - <property name="suffix"> - <string> px</string> - </property> - <property name="maximum"> - <number>2000</number> - </property> - <property name="singleStep"> - <number>10</number> - </property> - </widget> - </item> - <item row="3" column="0"> - <widget class="QLabel" name="label_37"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Expanding" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>FPS</string> - </property> - <property name="buddy"> - <cstring>fps_spin</cstring> - </property> - </widget> - </item> - <item row="3" column="1"> - <widget class="QSpinBox" name="fps_spin"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Preferred" vsizetype="Fixed"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="toolTip"> - <string>Desired capture framerate</string> - </property> - <property name="suffix"> - <string> Hz</string> - </property> - <property name="maximum"> - <number>2000</number> - </property> - </widget> - </item> - <item row="4" column="1"> - <widget class="QSpinBox" name="fov"> - <property name="suffix"> - <string>°</string> - </property> - <property name="prefix"> - <string/> - </property> - <property name="minimum"> - <number>10</number> - </property> - <property name="maximum"> - <number>90</number> - </property> - </widget> - </item> - <item row="5" column="0"> - <widget class="QLabel" name="label_5"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Expanding" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>Dynamic pose resolution</string> - </property> - </widget> - </item> - <item row="5" column="1"> - <widget class="QCheckBox" name="dynamic_pose"> - <property name="text"> - <string/> - </property> - </widget> - </item> - </layout> - </widget> - </item> - <item> - <widget class="QGroupBox" name="groupBox_2"> - <property name="title"> - <string>Point extraction</string> - </property> - <layout class="QGridLayout" name="gridLayout_7"> - <item row="0" column="4"> - <widget class="QSpinBox" name="mindiam_spin"> - <property name="toolTip"> - <string>Minimum point diameter</string> - </property> - <property name="suffix"> - <string> px</string> - </property> - <property name="maximum"> - <number>1024</number> - </property> - </widget> - </item> - <item row="0" column="1" colspan="2"> - <widget class="QSlider" name="threshold_slider"> - <property name="toolTip"> - <string>Intensity threshold for point extraction</string> - </property> - <property name="maximum"> - <number>255</number> - </property> - <property name="pageStep"> - <number>1</number> - </property> - <property name="value"> - <number>127</number> - </property> - <property name="orientation"> - <enum>Qt::Horizontal</enum> - </property> - <property name="tickPosition"> - <enum>QSlider::TicksBothSides</enum> - </property> - <property name="tickInterval"> - <number>25</number> - </property> - </widget> - </item> - <item row="1" column="4"> - <widget class="QSpinBox" name="maxdiam_spin"> - <property name="toolTip"> - <string>Maximum point diameter</string> - </property> - <property name="suffix"> - <string> px</string> - </property> - <property name="maximum"> - <number>1024</number> - </property> - </widget> - </item> - <item row="1" column="3"> - <widget class="QLabel" name="label_8"> - <property name="text"> - <string>Max size</string> - </property> - <property name="buddy"> - <cstring>maxdiam_spin</cstring> - </property> - </widget> - </item> - <item row="1" column="1" colspan="2"> - <widget class="QSlider" name="threshold_secondary_slider"> - <property name="toolTip"> - <string>Per pixel hysteresis width (leave left if there is little difference between dot and non-dot, move right for increased stability against pixel noise)</string> - </property> - <property name="maximum"> - <number>255</number> - </property> - <property name="pageStep"> - <number>1</number> - </property> - <property name="value"> - <number>100</number> - </property> - <property name="orientation"> - <enum>Qt::Horizontal</enum> - </property> - <property name="tickPosition"> - <enum>QSlider::TicksBothSides</enum> - </property> - <property name="tickInterval"> - <number>25</number> - </property> - </widget> - </item> - <item row="0" column="0"> - <widget class="QLabel" name="label"> - <property name="text"> - <string>Threshold</string> - </property> - <property name="buddy"> - <cstring>threshold_slider</cstring> - </property> - </widget> - </item> - <item row="1" column="0"> - <widget class="QLabel" name="label_secondary"> - <property name="text"> - <string>Hysteresis</string> - </property> - <property name="buddy"> - <cstring>threshold_secondary_slider</cstring> - </property> - </widget> - </item> - <item row="0" column="3"> - <widget class="QLabel" name="label_7"> - <property name="text"> - <string>Min size</string> - </property> - <property name="buddy"> - <cstring>mindiam_spin</cstring> - </property> - </widget> - </item> - </layout> - </widget> - </item> - </layout> - </widget> - <widget class="QWidget" name="tab_4"> - <attribute name="title"> - <string>Model</string> - </attribute> - <layout class="QGridLayout" name="gridLayout_3"> - <item row="0" column="0"> - <widget