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/* Copyright (c) 2012 Patrick Ruoff
* Copyright (c) 2014-2016 Stanislaw Halik <sthalik@misaki.pl>
* Copyright (c) 2019 Stephane Lenclud
*
* 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 "tracker-easy.h"
#include "video/video-widget.hpp"
#include "compat/math-imports.hpp"
#include "compat/check-visible.hpp"
#include "tracker-easy-api.h"
#include <QHBoxLayout>
#include <QDebug>
#include <QFile>
#include <QCoreApplication>
#include <opencv2/calib3d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <iostream>
using namespace options;
EasyTracker::EasyTracker(pointer<pt_runtime_traits> const& traits) :
traits { traits },
s { traits->get_module_name() },
point_extractor { traits->make_point_extractor() },
iPreview{ preview_width, preview_height }
{
cv::setBreakOnError(true);
cv::setNumThreads(1);
connect(s.b.get(), &bundle_::saving, this, &EasyTracker::maybe_reopen_camera, Qt::DirectConnection);
connect(s.b.get(), &bundle_::reloading, this, &EasyTracker::maybe_reopen_camera, Qt::DirectConnection);
connect(&s.fov, value_::value_changed<int>(), this, &EasyTracker::set_fov, Qt::DirectConnection);
set_fov(s.fov);
}
EasyTracker::~EasyTracker()
{
//
cv::destroyWindow("Preview");
requestInterruption();
wait();
QMutexLocker l(&camera_mtx);
camera->stop();
}
// Compute Euler angles from ratation matrix
cv::Vec3f EulerAngles(cv::Mat &R)
{
float sy = sqrt(R.at<double>(0, 0) * R.at<double>(0, 0) + R.at<double>(1, 0) * R.at<double>(1, 0));
bool singular = sy < 1e-6; // If
float x, y, z;
if (!singular)
{
x = atan2(R.at<double>(2, 1), R.at<double>(2, 2));
y = atan2(-R.at<double>(2, 0), sy);
z = atan2(R.at<double>(1, 0), R.at<double>(0, 0));
}
else
{
x = atan2(-R.at<double>(1, 2), R.at<double>(1, 1));
y = atan2(-R.at<double>(2, 0), sy);
z = 0;
}
// Convert to degrees
return cv::Vec3f(x* 180 / CV_PI, y* 180 / CV_PI, z* 180 / CV_PI);
}
void getEulerAngles(cv::Mat &rotCamerMatrix, cv::Vec3d &eulerAngles)
{
cv::Mat cameraMatrix, rotMatrix, transVect, rotMatrixX, rotMatrixY, rotMatrixZ;
double* _r = rotCamerMatrix.ptr<double>();
double projMatrix[12] = { _r[0],_r[1],_r[2],0,
_r[3],_r[4],_r[5],0,
_r[6],_r[7],_r[8],0 };
cv::decomposeProjectionMatrix(cv::Mat(3, 4, CV_64FC1, projMatrix),
cameraMatrix,
rotMatrix,
transVect,
rotMatrixX,
rotMatrixY,
rotMatrixZ,
eulerAngles);
}
void EasyTracker::run()
{
maybe_reopen_camera();
while(!isInterruptionRequested())
{
bool new_frame = false;
{
QMutexLocker l(&camera_mtx);
if (camera)
std::tie(iFrame, new_frame) = camera->get_frame();
}
if (new_frame)
{
//TODO: We should not assume channel size of 1 byte
iMatFrame = cv::Mat(iFrame.height, iFrame.width, CV_MAKETYPE(CV_8U,iFrame.channels), iFrame.data, iFrame.stride);
const bool preview_visible = check_is_visible();
if (preview_visible)
{
iPreview = iMatFrame;
}
iImagePoints.clear();
point_extractor->extract_points(iMatFrame, iPreview.iFrameRgb, points, iImagePoints);
point_count.store(points.size(), std::memory_order_relaxed);
if (preview_visible)
{
//iPreview = iMatFrame;
cv::imshow("Preview", iPreview.iFrameRgb);
cv::waitKey(1);
}
else
{
cv::destroyWindow("Preview");
}
const bool success = points.size() >= KPointCount || iImagePoints.size() >= KPointCount;
int topPointIndex = -1;
{
QMutexLocker l(¢er_lock);
if (success)
{
ever_success.store(true, std::memory_order_relaxed);
// Solve P3P problem with OpenCV
// Construct the points defining the object we want to detect based on settings.
