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/* 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.h"
#include <QHBoxLayout>
#include <cmath>
#include <QDebug>
#include <QFile>
#include <QCoreApplication>
using namespace std;
using namespace cv;
using namespace boost;
//#define PT_PERF_LOG //log performance
//-----------------------------------------------------------------------------
Tracker::Tracker()
: frame_count(0), commands(0), video_widget(NULL)
{
qDebug()<<"Tracker::Tracker";
TrackerSettings settings;
settings.load_ini();
apply(settings);
camera.start();
start();
}
Tracker::~Tracker()
{
qDebug()<<"Tracker::~Tracker";
set_command(ABORT);
wait();
if (video_widget) delete video_widget;
}
void Tracker::set_command(Command command)
{
QMutexLocker lock(&mutex);
commands |= command;
}
void Tracker::reset_command(Command command)
{
QMutexLocker lock(&mutex);
commands &= ~command;
}
void Tracker::run()
{
qDebug()<<"Tracker:: Thread started";
#ifdef PT_PERF_LOG
QFile log_file(QCoreApplication::applicationDirPath() + "/PointTrackerPerformance.txt");
if (!log_file.open(QIODevice::WriteOnly | QIODevice::Text)) return;
QTextStream log_stream(&log_file);
#endif
time.start();
float dt;
bool new_frame;
forever
{
{
QMutexLocker lock(&mutex);
if (commands & ABORT) break;
if (commands & PAUSE) continue;
commands = 0;
dt = time.elapsed() / 1000.0;
time.restart();
new_frame = camera.get_frame(dt, &frame);
if (new_frame && !frame.empty())
{
const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, draw_frame);
point_tracker.track(points, camera.get_info().f, dt);
frame_count++;
}
#ifdef PT_PERF_LOG
log_stream<<"dt: "<<dt;
if (!frame.empty()) log_stream<<" fps: "<<camera.get_info().fps;
log_stream<<"\n";
#endif
}
msleep(sleep_time);
}
qDebug()<<"Tracker:: Thread stopping";
}
void Tracker::apply(const TrackerSettings& settings)
{
qDebug()<<"Tracker:: Applying settings";
QMutexLocker lock(&mutex);
camera.set_index(settings.cam_index);
camera.set_res(settings.cam_res_x, settings.cam_res_y);
camera.set_fps(settings.cam_fps);
camera.set_f(settings.cam_f);
point_extractor.threshold_val = settings.threshold;
point_extractor.min_size = settings.min_point_size;
point_extractor.max_size = settings.max_point_size;
point_tracker.point_model = boost::shared_ptr<PointModel>(new PointModel(settings.M01, settings.M02));
sleep_time = settings.sleep_time;
point_tracker.dt_reset = settings.reset_time / 1000.0;
draw_frame = settings.video_widget;
t_MH = settings.t_MH;
}
void Tracker::reset()
{
QMutexLocker lock(&mutex);
point_tracker.reset();
}
void Tracker::center()
{
point_tracker.reset(); // we also do a reset here since there is no reset shortkey yet
QMutexLocker lock(&mutex);
FrameTrafo X_CM_0 = point_tracker.get_pose();
FrameTrafo X_MH(Matx33f::eye(), t_MH);
X_CH_0 = X_CM_0 * X_MH;
}
//-----------------------------------------------------------------------------
// ITracker interface
void Tracker::Initialize(QFrame *videoframe)
{
const int VIDEO_FRAME_WIDTH = 252;
const int VIDEO_FRAME_HEIGHT = 189;
qDebug("Tracker::Initialize");
// setup video frame
videoframe->setAttribute(Qt::WA_NativeWindow);
videoframe->show();
video_widget = new VideoWidget(videoframe);
QHBoxLayout* layout = new QHBoxLayout();
layout->setContentsMargins(0, 0, 0, 0);
layout->addWidget(video_widget);
if (videoframe->layout()) delete videoframe->layout();
videoframe->setLayout(layout);
video_widget->resize(VIDEO_FRAME_WIDTH, VIDEO_FRAME_HEIGHT);
}
void Tracker::refreshVideo()
{
if (video_widget)
{
Mat frame_copy;
shared_ptr< vector<Vec2f> > points;
{
QMutexLocker lock(&mutex);
if (!draw_frame || frame.empty()) return;
// copy the frame and points from the tracker thread
frame_copy = frame.clone();
points = shared_ptr< vector<Vec2f> >(new vector<Vec2f>(point_extractor.get_points()));
}
video_widget->update(frame_copy, points);
}
}
void Tracker::StartTracker(HWND parent_window)
{
reset_command(PAUSE);
}
void Tracker::StopTracker(bool exit)
{
set_command(PAUSE);
}
bool Tracker::GiveHeadPoseData(THeadPoseData *data)
{
const float rad2deg = 180.0/3.14159265;
{
QMutexLocker lock(&mutex);
FrameTrafo X_CM = point_tracker.get_pose();
FrameTrafo X_MH(Matx33f::eye(), t_MH);
FrameTrafo X_CH = X_CM * X_MH;
Matx33f R = X_CH.R * X_CH_0.R.t();
Vec3f t = X_CH.t - X_CH_0.t;
// get translation
data->x = t[0] / 10.0; // convert to cm
data->y = t[1] / 10.0;
data->z = t[2] / 10.0;
// translate rotatation matrix from opengl (G) to roll-pitch-yaw (R) frame
// -z -> x, y -> z, x -> -y
Matx33f R_RG( 0, 0,-1,
-1, 0, 0,
0, 1, 0);
R = R_RG * R * R_RG.t();
// extract rotation angles
float alpha, beta, gamma;
//beta = atan2( -R(2,0), sqrt(R(0,0)*R(0,0) + R(1,0)*R(1,0)) );
beta = atan2( -R(2,0), sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) );
alpha = atan2( R(1,0), R(0,0));
gamma = atan2( R(2,1), R(2,2));
data->yaw = rad2deg * alpha;
data->pitch = -rad2deg * beta; // this is what ftnoir expects?
data->roll = rad2deg * gamma;
}
return true;
}
//-----------------------------------------------------------------------------
#pragma comment(linker, "/export:GetTracker=_GetTracker@0")
FTNOIR_TRACKER_BASE_EXPORT ITrackerPtr __stdcall GetTracker()
{
return new Tracker;
}
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