class="QTabWidget" name="model_tabs"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Preferred" vsizetype="Minimum"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="tabShape"> - <enum>QTabWidget::Rounded</enum> - </property> - <property name="currentIndex"> - <number>0</number> - </property> - <property name="usesScrollButtons"> - <bool>false</bool> - </property> - <property name="documentMode"> - <bool>false</bool> - </property> - <property name="tabsClosable"> - <bool>false</bool> - </property> - <widget class="QWidget" name="tab_5"> - <attribute name="title"> - <string>Clip</string> - </attribute> - <layout class="QGridLayout" name="gridLayout_6"> - <item row="0" column="0"> - <widget class="QGroupBox" name="groupBox_8"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Preferred" vsizetype="Minimum"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="minimumSize"> - <size> - <width>331</width> - <height>208</height> - </size> - </property> - <property name="title"> - <string>Model Dimensions</string> - </property> - <widget class="QSpinBox" name="clip_tlength_spin"> - <property name="geometry"> - <rect> - <x>70</x> - <y>35</y> - <width>100</width> - <height>22</height> - </rect> - </property> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65535</number> - </property> - </widget> - <widget class="QSpinBox" name="clip_bheight_spin"> - <property name="geometry"> - <rect> - <x>150</x> - <y>130</y> - <width>100</width> - <height>22</height> - </rect> - </property> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65535</number> - </property> - </widget> - <widget class="QLabel" name="label_44"> - <property name="geometry"> - <rect> - <x>65</x> - <y>55</y> - <width>71</width> - <height>111</height> - </rect> - </property> - <property name="text"> - <string/> - </property> - <property name="pixmap"> - <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/clip_side.png</pixmap> - </property> - </widget> - <widget class="QLabel" name="label_50"> - <property name="geometry"> - <rect> - <x>20</x> - <y>40</y> - <width>46</width> - <height>13</height> - </rect> - </property> - <property name="text"> - <string>Side</string> - </property> - </widget> - <widget class="QSpinBox" name="clip_blength_spin"> - <property name="geometry"> - <rect> - <x>50</x> - <y>160</y> - <width>100</width> - <height>22</height> - </rect> - </property> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65535</number> - </property> - </widget> - <widget class="QSpinBox" name="clip_theight_spin"> - <property name="geometry"> - <rect> - <x>150</x> - <y>70</y> - <width>100</width> - <height>22</height> - </rect> - </property> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65535</number> - </property> - </widget> - <widget class="QLabel" name="label_51"> - <property name="geometry"> - <rect> - <x>290</x> - <y>40</y> - <width>46</width> - <height>13</height> - </rect> - </property> - <property name="text"> - <string>Front</string> - </property> - </widget> - <widget class="QLabel" name="label_45"> - <property name="geometry"> - <rect> - <x>300</x> - <y>70</y> - <width>21</width> - <height>111</height> - </rect> - </property> - <property name="text"> - <string/> - </property> - <property name="pixmap"> - <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/clip_front.png</pixmap> - </property> - </widget> - </widget> - </item> - </layout> - </widget> - <widget class="QWidget" name="tab_6"> - <attribute name="title"> - <string>Cap</string> - </attribute> - <layout class="QVBoxLayout" name="verticalLayout_14"> - <item> - <widget class="QGroupBox" name="groupBox_9"> - <property name="minimumSize"> - <size> - <width>331</width> - <height>208</height> - </size> - </property> - <property name="title"> - <string>Model Dimensions</string> - </property> - <widget class="QLabel" name="label_46"> - <property name="geometry"> - <rect> - <x>100</x> - <y>60</y> - <width>111</width> - <height>81</height> - </rect> - </property> - <property name="text"> - <string/> - </property> - <property name="pixmap"> - <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/cap_side.png</pixmap> - </property> - </widget> - <widget class="QLabel" name="label_48"> - <property name="geometry"> - <rect> - <x>20</x> - <y>40</y> - <width>46</width> - <height>13</height> - </rect> - </property> - <property name="text"> - <string>Side</string> - </property> - </widget> - <widget class="QSpinBox" name="cap_length_spin"> - <property name="geometry"> - <rect> - <x>90</x> - <y>40</y> - <width>101</width> - <height>22</height> - </rect> - </property> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65535</number> - </property> - </widget> - <widget class="QLabel" name="label_47"> - <property name="geometry"> - <rect> - <x>220</x> - <y>100</y> - <width>81</width> - <height>81</height> - </rect> - </property> - <property name="text"> - <string/> - </property> - <property name="pixmap"> - <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/cap_front.png</pixmap> - </property> - </widget> - <widget class="QSpinBox" name="cap_width_spin"> - <property name="geometry"> - <rect> - <x>240</x> - <y>70</y> - <width>81</width> - <height>22</height> - </rect> - </property> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65535</number> - </property> - </widget> - <widget