buffer flush

3 files changed, 47 insertions, 34 deletions

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
index a3e8919b..7bd447cb 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
@@ -83,8 +83,8 @@ void Tracker::run()
         if (new_frame && !frame.empty())

         {

             frame = frame_rotation.rotate_frame(frame);

-            const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, false);

-            tracking_valid = point_tracker.track(points, camera.get_info().fov, dt, frame.cols, frame.rows, t_MH);

+            const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, true);

+            tracking_valid = point_tracker.track(points, camera.get_info().fov, dt, frame.cols, frame.rows);

             video_widget->update_image(frame);

         }

 #ifdef PT_PERF_LOG

@@ -119,15 +119,13 @@ void Tracker::apply(settings& s)
     point_tracker.dt_reset = s.reset_time / 1000.0;

     t_MH = cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z);

     R_GC =  Matx33f( cos(deg2rad*s.cam_yaw), 0, sin(deg2rad*s.cam_yaw),

-		                                         0, 1,                             0,

-                    -sin(deg2rad*s.cam_yaw), 0, cos(deg2rad*s.cam_yaw));

-	R_GC = R_GC * Matx33f( 1,                                0,                               0,

+                     0, 1,                             0,

+                     -sin(deg2rad*s.cam_yaw), 0, cos(deg2rad*s.cam_yaw));

+    R_GC = R_GC * Matx33f( 1,                                0,                               0,

                            0,  cos(deg2rad*s.cam_pitch), sin(deg2rad*s.cam_pitch),

                            0, -sin(deg2rad*s.cam_pitch), cos(deg2rad*s.cam_pitch));

-

-	FrameTrafo X_MH(Matx33f::eye(), t_MH);

-	X_GH_0 = R_GC * X_MH;

-

+    FrameTrafo X_MH(Matx33f::eye(), t_MH);

+    X_GH_0 = R_GC * X_MH;

 	qDebug()<<"Tracker::apply ends";

 }

 

@@ -140,10 +138,10 @@ void 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_GH_0 = R_GC * X_CM_0 * X_MH;

+    QMutexLocker lock(&mutex);

+    FrameTrafo X_CM_0 = point_tracker.get_pose();

+    FrameTrafo X_MH(Matx33f::eye(), t_MH);

+    X_GH_0 = R_GC * X_CM_0 * X_MH;

 }

 

 bool Tracker::get_frame_and_points(cv::Mat& frame_copy, boost::shared_ptr< std::vector<Vec2f> >& points)

@@ -198,10 +196,10 @@ void Tracker::GetHeadPoseData(THeadPoseData *data)
         if (!tracking_valid) return;

 

 		FrameTrafo X_CM = point_tracker.get_pose();

-		FrameTrafo X_MH(Matx33f::eye(), t_MH);

-		FrameTrafo X_GH = R_GC * X_CM * X_MH;

+        FrameTrafo X_MH(Matx33f::eye(), t_MH);

+        FrameTrafo X_GH = R_GC * X_CM * X_MH;

         Matx33f R = X_GH.R * X_GH_0.R.t();

-		Vec3f   t = X_GH.t - X_GH_0.t;		

+        Vec3f   t = X_GH.t - X_GH_0.t;

 

         // get translation(s)

         if (s.bEnableX) data[TX] = t[0] / 10.0;	// convert to cm

diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp
index 1df70b17..263be43a 100644
--- a/FTNoIR_Tracker_PT/point_tracker.cpp
+++ b/FTNoIR_Tracker_PT/point_tracker.cpp
@@ -104,6 +104,9 @@ void PointTracker::reset()
 	init_phase = true;

 	dt_valid = 0;

 	reset_velocities();

+    // assume identity rotation again

+    X_CM.R = cv::Matx33d::eye();

+    X_CM.t = cv::Vec3f();

 }

 

 void PointTracker::reset_velocities()

@@ -113,7 +116,7 @@ void PointTracker::reset_velocities()
 }

 

 

-bool PointTracker::track(const vector<Vec2f>& points, float fov, float dt, int w, int h, const cv::Vec3f& headpos)

+bool PointTracker::track(const vector<Vec2f>& points, float fov, float dt, int w, int h)

 {

 	if (!dynamic_pose_resolution) init_phase = true;

 

@@ -150,7 +153,7 @@ bool PointTracker::track(const vector<Vec2f>& points, float fov, float dt, int w
 	}

 

     // XXX TODO fov

-    POSIT(fov, w, h, headpos);

+    POSIT(fov, w, h);

 	//qDebug()<<"Number of POSIT iterations: "<<n_iter;

 

 	if (!init_phase)

@@ -165,7 +168,7 @@ bool PointTracker::track(const vector<Vec2f>& points, float fov, float dt, int w
 void PointTracker::predict(float dt)

 {

 	// predict with constant velocity

-	Matx33f R;

+    Matx33d R;

 	Rodrigues(dt*v_r, R);

 	X_CM.R = R*X_CM.R;

 	X_CM.t += dt * v_t;

@@ -232,7 +235,7 @@ bool PointTracker::find_correspondences(const vector<Vec2f>& points)
 

 

 