// We are converting them from millimeters to centimeters.
// TODO: Need to support clip too. That's cap only for now.
// s.active_model_panel != PointModel::Clip
std::vector<cv::Point3f> objectPoints;
objectPoints.push_back(cv::Point3f(s.cap_x/10.0, s.cap_z / 10.0, -s.cap_y / 10.0)); // Right
objectPoints.push_back(cv::Point3f(-s.cap_x/10.0, s.cap_z / 10.0, -s.cap_y / 10.0)); // Left
objectPoints.push_back(cv::Point3f(0, 0, 0)); // Top
//Bitmap origin is top left
std::vector<cv::Point2f> trackedPoints;
// Stuff bitmap point in there making sure they match the order of the object point
// Find top most point, that's the one with min Y as we assume our guy's head is not up side down
int minY = std::numeric_limits<int>::max();
for (int i = 0; i < 3; i++)
{
if (iImagePoints[i][1]<minY)
{
minY = iImagePoints[i][1];
topPointIndex = i;
}
}
int rightPointIndex = -1;
int maxX = 0;
// Find right most point
for (int i = 0; i < 3; i++)
{
// Excluding top most point
if (i!=topPointIndex && iImagePoints[i][0] > maxX)
{
maxX = iImagePoints[i][0];
rightPointIndex = i;
}
}
// Find left most point
int leftPointIndex = -1;
for (int i = 0; i < 3; i++)
{
// Excluding top most point
if (i != topPointIndex && i != rightPointIndex)
{
leftPointIndex = i;
break;
}
}
//
trackedPoints.push_back(cv::Point2f(iImagePoints[rightPointIndex][0], iImagePoints[rightPointIndex][1]));
trackedPoints.push_back(cv::Point2f(iImagePoints[leftPointIndex][0], iImagePoints[leftPointIndex][1]));
trackedPoints.push_back(cv::Point2f(iImagePoints[topPointIndex][0], iImagePoints[topPointIndex][1]));
std::cout << "Object: " << objectPoints << "\n";
std::cout << "Points: " << trackedPoints << "\n";
// Create our camera matrix
// TODO: Just do that once, use data member instead
// Double or Float?
cv::Mat cameraMatrix;
cameraMatrix.create(3, 3, CV_64FC1);
cameraMatrix.setTo(cv::Scalar(0));
cameraMatrix.at<double>(0, 0) = iCameraInfo.focalLengthX;
cameraMatrix.at<double>(1, 1) = iCameraInfo.focalLengthY;
cameraMatrix.at<double>(0, 2) = iCameraInfo.principalPointX;
cameraMatrix.at<double>(1, 2) = iCameraInfo.principalPointY;
cameraMatrix.at<double>(2, 2) = 1;
// Create distortion cooefficients
cv::Mat distCoeffs = cv::Mat::zeros(8, 1, CV_64FC1);
// As per OpenCV docs they should be thus: k1, k2, p1, p2, k3, k4, k5, k6
distCoeffs.at<double>(0, 0) = 0; // Radial first order
distCoeffs.at<double>(1, 0) = iCameraInfo.radialDistortionSecondOrder; // Radial second order
distCoeffs.at<double>(2, 0) = 0; // Tangential first order
distCoeffs.at<double>(3, 0) = 0; // Tangential second order
distCoeffs.at<double>(4, 0) = 0; // Radial third order
distCoeffs.at<double>(5, 0) = iCameraInfo.radialDistortionFourthOrder; // Radial fourth order
distCoeffs.at<double>(6, 0) = 0; // Radial fith order
distCoeffs.at<double>(7, 0) = iCameraInfo.radialDistortionSixthOrder; // Radial sixth order
// Define our solution arrays
// They will receive up to 4 solutions for our P3P problem