class="QLabel" name="label_49"> - <property name="geometry"> - <rect> - <x>240</x> - <y>40</y> - <width>46</width> - <height>13</height> - </rect> - </property> - <property name="text"> - <string>Front</string> - </property> - </widget> - <widget class="QSpinBox" name="cap_height_spin"> - <property name="geometry"> - <rect> - <x>20</x> - <y>90</y> - <width>81</width> - <height>22</height> - </rect> - </property> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65535</number> - </property> - </widget> - </widget> - </item> - </layout> - </widget> - <widget class="QWidget" name="tab_7"> - <attribute name="title"> - <string>Custom</string> - </attribute> - <layout class="QGridLayout" name="gridLayout"> - <item row="0" column="0"> - <widget class="QGroupBox" name="groupBox_7"> - <property name="title"> - <string>Model Dimensions</string> - </property> - <layout class="QGridLayout" name="gridLayout_5"> - <item row="3" column="1"> - <widget class="QLabel" name="label_57"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Maximum" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>z:</string> - </property> - </widget> - </item> - <item row="2" column="5"> - <widget class="QSpinBox" name="m2y_spin"> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65535</number> - </property> - </widget> - </item> - <item row="1" column="1"> - <widget class="QLabel" name="label_63"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Maximum" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>x:</string> - </property> - </widget> - </item> - <item row="1" column="2"> - <widget class="QSpinBox" name="m1x_spin"> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65535</number> - </property> - </widget> - </item> - <item row="2" column="2"> - <widget class="QSpinBox" name="m1y_spin"> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65535</number> - </property> - </widget> - </item> - <item row="3" column="5"> - <widget class="QSpinBox" name="m2z_spin"> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65535</number> - </property> - </widget> - </item> - <item row="1" column="5"> - <widget class="QSpinBox" name="m2x_spin"> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65535</number> - </property> - </widget> - </item> - <item row="0" column="0" colspan="6"> - <widget class="QLabel" name="label_56"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Preferred" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string><html><head/><body><p>Location of the two remaining model points<br/>with respect to the reference point in default pose</p><p>Use any units you want, not necessarily centimeters.</p></body></html></string> - </property> - </widget> - </item> - <item row="3" column="2"> - <widget class="QSpinBox" name="m1z_spin"> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65535</number> - </property> - </widget> - </item> - <item row="2" column="4"> - <widget class="QLabel" name="label_70"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Maximum" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>y:</string> - </property> - </widget> - </item> - <item row="1" column="4"> - <widget class="QLabel" name="label_67"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Maximum" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>x:</string> - </property> - </widget> - </item> - <item row="1" column="3"> - <widget class="QLabel" name="label_64"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Maximum" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string><html><head/><body><p><span style=" font-size:16pt;">P</span><span style=" font-size:16pt; vertical-align:sub;">3</span></p></body></html></string> - </property> - </widget> - </item> - <item row="1" column="0"> - <widget class="QLabel" name="label_60"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Maximum" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string><html><head/><body><p><span style=" font-size:16pt;">P</span><span style=" font-size:16pt; vertical-align:sub;">2</span></p></body></html></string> - </property> - </widget> - </item> - <item row="3" column="4"> - <widget class="QLabel" name="label_69"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Maximum" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>z:</string> - </property> - </widget> - </item> - <item row="2" column="1"> - <widget class="QLabel" name="label_58"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Maximum" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>y:</string> - </property> - </widget> - </item> - </layout> - </widget> - </item> - </layout> - </widget> - </widget> - </item> - <item row="1" column="0"> - <widget class="QGroupBox" name="groupBox_10"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Preferred" vsizetype="Maximum"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="title"> - <string>Model position</string> - </property> - <layout class="QGridLayout" name="gridLayout_4"> - <item row="0" column="0"> - <widget class="QFrame" name="frame_2"> - <property name="frameShape"> - <enum>QFrame::NoFrame</enum> - </property> - <property