From 85988a0e190788c1ee58debc8f07c8fa3375bf5b Mon Sep 17 00:00:00 2001
From: Stéphane Lenclud <github@lenclud.com>
Date: Wed, 27 Mar 2019 21:18:39 +0100
Subject: Create Points Tracker based on original Point Tracker.
---
tracker-points/ftnoir_tracker_pt_dialog.cpp | 282 ++++++++++++++++++++++++++++
1 file changed, 282 insertions(+)
create mode 100644 tracker-points/ftnoir_tracker_pt_dialog.cpp
(limited to 'tracker-points/ftnoir_tracker_pt_dialog.cpp')
diff --git a/tracker-points/ftnoir_tracker_pt_dialog.cpp b/tracker-points/ftnoir_tracker_pt_dialog.cpp
new file mode 100644
index 00000000..edf689a9
--- /dev/null
+++ b/tracker-points/ftnoir_tracker_pt_dialog.cpp
@@ -0,0 +1,282 @@
+/* Copyright (c) 2012 Patrick Ruoff
+ * Copyright (c) 2014-2015 Stanislaw Halik <sthalik@misaki.pl>
+ *
+ * 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 "compat/math.hpp"
+#include "video/camera.hpp"
+
+#include <opencv2/core.hpp>
+
+#include <QString>
+#include <QtGlobal>
+#include <QDebug>
+
+using namespace options;
+
+static void init_resources() { Q_INIT_RESOURCE(tracker_pt_base); }
+
+namespace pt_impl {
+
+TrackerDialog_PT::TrackerDialog_PT(const QString& module_name) :
+ s(module_name),
+ tracker(nullptr),
+ timer(this),
+ trans_calib(1, 2)
+{
+ init_resources();
+
+ ui.setupUi(this);
+
+ for (const QString& str : video::camera_names())
+ ui.camdevice_combo->addItem(str);
+
+ 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_slider, 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);
+ tie_setting(s.init_phase_timeout, ui.init_phase_timeout);
+
+ tie_setting(s.auto_threshold, ui.auto_threshold);
+
+ 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(ui.camdevice_combo, &QComboBox::currentTextChanged, this, &TrackerDialog_PT::set_camera_settings_available);
+ set_camera_settings_available(ui.camdevice_combo->currentText());
+ connect(ui.camera_settings, &QPushButton::clicked, this, &TrackerDialog_PT::show_camera_settings);
+
+ connect(&timer, &QTimer::timeout, this, &TrackerDialog_PT::poll_tracker_info_impl);
+ timer.setInterval(250);
+
+ connect(&calib_timer, &QTimer::timeout, this, &TrackerDialog_PT::trans_calib_step);
+ calib_timer.setInterval(35);
+
+ poll_tracker_info_impl();
+
+ connect(this, &TrackerDialog_PT::poll_tracker_info, this, &TrackerDialog_PT::poll_tracker_info_impl, Qt::DirectConnection);
+
+ constexpr pt_color_type color_types[] = {
+ pt_color_average,
+ pt_color_natural,
+ pt_color_red_only,
+ pt_color_green_only,
+ pt_color_blue_only,
+ };
+
+ for (unsigned k = 0; k < std::size(color_types); k++)
+ ui.blob_color->setItemData(k, int(color_types[k]));
+
+ tie_setting(s.blob_color, ui.blob_color);
+
+ tie_setting(s.threshold_slider, ui.threshold_value_display, [this](const slider_value& val) {
+ return threshold_display_text(int(val));
+ });
+
+ // refresh threshold display on auto-threshold checkbox state change
+ tie_setting(s.auto_threshold,
+ this,
+ [this](bool) { s.threshold_slider.notify(); });
+}
+
+QString TrackerDialog_PT::threshold_display_text(int threshold_value)
+{
+ if (!s.auto_threshold)
+ return tr("Brightness %1/255").arg(threshold_value);
+ else
+ {
+ pt_camera_info info;
+ int w = s.cam_res_x, h = s.cam_res_y;
+
+ if (w * h <= 0)
+ {
+ w = 640;
+ h = 480;
+ }
+
+ if (tracker && tracker->get_cam_info(info) && info.res_x * info.res_y != 0)
+ {
+ w = info.res_x;
+ h = info.res_y;
+ }
+
+ double value = (double)pt_point_extractor::threshold_radius_value(w, h, threshold_value);
+
+ return tr("LED radius %1 pixels").arg(value, 0, 'f', 2);
+ }
+}
+
+void TrackerDialog_PT::startstop_trans_calib(bool start)
+{
+ QMutexLocker l(&calibrator_mutex);
+
+ if (start)
+ {
+ qDebug() << "pt: starting translation calibration";
+ calib_timer.start();
+ trans_calib.reset();
+ s.t_MH_x = 0;
+ s.t_MH_y = 0;
+ s.t_MH_z = 0;
+
+ ui.sample_count_display->setText(QString());
+ }
+ else
+ {
+ calib_timer.stop();
+ qDebug() << "pt: stopping translation calibration";
+ {
+ auto [tmp, nsamples] = trans_calib.get_estimate();
+ s.t_MH_x = int(tmp[0]);
+ s.t_MH_y = int(tmp[1]);
+ s.t_MH_z = int(tmp[2]);
+
+ constexpr int min_yaw_samples = 15;
+ constexpr int min_pitch_samples = 15;
+ constexpr int min_samples = min_yaw_samples+min_pitch_samples;
+
+ // Don't bother counting roll samples. Roll calibration is hard enough
+ // that it's a hidden unsupported feature anyway.