// TODO: try SOLVEPNP_AP3P too
iAngles.clear();
iBestSolutionIndex = -1;
int solutionCount = cv::solveP3P(objectPoints, trackedPoints, cameraMatrix, distCoeffs, iRotations, iTranslations, cv::SOLVEPNP_P3P);
if (solutionCount > 0)
{
std::cout << "Solution count: " << solutionCount << "\n";
int minPitch = std::numeric_limits<int>::max();
// Find the solution we want
for (int i = 0; i < solutionCount; i++)
{
std::cout << "Translation:\n";
std::cout << iTranslations.at(i);
std::cout << "\n";
std::cout << "Rotation:\n";
//std::cout << rvecs.at(i);
cv::Mat rotationCameraMatrix;
cv::Rodrigues(iRotations[i], rotationCameraMatrix);
cv::Vec3d angles;
getEulerAngles(rotationCameraMatrix,angles);
iAngles.push_back(angles);
// Check if pitch is closest to zero
int absolutePitch = std::abs(angles[0]);
if (minPitch > absolutePitch)
{
minPitch = absolutePitch;
iBestSolutionIndex = i;
}
//cv::Vec3f angles=EulerAngles(quaternion);
std::cout << angles;
std::cout << "\n";
}
std::cout << "\n";
}
}
// Send solution data back to main thread
QMutexLocker l2(&data_lock);
if (iBestSolutionIndex != -1)
{
iBestAngles = iAngles[iBestSolutionIndex];
iBestTranslation = iTranslations[iBestSolutionIndex];
}
}
if (preview_visible)
{
if (topPointIndex != -1)
{
// Render a cross to indicate which point is the head
if (points.size() >= 3)
{
iPreview.draw_head_center(points[topPointIndex][0], points[topPointIndex][1]);
}
}
widget->update_image(iPreview.get_bitmap());
auto [ w, h ] = widget->preview_size();
if (w != preview_width || h != preview_height)
{
// Resize preivew if widget size has changed
preview_width = w; preview_height = h;
iPreview = Preview(w, h);
}
}
}
}
}
bool EasyTracker::maybe_reopen_camera()
{
QMutexLocker l(&camera_mtx);
return camera->start(iCameraInfo);
}
void EasyTracker::set_fov(int value)
{
QMutexLocker l(&camera_mtx);
}
module_status EasyTracker::start_tracker(QFrame* video_frame)
{
//video_frame->setAttribute(Qt::WA_NativeWindow);
widget = std::make_unique<video_widget>(video_frame);
layout = std::make_unique<QHBoxLayout>(video_frame);
layout->setContentsMargins(0, 0, 0, 0);
layout->addWidget(widget.get());
video_frame->setLayout(layout.get());
//video_widget->resize(video_frame->width(), video_frame->height());
video_frame->show();
// Create our camera
camera = video::make_camera(s.camera_name);
start(QThread::HighPriority);
return {};
}
void EasyTracker::data(double *data)
{
if (ever_success.load(std::memory_order_relaxed))
{
// Get data back from tracker thread
QMutexLocker l(&data_lock);
data[Yaw] = iBestAngles[1];
data[Pitch] = iBestAngles[0];
data[Roll] = iBestAngles[2];
data[TX] = iBestTranslation[0];
data[TY] = iBestTranslation[1];
data[TZ] = iBestTranslation[2];
}
}
bool EasyTracker::center()
{
QMutexLocker l(¢er_lock);
//TODO: Do we need to do anything there?
return false;
}
int EasyTracker::get_n_points()
{
return (int)point_count.load(std::memory_order_relaxed);
}
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