name="frameShadow"> - <enum>QFrame::Raised</enum> - </property> - <layout class="QGridLayout" name="gridLayout_11"> - <item row="0" column="0"> - <widget class="QLabel" name="label_61"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Maximum" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>x:</string> - </property> - </widget> - </item> - <item row="0" column="1"> - <widget class="QSpinBox" name="tx_spin"> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65536</number> - </property> - </widget> - </item> - <item row="1" column="0"> - <widget class="QLabel" name="label_62"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Maximum" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>y:</string> - </property> - </widget> - </item> - <item row="1" column="1"> - <widget class="QSpinBox" name="ty_spin"> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65536</number> - </property> - </widget> - </item> - <item row="2" column="0"> - <widget class="QLabel" name="label_66"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Maximum" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>z:</string> - </property> - </widget> - </item> - <item row="2" column="1"> - <widget class="QSpinBox" name="tz_spin"> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65536</number> - </property> - </widget> - </item> - </layout> - </widget> - </item> - <item row="0" column="1"> - <widget class="QLabel" name="label_59"> - <property name="text"> - <string><html><head/><body><p>Only pitch and yaw during calibration.</p><p>Don't roll and don't translate.</p></body></html></string> - </property> - </widget> - </item> - <item row="2" column="1"> - <widget class="QPushButton" name="tcalib_button"> - <property name="enabled"> - <bool>false</bool> - </property> - <property name="text"> - <string>Toggle calibration</string> - </property> - <property name="checkable"> - <bool>true</bool> - </property> - </widget> - </item> - </layout> - </widget> - </item> - </layout> - </widget> - <widget class="QWidget" name="tab_3"> - <attribute name="title"> - <string>About</string> - </attribute> - <layout class="QGridLayout" name="gridLayout_8"> - <item row="0" column="0"> - <widget class="QLabel" name="label_10"> - <property name="text"> - <string><html><head/><body><p><span style=" font-weight:600;">FTNoIR PointTracker Plugin<br/>Version 1.1</span></p><p><span style=" font-weight:600;">by Patrick Ruoff</span></p><p><a href="http://ftnoirpt.sourceforge.net/"><span style=" font-weight:600; text-decoration: underline; color:#0000ff;">Manual (external)</span></a></p></body></html></string> - </property> - <property name="alignment"> - <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set> - </property> - <property name="openExternalLinks"> - <bool>true</bool> - </property> - </widget> - </item> - <item row="0" column="1"> - <widget class="QLabel" name="label_35"> - <property name="text"> - <string/> - </property> - <property name="pixmap"> - <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/Logo_IR.png</pixmap> - </property> - <property name="alignment"> - <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set> - </property> - </widget> - </item> - </layout> - </widget> - </widget> - </item> - <item row="1" column="0"> - <widget class="QGroupBox" name="groupBox_5"> - <property name="title"> - <string>Status</string> - </property> - <layout class="QGridLayout" name="gridLayout_10"> - <item row="1" column="0"> - <widget class="QLabel" name="label_3"> - <property name="text"> - <string>Extracted Points:</string> - </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"> - <string>Camera Info:</string> - </property> - </widget> - </item> - <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="text"> - <string/> - </property> - </widget> - </item> - <item row="0" column="1"> - <widget class="QLabel" name="caminfo_label"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Preferred" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="minimumSize"> - <size> - <width>120</width> - <height>0</height> - </size> - </property> - <property name="text"> - <string/> - </property> - </widget> - </item> - </layout> - </widget> - </item> - </layout> - </widget> - <tabstops> - <tabstop>tabWidget</tabstop> - <tabstop>camdevice_combo</tabstop> - <tabstop>res_x_spin</tabstop> - <tabstop>res_y_spin</tabstop> - <tabstop>fps_spin</tabstop> - <tabstop>fov</tabstop> - <tabstop>threshold_slider</tabstop> - <tabstop>mindiam_spin</tabstop> - <tabstop>threshold_secondary_slider</tabstop> - <tabstop>maxdiam_spin</tabstop> - <tabstop>model_tabs</tabstop> - <tabstop>clip_tlength_spin</tabstop> - <tabstop>clip_theight_spin</tabstop> - <tabstop>clip_bheight_spin</tabstop> - <tabstop>clip_blength_spin</tabstop> - <tabstop>cap_length_spin</tabstop> - <tabstop>cap_width_spin</tabstop> - <tabstop>cap_height_spin</tabstop> - <tabstop>m1x_spin</tabstop> - <tabstop>m1y_spin</tabstop> - <tabstop>m1z_spin</tabstop> - <tabstop>m2x_spin</tabstop> - <tabstop>m2y_spin</tabstop> - <tabstop>m2z_spin</tabstop> - <tabstop>tx_spin</tabstop> - <tabstop>ty_spin</tabstop> - <tabstop>tz_spin</tabstop> - <tabstop>tcalib_button</tabstop> - </tabstops> - <resources> - <include