+
+ QString sample_feedback;
+ if (nsamples[0] < min_yaw_samples)
+ sample_feedback = tr("%1 yaw samples. Yaw more to %2 samples for stable calibration.").arg(nsamples[0]).arg(min_yaw_samples);
+ else if (nsamples[1] < min_pitch_samples)
+ sample_feedback = tr("%1 pitch samples. Pitch more to %2 samples for stable calibration.").arg(nsamples[1]).arg(min_pitch_samples);
+ else
+ {
+ const int nsamples_total = nsamples[0] + nsamples[1];
+ sample_feedback = tr("%1 samples. Over %2, good!").arg(nsamples_total).arg(min_samples);
+ }
+
+ ui.sample_count_display->setText(sample_feedback);
+ }
+ }
+ ui.tx_spin->setEnabled(!start);
+ ui.ty_spin->setEnabled(!start);
+ ui.tz_spin->setEnabled(!start);
+
+ if (start)
+ ui.tcalib_button->setText(tr("Stop calibration"));
+ else
+ ui.tcalib_button->setText(tr("Start calibration"));
+}
+
+void TrackerDialog_PT::poll_tracker_info_impl()
+{
+ pt_camera_info info;
+ if (tracker && tracker->get_cam_info(info))
+ {
+ ui.caminfo_label->setText(tr("%1x%2 @ %3 FPS").arg(info.res_x).arg(info.res_y).arg(iround(info.fps)));
+
+ // display point info
+ const int n_points = tracker->get_n_points();
+ ui.pointinfo_label->setText((n_points == 3 ? tr("%1 OK!") : tr("%1 BAD!")).arg(n_points));
+ }
+ else
+ {
+ ui.caminfo_label->setText(tr("Tracker offline"));
+ ui.pointinfo_label->setText(QString());
+ }
+}
+
+void TrackerDialog_PT::set_camera_settings_available(const QString& /* camera_name */)
+{
+ ui.camera_settings->setEnabled(true);
+}
+
+void TrackerDialog_PT::show_camera_settings()
+{
+ if (tracker)
+ {
+ QMutexLocker l(&tracker->camera_mtx);
+ tracker->camera->show_camera_settings();
+ }
+ else
+ (void)video::show_dialog(s.camera_name);
+}
+
+void TrackerDialog_PT::trans_calib_step()
+{
+ QMutexLocker l(&calibrator_mutex);
+
+ if (tracker)
+ {
+ Affine X_CM = tracker->pose();
+ trans_calib.update(X_CM.R, X_CM.t);
+ }
+ else
+ startstop_trans_calib(false);
+}
+
+void TrackerDialog_PT::save()
+{
+ s.b->save();
+}
+
+void TrackerDialog_PT::doOK()
+{
+ save();
+ close();
+}
+
+void TrackerDialog_PT::doCancel()
+{
+ close();
+}
+
+void TrackerDialog_PT::register_tracker(ITracker *t)
+{
+ tracker = static_cast<Tracker_PT*>(t);
+ ui.tcalib_button->setEnabled(true);
+ poll_tracker_info();
+ timer.start();
+}
+
+void TrackerDialog_PT::unregister_tracker()
+{
+ tracker = nullptr;
+ ui.tcalib_button->setEnabled(false);
+ poll_tracker_info();
+ timer.stop();
+}
+
+} // ns pt_impl
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