diff options
Diffstat (limited to 'tracker-aruco/ftnoir_tracker_aruco.cpp')
-rw-r--r-- | tracker-aruco/ftnoir_tracker_aruco.cpp | 58 |
1 files changed, 29 insertions, 29 deletions
diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp index a36fdd9f..8edb8cf5 100644 --- a/tracker-aruco/ftnoir_tracker_aruco.cpp +++ b/tracker-aruco/ftnoir_tracker_aruco.cpp @@ -38,7 +38,7 @@ static resolution_tuple resolution_choices[] = { 0, 0 } }; -Tracker::Tracker() : +tracker_aruco::tracker_aruco() : stop(false), layout(nullptr), videoWidget(nullptr), @@ -57,7 +57,7 @@ Tracker::Tracker() : detector._thresMethod = aruco::MarkerDetector::FIXED_THRES; } -Tracker::~Tracker() +tracker_aruco::~tracker_aruco() { stop = true; wait(); @@ -68,7 +68,7 @@ Tracker::~Tracker() camera.release(); } -void Tracker::start_tracker(QFrame* videoframe) +void tracker_aruco::start_tracker(QFrame* videoframe) { videoframe->show(); videoWidget = new cv_video_widget(videoframe); @@ -87,7 +87,7 @@ void Tracker::start_tracker(QFrame* videoframe) #define HT_PI M_PI -void Tracker::getRT(cv::Matx33d& r_, cv::Vec3d& t_) +void tracker_aruco::getRT(cv::Matx33d& r_, cv::Vec3d& t_) { QMutexLocker l(&mtx); @@ -95,7 +95,7 @@ void Tracker::getRT(cv::Matx33d& r_, cv::Vec3d& t_) t_ = t; } -bool Tracker::detect_with_roi() +bool tracker_aruco::detect_with_roi() { if (last_roi.width > 1 && last_roi.height > 1) { @@ -124,14 +124,14 @@ bool Tracker::detect_with_roi() return false; } -bool Tracker::detect_without_roi() +bool tracker_aruco::detect_without_roi() { detector.setMinMaxSize(size_min, size_max); detector.detect(grayscale, markers, cv::Mat(), cv::Mat(), -1, false); return markers.size() == 1 && markers[0].size() == 4; } -bool Tracker::open_camera() +bool tracker_aruco::open_camera() { int rint = s.resolution; if (rint < 0 || rint >= (int)(sizeof(resolution_choices) / sizeof(resolution_tuple))) @@ -180,7 +180,7 @@ bool Tracker::open_camera() return true; } -void Tracker::set_intrinsics() +void tracker_aruco::set_intrinsics() { const int w = grayscale.cols, h = grayscale.rows; const double diag_fov = static_cast<int>(s.fov) * M_PI / 180.; @@ -195,7 +195,7 @@ void Tracker::set_intrinsics() intrinsics(1, 2) = grayscale.rows/2; } -void Tracker::update_fps(double alpha) +void tracker_aruco::update_fps(double alpha) { std::uint64_t time = std::uint64_t(cv::getTickCount()); const double dt = std::max(0., (time - last_time) / freq); @@ -204,7 +204,7 @@ void Tracker::update_fps(double alpha) cur_fps = cur_fps * alpha + (1-alpha) * (fabs(dt) < 1e-6 ? 0 : 1./dt); } -void Tracker::draw_ar(bool ok) +void tracker_aruco::draw_ar(bool ok) { if (ok) { @@ -219,7 +219,7 @@ void Tracker::draw_ar(bool ok) cv::putText(frame, buf, cv::Point(10, 32), cv::FONT_HERSHEY_PLAIN, 2, cv::Scalar(0, 255, 0), 1); } -void Tracker::clamp_last_roi() +void tracker_aruco::clamp_last_roi() { if (last_roi.x < 0) last_roi.x = 0; @@ -242,7 +242,7 @@ void Tracker::clamp_last_roi() last_roi.height -= last_roi.y; } -void Tracker::set_points() +void tracker_aruco::set_points() { using f = float; const f hx = f(s.headpos_x), hy = f(s.headpos_y), hz = f(s.headpos_z); @@ -257,7 +257,7 @@ void Tracker::set_points() obj_points[x4] = cv::Point3f(-size + hx, size + hy, 0 + hz); } -void Tracker::draw_centroid() +void tracker_aruco::draw_centroid() { repr2.clear(); @@ -269,7 +269,7 @@ void Tracker::draw_centroid() cv::circle(frame, repr2[0], 4, s, -1); } -void Tracker::set_last_roi() +void tracker_aruco::set_last_roi() { roi_projection.clear(); @@ -286,7 +286,7 @@ void Tracker::set_last_roi() set_roi_from_projection(); } -void Tracker::set_rmat() +void tracker_aruco::set_rmat() { cv::Rodrigues(rvec, rmat); @@ -305,7 +305,7 @@ void Tracker::set_rmat() t = cv::Vec3d(tvec[0], -tvec[1], tvec[2]); } -void Tracker::set_roi_from_projection() +void tracker_aruco::set_roi_from_projection() { last_roi = cv::Rect(color.cols-1, color.rows-1, 0, 0); @@ -328,7 +328,7 @@ void Tracker::set_roi_from_projection() clamp_last_roi(); } -void Tracker::run() +void tracker_aruco::run() { cv::setNumThreads(0); @@ -389,7 +389,7 @@ fail: } } -void Tracker::data(double *data) +void tracker_aruco::data(double *data) { QMutexLocker lck(&mtx); @@ -401,7 +401,7 @@ void Tracker::data(double *data) data[TZ] = pose[TZ]; } -TrackerControls::TrackerControls() +dialog_aruco::dialog_aruco() { tracker = nullptr; calib_timer.setInterval(250); @@ -421,19 +421,19 @@ TrackerControls::TrackerControls() connect(this, SIGNAL(destroyed()), this, SLOT(cleanupCalib())); connect(&calib_timer, SIGNAL(timeout()), this, SLOT(update_tracker_calibration())); - connect(ui.cameraName, &QComboBox::currentTextChanged, this, &TrackerControls::set_camera_settings_available); + connect(ui.cameraName, &QComboBox::currentTextChanged, this, &dialog_aruco::set_camera_settings_available); set_camera_settings_available(ui.cameraName->currentText()); - connect(ui.camera_settings, &QPushButton::clicked, this, &TrackerControls::show_camera_settings); + connect(ui.camera_settings, &QPushButton::clicked, this, &dialog_aruco::show_camera_settings); } -void TrackerControls::set_camera_settings_available(const QString& camera_name) +void dialog_aruco::set_camera_settings_available(const QString& camera_name) { const bool avail = video_property_page::should_show_dialog(camera_name); ui.camera_settings->setEnabled(avail); } -void TrackerControls::show_camera_settings() +void dialog_aruco::show_camera_settings() { const int idx = ui.cameraName->currentIndex(); if (tracker) @@ -446,7 +446,7 @@ void TrackerControls::show_camera_settings() video_property_page::show(idx); } -void TrackerControls::toggleCalibrate() +void dialog_aruco::toggleCalibrate() { if (!calib_timer.isActive()) { @@ -467,13 +467,13 @@ void TrackerControls::toggleCalibrate() } } -void TrackerControls::cleanupCalib() +void dialog_aruco::cleanupCalib() { if (calib_timer.isActive()) calib_timer.stop(); } -void TrackerControls::update_tracker_calibration() +void dialog_aruco::update_tracker_calibration() { if (calib_timer.isActive() && tracker) { @@ -484,15 +484,15 @@ void TrackerControls::update_tracker_calibration() } } -void TrackerControls::doOK() +void dialog_aruco::doOK() { s.b->save(); close(); } -void TrackerControls::doCancel() +void dialog_aruco::doCancel() { close(); } -OPENTRACK_DECLARE_TRACKER(Tracker, TrackerControls, TrackerDll) +OPENTRACK_DECLARE_TRACKER(tracker_aruco, dialog_aruco, aruco_metadata) |