location="ftnoir_tracker_pt.qrc"/> - </resources> - <connections/> - <slots> - <slot>startEngineClicked()</slot> - <slot>stopEngineClicked()</slot> - <slot>cameraSettingsClicked()</slot> - </slots> -</ui> diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index 4c0913e7..bad75238 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -12,6 +12,7 @@ #include <QFile> #include <QCoreApplication> #include "opentrack/thread.hpp" +#include "opentrack/camera-names.hpp" using namespace std; using namespace cv; @@ -53,7 +54,19 @@ void Tracker_PT::reset_command(Command command) float Tracker_PT::get_focal_length() { static constexpr float pi = 3.1415926f; - const float fov = static_cast<int>(s.fov) * pi / 180.f; + float fov_; + switch (s.fov) + { + default: + case 0: + fov_ = 56; + break; + case 1: + fov_ = 75; + break; + } + + const float fov = static_cast<int>(fov_) * pi / 180.f; return 0.5f / tan(0.5f * fov); } @@ -85,7 +98,7 @@ void Tracker_PT::run() ever_success |= success; if (success) - point_tracker.track(points, PointModel(s), get_focal_length(), s.dynamic_pose); + point_tracker.track(points, PointModel(s), get_focal_length(), true); { Affine X_CM = pose(); @@ -128,15 +141,39 @@ void Tracker_PT::run() qDebug()<<"Tracker:: Thread stopping"; } -int camera_name_to_index(const QString &name); - void Tracker_PT::apply_settings() { qDebug()<<"Tracker:: Applying settings"; QMutexLocker lock(&mutex); - camera.set_device_index(camera_name_to_index(s.camera_name)); - camera.set_res(s.cam_res_x, s.cam_res_y); - camera.set_fps(s.cam_fps); + camera.set_device_index(camera_name_to_index("PS3Eye Camera")); + int res_x, res_y, cam_fps; + switch (s.camera_mode) + { + default: + case 0: + res_x = 640; + res_y = 480; + cam_fps = 75; + break; + case 1: + res_x = 640; + res_y = 480; + cam_fps = 60; + break; + case 2: + res_x = 320; + res_y = 240; + cam_fps = 189; + break; + case 3: + res_x = 320; + res_y = 240; + cam_fps = 120; + break; + } + + camera.set_res(res_x, res_y); + camera.set_fps(cam_fps); qDebug()<<"Tracker::apply ends"; } @@ -202,14 +239,3 @@ void Tracker_PT::data(THeadPoseData *data) data[TZ] = t[2] / 10.0; } } - -//----------------------------------------------------------------------------- -#ifdef OPENTRACK_API -extern "C" OPENTRACK_EXPORT ITracker* GetConstructor() -#else -#pragma comment(linker, "/export:GetTracker=_GetTracker@0") -OPENTRACK_EXPORT ITrackerPtr __stdcall GetTracker() -#endif -{ - return new Tracker_PT; -} diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.qrc b/ftnoir_tracker_pt/ftnoir_tracker_pt.qrc deleted file mode 100644 index a8f9a1af..00000000 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.qrc +++ /dev/null @@ -1,9 +0,0 @@ -<RCC> - <qresource prefix="/"> - <file>Resources/cap_front.png</file> - <file>Resources/cap_side.png</file> - <file>Resources/clip_front.png</file> - <file>Resources/clip_side.png</file> - <file>Resources/Logo_IR.png</file> - </qresource> -</RCC> diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp deleted file mode 100644 index 86178cb3..00000000 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp +++ /dev/null @@ -1,190 +0,0 @@ -/* Copyright (c) 2012 Patrick Ruoff - * - * Permission to use, copy, modify, and/or distribute this software for any - * purpose with or without fee is hereby granted, provided that the above - * copyright notice and this permission notice appear in all copies. - */ - -#include "ftnoir_tracker_pt_dialog.h" - -#include <QMessageBox> -#include <QDebug> -#include <opencv2/core/core.hpp> -#ifndef OPENTRACK_API -# include <boost/shared_ptr.hpp> -#else -# include <memory> -# include "opentrack/camera-names.hpp" -#endif -#include <vector> - -using namespace std; - -//----------------------------------------------------------------------------- -TrackerDialog_PT::TrackerDialog_PT() - : tracker(NULL), - timer(this), - trans_calib_running(false) -{ - ui.setupUi( this ); - -#ifdef OPENTRACK_API - ui.camdevice_combo->addItems(get_camera_names()); -#else - vector<string> device_names; - get_camera_device_names(device_names); - for (vector<string>::iterator iter = device_names.begin(); iter != device_names.end(); ++iter) - { - ui.camdevice_combo->addItem(iter->c_str()); - } -#endif - - tie_setting(s.camera_name, ui.camdevice_combo); - tie_setting(s.cam_res_x, ui.res_x_spin); - tie_setting(s.cam_res_y, ui.res_y_spin); - tie_setting(s.cam_fps, ui.fps_spin); - - tie_setting(s.threshold_secondary, ui.threshold_secondary_slider); - tie_setting(s.threshold, ui.threshold_slider); - - tie_setting(s.min_point_size, ui.mindiam_spin); - tie_setting(s.max_point_size, ui.maxdiam_spin); - - tie_setting(s.clip_by, ui.clip_bheight_spin); - tie_setting(s.clip_bz, ui.clip_blength_spin); - tie_setting(s.clip_ty, ui.clip_theight_spin); - tie_setting(s.clip_tz, ui.clip_tlength_spin); - - tie_setting(s.cap_x, ui.cap_width_spin); - tie_setting(s.cap_y, ui.cap_height_spin); - tie_setting(s.cap_z, ui.cap_length_spin); - - tie_setting(s.m01_x, ui.m1x_spin); - tie_setting(s.m01_y, ui.m1y_spin); - tie_setting(s.m01_z, ui.m1z_spin); - - tie_setting(s.m02_x, ui.m2x_spin); - tie_setting(s.m02_y, ui.m2y_spin); - tie_setting(s.m02_z, ui.m2z_spin); - - tie_setting(s.t_MH_x, ui.tx_spin); - tie_setting(s.t_MH_y, ui.ty_spin); - tie_setting(s.t_MH_z, ui.tz_spin); - - tie_setting(s.fov, ui.fov); - - tie_setting(s.active_model_panel, ui.model_tabs); - - tie_setting(s.dynamic_pose, ui.dynamic_pose); - - 