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authorStanislaw Halik <sthalik@misaki.pl>2016-12-31 06:16:07 +0100
committerStanislaw Halik <sthalik@misaki.pl>2016-12-31 07:52:52 +0100
commitb0d9aef7b6e9c3c06450cc11ee107abbf6af1d32 (patch)
tree23987a184ff32f61e588de74682c5619ce2f2bf9
parentf33fc78dc4bdb977bb358bf7e905ef2d4e093b3d (diff)
tracker/aruco: implement asymmetric marker skew support
It may allow for full pitch range support. We're testing it in #517.
-rw-r--r--tracker-aruco/ftnoir_tracker_aruco.cpp35
-rw-r--r--tracker-aruco/ftnoir_tracker_aruco.h11
2 files changed, 41 insertions, 5 deletions
diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp
index f89b1e7d..15955692 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.cpp
+++ b/tracker-aruco/ftnoir_tracker_aruco.cpp
@@ -217,6 +217,22 @@ void aruco_tracker::clamp_last_roi()
last_roi &= cv::Rect(0, 0, color.cols, color.rows);
}
+cv::Point3f aruco_tracker::rotate_model(float x, float y, settings::rot mode)
+{
+ cv::Point3f pt(x, y, 0);
+
+ if (mode)
+ {
+ using std::cos;
+ using std::sin;
+
+ const float theta = int(mode) * 90/4. * M_PI/180;
+ pt.x = x * cos(theta) - y * sin(theta);
+ pt.y = y * cos(theta) + x * sin(theta);
+ }
+ return pt;
+}
+
void aruco_tracker::set_points()
{
using f = float;
@@ -226,10 +242,15 @@ void aruco_tracker::set_points()
const int x1=1, x2=2, x3=3, x4=0;
- obj_points[x1] = cv::Point3f(-size + hx, -size + hy, 0 + hz);
- obj_points[x2] = cv::Point3f(size + hx, -size + hy, 0 + hz);
- obj_points[x3] = cv::Point3f(size + hx, size + hy, 0 + hz);
- obj_points[x4] = cv::Point3f(-size + hx, size + hy, 0 + hz);
+ settings::rot mode = s.model_rotation;
+
+ obj_points[x1] = rotate_model(-size, -size, mode);
+ obj_points[x2] = rotate_model(size, -size, mode);
+ obj_points[x3] = rotate_model(size, size, mode);
+ obj_points[x4] = rotate_model(-size, size, mode);
+
+ for (unsigned i = 0; i < 4; i++)
+ obj_points[i] += cv::Point3f(hx, hy, hz);
}
void aruco_tracker::draw_centroid()
@@ -386,6 +407,12 @@ aruco_dialog::aruco_dialog()
tie_setting(s.headpos_x, ui.cx);
tie_setting(s.headpos_y, ui.cy);
tie_setting(s.headpos_z, ui.cz);
+
+ ui.model_rotation->addItem("0", int(settings::rot_zero));
+ ui.model_rotation->addItem("+22.5", int(settings::rot_plus));
+ ui.model_rotation->addItem("-22.5", int(settings::rot_neg));
+ tie_setting(s.model_rotation, ui.model_rotation);
+
connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
connect(ui.btn_calibrate, SIGNAL(clicked()), this, SLOT(toggleCalibrate()));
diff --git a/tracker-aruco/ftnoir_tracker_aruco.h b/tracker-aruco/ftnoir_tracker_aruco.h
index cdea1e42..aa3c59f7 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.h
+++ b/tracker-aruco/ftnoir_tracker_aruco.h
@@ -31,10 +31,18 @@
using namespace options;
struct settings : opts {
+ enum rot
+ {
+ rot_zero = 0,
+ rot_neg = -1,
+ rot_plus = +1,
+ };
+
value<int> fov;
value<double> headpos_x, headpos_y, headpos_z;
value<QString> camera_name;
value<int> force_fps, resolution;
+ value<rot> model_rotation;
settings() :
opts("aruco-tracker"),
fov(b, "field-of-view", 56),
@@ -43,7 +51,8 @@ struct settings : opts {
headpos_z(b, "headpos-z", 0),
camera_name(b, "camera-name", ""),
force_fps(b, "force-fps", 0),
- resolution(b, "force-resolution", 0)
+ resolution(b, "force-resolution", 0),
+ model_rotation(b, "model-rotation", rot_zero)
{}
};