-void PointTracker::POSIT(float fov, int w, int h, const cv::Vec3f& headpos)

+void PointTracker::POSIT(float fov, int w, int h)

 {

     // XXX hack

     this->fov = fov;

@@ -241,9 +244,9 @@ void PointTracker::POSIT(float fov, int w, int h, const cv::Vec3f& headpos)
     std::vector<cv::Point3f> obj_points;

     std::vector<cv::Point2f> img_points;

 

-    obj_points.push_back(headpos);

-    obj_points.push_back(point_model->M01 + headpos);

-    obj_points.push_back(point_model->M02 + headpos);

+    obj_points.push_back(cv::Vec3f(0, 0, 0));

+    obj_points.push_back(point_model->M01);

+    obj_points.push_back(point_model->M02);

 

     img_points.push_back(p[0]);

     img_points.push_back(p[1]);

@@ -262,17 +265,29 @@ void PointTracker::POSIT(float fov, int w, int h, const cv::Vec3f& headpos)
 

     cv::Mat dist_coeffs = cv::Mat::zeros(5, 1, CV_32FC1);

 

-    bool lastp = !rvec.empty() && !tvec.empty() && !init_phase;

+    bool lastp = !rvec.empty() && !tvec.empty();

 

     cv::solvePnP(obj_points, img_points, intrinsics, dist_coeffs, rvec, tvec, lastp, cv::ITERATIVE);

 

     cv::Mat rmat;

     cv::Rodrigues(rvec, rmat);

 

+    // finally, find the closer solution

+    cv::Mat expected = cv::Mat(X_CM.R);

+    cv::Mat eye = cv::Mat::eye(3, 3, CV_64FC1);

+    double dev1 = norm(eye - expected * rmat.t());

+    double dev2 = norm(eye - expected * rmat);

+

+    if (dev1 > dev2)

+    {

+        rmat = rmat.t();

+        cv::Rodrigues(rmat, rvec);

+    }

+

 	// apply results

     for (int i = 0; i < 3; i++)

     {

-        X_CM.t[i] = tvec.at<double>(i);

+        X_CM.t[i] = tvec.at<double>(i) * 1e-2;

         for (int j = 0; j < 3; j++)

             X_CM.R(i, j) = rmat.at<double>(i, j);

     }

diff --git a/FTNoIR_Tracker_PT/point_tracker.h b/FTNoIR_Tracker_PT/point_tracker.h
index e05e8f98..823d75c0 100644
--- a/FTNoIR_Tracker_PT/point_tracker.h
+++ b/FTNoIR_Tracker_PT/point_tracker.h
@@ -21,11 +21,11 @@
 class FrameTrafo

 {

 public:

-	FrameTrafo() : R(cv::Matx33f::eye()), t(0,0,0) {}

-	FrameTrafo(const cv::Matx33f& R, const cv::Vec3f& t) : R(R),t(t) {}

+    FrameTrafo() : R(cv::Matx33d::eye()), t(0,0,0) {}

+    FrameTrafo(const cv::Matx33d& R, const cv::Vec3d& t) : R(R),t(t) {}

 

-	cv::Matx33f R;

-	cv::Vec3f t;

+    cv::Matx33d R;

+    cv::Vec3d t;

 };

 

 inline FrameTrafo operator*(const FrameTrafo& X, const FrameTrafo& Y)

@@ -33,17 +33,17 @@ inline FrameTrafo operator*(const FrameTrafo& X, const FrameTrafo& Y)
 	return FrameTrafo(X.R*Y.R, X.R*Y.t + X.t);

 }

 

-inline FrameTrafo operator*(const cv::Matx33f& X, const FrameTrafo& Y)

+inline FrameTrafo operator*(const cv::Matx33d& X, const FrameTrafo& Y)

 {

 	return FrameTrafo(X*Y.R, X*Y.t);

 }

 

-inline FrameTrafo operator*(const FrameTrafo& X, const cv::Matx33f& Y)

+inline FrameTrafo operator*(const FrameTrafo& X, const cv::Matx33d& Y)

 {

 	return FrameTrafo(X.R*Y, X.t);

 }

 

-inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3f& v)

+inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3d& v)

 {

 	return X.R*v + X.t;

 }

@@ -90,7 +90,7 @@ public:
 	// track the pose using the set of normalized point coordinates (x pos in range -0.5:0.5)

 	// f : (focal length)/(sensor width)

 	// dt : time since last call

-    bool track(const std::vector<cv::Vec2f>& points, float fov, float dt, int w, int h, const cv::Vec3f &headpos);

+    bool track(const std::vector<cv::Vec2f>& points, float fov, float dt, int w, int h);

 	boost::shared_ptr<PointModel> point_model;

 

 	bool dynamic_pose_resolution;

@@ -136,7 +136,7 @@ protected:
 	void reset_velocities();

 

 	

-    void POSIT(float fov, int w, int h, const cv::Vec3f &headpos);  // The POSIT algorithm, returns the number of iterations

+    void POSIT(float fov, int w, int h);  // The POSIT algorithm, returns the number of iterations

 

 	bool init_phase;

 	float dt_valid;	// time since last valid tracking result