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(rejected()), this, SLOT(doCancel())); - - connect(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info())); - timer.start(100); -} - -void TrackerDialog_PT::startstop_trans_calib(bool start) -{ - if (start) - { - qDebug()<<"TrackerDialog:: Starting translation calibration"; - trans_calib.reset(); - trans_calib_running = true; - s.t_MH_x = 0; - s.t_MH_y = 0; - s.t_MH_z = 0; - } - else - { - qDebug()<<"TrackerDialog:: Stopping translation calibration"; - trans_calib_running = false; - { - auto tmp = trans_calib.get_estimate(); - s.t_MH_x = tmp[0]; - s.t_MH_y = tmp[1]; - s.t_MH_z = tmp[2]; - } - } -} - -void TrackerDialog_PT::poll_tracker_info() -{ - if (tracker) - { - QString to_print; - - // display caminfo - CamInfo info; - tracker->get_cam_info(&info); - to_print = QString::number(info.res_x)+"x"+QString::number(info.res_y)+" @ "+QString::number(info.fps)+" FPS"; - ui.caminfo_label->setText(to_print); - - // display pointinfo - int n_points = tracker->get_n_points(); - to_print = QString::number(n_points); - if (n_points == 3) - to_print += " OK!"; - else - to_print += " BAD!"; - ui.pointinfo_label->setText(to_print); - - // update calibration - if (trans_calib_running) trans_calib_step(); - } - else - { - QString to_print = "Tracker offline"; - ui.caminfo_label->setText(to_print); - ui.pointinfo_label->setText(to_print); - } -} - -void TrackerDialog_PT::trans_calib_step() -{ - if (tracker) - { - Affine X_CM = tracker->pose(); - trans_calib.update(X_CM.R, X_CM.t); - } -} - -void TrackerDialog_PT::save() -{ - s.b->save(); -} - -void TrackerDialog_PT::doOK() -{ - save(); - close(); -} - -void TrackerDialog_PT::doCancel() -{ - s.b->reload(); - close(); -} - -void TrackerDialog_PT::register_tracker(ITracker *t) -{ - qDebug()<<"TrackerDialog:: Tracker registered"; - tracker = static_cast<Tracker_PT*>(t); - ui.tcalib_button->setEnabled(true); - //ui.center_button->setEnabled(true); -} - -void TrackerDialog_PT::unregister_tracker() -{ - qDebug()<<"TrackerDialog:: Tracker un-registered"; - tracker = NULL; - ui.tcalib_button->setEnabled(false); - //ui.center_button->setEnabled(false); -} - -extern "C" OPENTRACK_EXPORT ITrackerDialog* GetDialog( ) -{ - return new TrackerDialog_PT; -} diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h deleted file mode 100644 index c1cd2e3b..00000000 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h +++ /dev/null @@ -1,53 +0,0 @@ -/* Copyright (c) 2012 Patrick Ruoff - * - * Permission to use, copy, modify, and/or distribute this software for any - * purpose with or without fee is hereby granted, provided that the above - * copyright notice and this permission notice appear in all copies. - */ - -#ifndef FTNOIR_TRACKER_PT_DIALOG_H -#define FTNOIR_TRACKER_PT_DIALOG_H - -#ifdef OPENTRACK_API -# include "opentrack/plugin-api.hpp" -#else -#include "..\ftnoir_tracker_base\ftnoir_tracker_base.h" -#endif -#include "ftnoir_tracker_pt_settings.h" -#include "ftnoir_tracker_pt.h" -#include "trans_calib.h" -#include "pt_video_widget.h" -#include "ui_FTNoIR_PT_Controls.h" - -#include <QTimer> - -//----------------------------------------------------------------------------- -// The dialog that shows up when the user presses "Settings" -class TrackerDialog_PT : public ITrackerDialog -{ - Q_OBJECT -public: - TrackerDialog_PT(); - void register_tracker(ITracker *tracker) override; - void unregister_tracker() override; - void save(); - void trans_calib_step(); - -public slots: - void doOK(); - void doCancel(); - - void startstop_trans_calib(bool start); - void poll_tracker_info(); -private: - settings_pt s; - Tracker_PT* tracker; - QTimer timer; - - TranslationCalibrator trans_calib; - bool trans_calib_running; - - Ui::UICPTClientControls ui; -}; - -#endif //FTNOIR_TRACKER_PT_DIALOG_H diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp deleted file mode 100644 index 1aaa1bf9..00000000 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp +++ /dev/null @@ -1,20 +0,0 @@ -/* Copyright (c) 2012 Patrick Ruoff - * - * Permission to use, copy, modify, and/or distribute this software for any - * purpose with or without fee is hereby granted, provided that the above - * copyright notice and this permission notice appear in all copies. - */ - -#include "ftnoir_tracker_pt_dll.h" -#include <QIcon> - -#ifdef OPENTRACK_API -# include "opentrack/plugin-api.hpp" -extern "C" OPENTRACK_EXPORT Metadata* GetMetadata() -#else -# pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0") -OPENTRACK_EXPORT ITrackerDllPtr __stdcall GetTrackerDll() -#endif -{ - return new TrackerDll; -} diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h deleted file mode 100644 index 9579d46c..00000000 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h +++ /dev/null @@ -1,24 +0,0 @@ -/* Copyright (c) 2012 Patrick Ruoff - * - * Permission to use, copy, modify, and/or distribute this software for any - * purpose with or without fee is hereby granted, provided that the above - * copyright notice and this permission notice appear in all copies. - */ - -#if defined(OPENTRACK_API) -# include "opentrack/plugin-api.hpp" -#else -# include "../ftnoir_tracker_base/ftnoir_tracker_base.h" -#endif - -//----------------------------------------------------------------------------- -class TrackerDll : -#if defined(OPENTRACK_API) - public Metadata -#else - public ITrackerDll -#endif -{ - QString name() { return QString("PointTracker 1.1"); } - QIcon icon() { return QIcon(":/Resources/Logo_IR.png"); } -}; diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h index 14786013..4c6bab48 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h @@ -13,56 +13,25 @@ using namespace options; struct settings_pt : opts { - value<QString> camera_name; - value<int> cam_res_x, - cam_res_y, - cam_fps, - threshold, - threshold_secondary, + value<int> threshold, min_point_size, max_point_size; - value<int> m01_x, m01_y, m01_z; - value<int> m02_x, m02_y, m02_z; - value<int> t_MH_x, t_MH_y, t_MH_z; - - value<int> clip_ty, clip_tz, clip_by, clip_bz; - value<int> active_model_panel, cap_x, cap_y, cap_z; - - value<int> fov; - - value<bool> dynamic_pose; + value<int> fov, camera_mode; + value<int> model_used; settings_pt() : opts("tracker-pt"), - camera_name(b, "camera-name", ""), - cam_res_x(b, "camera-res-width", 640), - cam_res_y(b, "camera-res-height", 480), - cam_fps(b, "camera-fps", 30), threshold(b, "threshold-primary", 128), - threshold_secondary(b, "threshold-secondary", 128), min_point_size(b, "min-point-size", 10), max_point_size(b, "max-point-size", 50), - m01_x(b, "m_01-x", 0), - m01_y(b, "m_01-y", 0), - m01_z(b, "m_01-z", 0), - m02_x(b, "m_02-x", 0), - m02_y(b, "m_02-y", 0), - m02_z(b, "m_02-z", 0), t_MH_x(b, "model-centroid-x", 0), t_MH_y(b, "model-centroid-y", 0), t_MH_z(b, "model-centroid-z", 0), - clip_ty(b, "clip-ty", 0), - clip_tz(b, "clip-tz", 0), - clip_by(b, "clip-by", 0), - clip_bz(b, "clip-bz", 0), - active_model_panel(b, "active-model-panel", 0), - cap_x(b, "cap-x", 0), - cap_y(b, "cap-y", 0), - cap_z(b, "cap-z", 0), - fov(b, "camera-fov", 56), - dynamic_pose(b, "dynamic-pose-resolution", true) + fov(b, "camera-fov", 0), + camera_mode(b, "camera-mode", 0), + model_used(b, "model-used", 0) {} }; diff --git a/ftnoir_tracker_pt/point_extractor.cpp b/ftnoir_tracker_pt/point_extractor.cpp index 5f7f6829..c186f5f2 100644 --- a/ftnoir_tracker_pt/point_extractor.cpp +++ b/ftnoir_tracker_pt/point_extractor.cpp @@ -25,85 +25,94 @@ std::vector<Vec2f> PointExtractor::extract_points(Mat& frame) const int W = frame.cols; const int H = frame.rows; - if (frame_last.cols != W || frame_last.rows != H) - { - frame_last = cv::Mat(); - } + // clear old points + points.clear(); - // convert to grayscale - Mat frame_gray; + // convert to grayscale + Mat frame_gray; cvtColor(frame, frame_gray, cv::COLOR_RGB2GRAY); - - 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; - // only used if draw_output - Mat frame_bin_copy; - // mask for everything that passes - Mat frame_bin_low; - // mask for lower-threshold && combined result of last, needs to remain in scope until drawing, but is only used if secondary != 0 - Mat frame_last_and_low; - - if(secondary==0){ - 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 = primary; - //float hyst = float(threshold_secondary_val)/512.; - //threshold(frame_gray, frame_bin, (t + ((255.-t)*hyst)), 255, THRESH_BINARY); - float hyst = float(primary)/(256.*8.); - 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); - if(frame_last.empty()){ - frame_bin.copyTo(frame_last); - }else{ - // keep pixels from last if they are above lower threshold - bitwise_and(frame_last, frame_bin_low, frame_last_and_low); - // union of pixels >= higher threshold and pixels >= lower threshold - bitwise_or(frame_bin, frame_last_and_low, frame_last); - frame_last.copyTo(frame_bin); - } - } + // mask for everything that passes the threshold (or: the upper threshold of the hysteresis) + Mat frame_bin; + + threshold(frame_gray, frame_bin, primary, 255, THRESH_BINARY); 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_min = 3.14*min_size*min_size/4.0; unsigned int region_size_max = 3.14*max_size*max_size/4.0; - - std::vector<std::vector<cv::Point>> contours; - cv::findContours(frame_bin, contours, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE); - - // clear old points - points.clear(); - - for (auto& c : contours) - { - auto m = cv::moments(cv::Mat(c)); - const double area = m.m00; - if (area == 0.) - continue; - cv::Vec2f pos(m.m10 / m.m00, m.m01 / m.m00); - if (area < region_size_min || area > region_size_max) - continue; - pos[0] = (pos[0] - W/2)/W; - pos[1] = -(pos[1] - H/2)/W; - - points.push_back(pos); + + int blob_index = 1; + for (int y=0; y<H; y++) + { + if (blob_index >= 255) break; + for (int x=0; x<W; x++) + { + if (blob_index >= 255) break; + + // find connected components with floodfill + if (frame_bin.at<unsigned char>(y,x) != 255) continue; + Rect rect; + + floodFill(frame_bin, Point(x,y), Scalar(blob_index), &rect, Scalar(0), Scalar(0), FLOODFILL_FIXED_RANGE); + blob_index++; + + // calculate the size of the connected component + unsigned int region_size = 0; + for (int i=rect.y; i < (rect.y+rect.height); i++) + { + for (int j=rect.x; j < (rect.x+rect.width); j++) + { + if (frame_bin.at<unsigned char>(i,j) != blob_index-1) continue; + region_size++; + } + } + + if (region_size < region_size_min || region_size > region_size_max) continue; + + // calculate the center of mass: + // mx = (sum_ij j*f(frame_grey_ij)) / (sum_ij f(frame_grey_ij)) + // my = ... + // f maps from [threshold,256] -> [0, 1], lower values are mapped to 0 + float m = 0; + float mx = 0; + float my = 0; + for (int i=rect.y; i < (rect.y+rect.height); i++) + { + for (int j=rect.x; j < (rect.x+rect.width); j++) + { + if (frame_bin.at<unsigned char>(i,j) != blob_index-1) continue; + float val; + + val = frame_gray.at<unsigned char>(i,j); + val = float(val - primary)/(256 - primary); + val = val*val; // makes it more stable (less emphasis on low values, more on the peak) + + m += val; + mx += j * val; + my += i * val; + } + } + + // convert to centered camera coordinate system with y axis upwards + Vec2f c; + c[0] = (mx/m - W/2)/W; + c[1] = -(my/m - H/2)/W; + //qDebug()<<blob_index<<" => "<<c[0]<<" "<<c[1]; + points.push_back(c); + } } - - // draw output image + + // draw output image vector<Mat> channels; frame_bin.setTo(170, frame_bin); channels.push_back(frame_gray + frame_bin); channels.push_back(frame_gray - frame_bin); channels.push_back(frame_gray - frame_bin); merge(channels, frame); - + return points; } diff --git a/ftnoir_tracker_pt/point_extractor.h b/ftnoir_tracker_pt/point_extractor.h index 3f6cfb72..b9368ab6 100644 --- a/ftnoir_tracker_pt/point_extractor.h +++ b/ftnoir_tracker_pt/point_extractor.h @@ -28,7 +28,6 @@ public: settings_pt s; private: std::vector<cv::Vec2f> points; - cv::Mat frame_last; }; #endif //POINTEXTRACTOR_H diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h index 3b9573ff..344a05c0 100644 --- a/ftnoir_tracker_pt/point_tracker.h +++ b/ftnoir_tracker_pt/point_tracker.h @@ -70,8 +70,6 @@ public: cv::Matx22f P; - enum Model { Clip = 0, Cap = 1, Custom = 2 }; - PointModel(settings_pt& s) { set_model(s); @@ -86,22 +84,21 @@ public: P = 1.0/(s11*s22-s12*s12) * cv::Matx22f(s22, -s12, -s12, s11); } + enum { Cap = 0, Clip = 1 }; + void set_model(settings_pt& s) { - switch (s.active_model_panel) + if (s.model_used == Cap) + { + const double z = 100, x = 120, y = 60; + M01 = cv::Vec3f(-x, -y, -z); + M02 = cv::Vec3f(x, -y, -z); + } + else { - 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; + const double a = 27, b = 43, c = 62, d = 74; + M01 = cv::Vec3f(0, b, -a); + M02 = cv::Vec3f(0, -c, -d); } } diff --git a/ftnoir_tracker_pt/trans_calib.cpp b/ftnoir_tracker_pt/trans_calib.cpp deleted file mode 100644 index 2994eb48..00000000 --- a/ftnoir_tracker_pt/trans_calib.cpp +++ /dev/null @@ -1,44 +0,0 @@ -/* Copyright (c) 2012 Patrick Ruoff - * - * Permission to use, copy, modify, and/or distribute this software for any - * purpose with or without fee is hereby granted, provided that the above - * copyright notice and this permission notice appear in all copies. - */ - -#include "trans_calib.h" - -using namespace cv; - -//----------------------------------------------------------------------------- -TranslationCalibrator::TranslationCalibrator() -{ - reset(); -} - -void TranslationCalibrator::reset() -{ - P = Matx66f::zeros(); - y = Vec6f(0,0,0, 0,0,0); -} - -void TranslationCalibrator::update(const Matx33f& R_CM_k, const Vec3f& t_CM_k) -{ - Matx<float, 6,3> H_k_T = Matx<float, 6,3>::zeros(); - for (int i=0; i<3; ++i) { - for (int j=0; j<3; ++j) { - H_k_T(i,j) = R_CM_k(j,i); - } - } - for (int i=0; i<3; ++i) - { - H_k_T(3+i,i) = 1.0; - } - P += H_k_T * H_k_T.t(); - y += H_k_T * t_CM_k; -} - -Vec3f TranslationCalibrator::get_estimate() -{ - Vec6f x = P.inv() * y; - return Vec3f(-x[0], -x[1], -x[2]); -} diff --git a/ftnoir_tracker_pt/trans_calib.h b/ftnoir_tracker_pt/trans_calib.h deleted file mode 100644 index c2c02b38..00000000 --- a/ftnoir_tracker_pt/trans_calib.h +++ /dev/null @@ -1,39 +0,0 @@ -/* Copyright (c) 2012 Patrick Ruoff - * - * Permission to use, copy, modify, and/or distribute this software for any - * purpose with or without fee is hereby granted, provided that the above - * copyright notice and this permission notice appear in all copies. - */ - -#ifndef TRANSCALIB_H -#define TRANSCALIB_H - -#include <opencv2/core/core.hpp> - -//----------------------------------------------------------------------------- -// Calibrates the translation from head to model = t_MH -// by recursive least squares / -// kalman filter in information form with identity noise covariance -// measurement equation when head position = t_CH is fixed: -// (R_CM_k , Id)*(-t_MH, t_CH) = t_CM_k - -class TranslationCalibrator -{ -public: - TranslationCalibrator(); - - // reset the calibration process - void reset(); - - // update the current estimate - void update(const cv::Matx33f& R_CM_k, const cv::Vec3f& t_CM_k); - - // get the current estimate for t_MH - cv::Vec3f get_estimate(); - -private: - cv::Matx66f P; // normalized precision matrix = inverse covariance - cv::Vec6f y; // P*(-t_MH, t_CH) -}; - -#endif //TRANSCALIB_H |