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authorStanislaw Halik <sthalik@misaki.pl>2014-09-22 22:37:07 +0200
committerStanislaw Halik <sthalik@misaki.pl>2014-09-22 22:37:07 +0200
commit33de6458080fa9dc9bf6a9d355e89f23f9ee1f02 (patch)
tree148939089c33d0b41402cac60a564c9cd5ef03bb
parente2b296165236cdb0952c429d91d357b92d9ee18e (diff)
PT tracker feature removal
Some PT features got under the knife: - dynamic pose resolution velocity prediction model - tracker dialog's tracker tab - focal length coefficient
-rw-r--r--ftnoir_tracker_pt/FTNoIR_PT_Controls.ui2204
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.cpp21
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.h4
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp28
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h6
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h10
-rw-r--r--ftnoir_tracker_pt/point_tracker.cpp179
-rw-r--r--ftnoir_tracker_pt/point_tracker.h26
8 files changed, 997 insertions, 1481 deletions
diff --git a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
index a2d5c47c..73b1f767 100644
--- a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
+++ b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
@@ -9,7 +9,7 @@
<rect>
<x>0</x>
<y>0</y>
- <width>459</width>
+ <width>453</width>
<height>621</height>
</rect>
</property>
@@ -32,11 +32,83 @@
<property name="autoFillBackground">
<bool>false</bool>
</property>
- <layout class="QVBoxLayout" name="verticalLayout_2">
+ <layout class="QGridLayout" name="gridLayout_9">
<property name="sizeConstraint">
<enum>QLayout::SetFixedSize</enum>
</property>
- <item>
+ <item row="1" column="0">
+ <widget class="QGroupBox" name="groupBox_5">
+ <property name="title">
+ <string>Status</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_10">
+ <item row="2" column="2">
+ <widget class="QDialogButtonBox" name="buttonBox">
+ <property name="standardButtons">
+ <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_3">
+ <property name="text">
+ <string>Extracted Points:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_38">
+ <property name="text">
+ <string>Camera Info:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QDialogButtonBox" name="buttonBox_2">
+ <property name="standardButtons">
+ <set>QDialogButtonBox::Apply</set>
+ </property>
+ <property name="centerButtons">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="2">
+ <widget class="QLabel" name="caminfo_label">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>120</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="2">
+ <widget class="QLabel" name="pointinfo_label">
+ <property name="minimumSize">
+ <size>
+ <width>50</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item row="0" column="0">
<widget class="QTabWidget" name="tabWidget">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Minimum">
@@ -56,73 +128,261 @@
<property name="currentIndex">
<number>0</number>
</property>
- <widget class="QWidget" name="tab">
+ <widget class="QWidget" name="tab_2">
<attribute name="title">
- <string>General</string>
+ <string>Camera</string>
</attribute>
- <layout class="QVBoxLayout" name="verticalLayout_3">
+ <layout class="QVBoxLayout" name="verticalLayout">
<item>
- <widget class="QGroupBox" name="groupBox_6">
+ <widget class="QGroupBox" name="groupBox">
<property name="title">
- <string>Tracker Thread</string>
+ <string>Camera settings</string>
</property>
- <layout class="QGridLayout" name="gridLayout">
+ <layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="0">
- <widget class="QLabel" name="label_43">
+ <widget class="QLabel" name="label_2">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
<property name="text">
- <string>Auto-reset time</string>
+ <string>Device</string>
</property>
<property name="buddy">
- <cstring>reset_spin</cstring>
+ <cstring>camdevice_combo</cstring>
</property>
</widget>
</item>
<item row="0" column="1">
- <widget class="QSpinBox" name="reset_spin">
+ <widget class="QComboBox" name="camdevice_combo">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumContentsLength">
+ <number>10</number>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_36">
<property name="sizePolicy">
- <sizepolicy hsizetype="Expanding" vsizetype="Minimum">
+ <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Width</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QSpinBox" name="res_x_spin">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="toolTip">
+ <string>Desired capture width</string>
+ </property>
+ <property name="suffix">
+ <string> px</string>
+ </property>
+ <property name="maximum">
+ <number>2000</number>
+ </property>
+ <property name="singleStep">
+ <number>10</number>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_41">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Height</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QSpinBox" name="res_y_spin">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
- <string>Time until automatic reset of tracker's internal state when no valid tracking result is found</string>
+ <string>Desired capture height</string>
</property>
<property name="suffix">
- <string>ms</string>
+ <string> px</string>
</property>
<property name="maximum">
- <number>9999</number>
+ <number>2000</number>
+ </property>
+ <property name="singleStep">
+ <number>10</number>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QLabel" name="label_37">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>FPS</string>
+ </property>
+ <property name="buddy">
+ <cstring>fps_spin</cstring>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1">
+ <widget class="QSpinBox" name="fps_spin">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="toolTip">
+ <string>Desired capture framerate</string>
+ </property>
+ <property name="suffix">
+ <string> Hz</string>
+ </property>
+ <property name="maximum">
+ <number>2000</number>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item>
+ <widget class="QGroupBox" name="groupBox_4">
+ <property name="title">
+ <string>Camera orientation</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_3">
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_18">
+ <property name="text">
+ <string>Roll</string>
+ </property>
+ <property name="buddy">
+ <cstring>camroll_combo</cstring>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QComboBox" name="camroll_combo">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="toolTip">
+ <string>Rotation of the camera image</string>
</property>
</widget>
</item>
<item row="1" column="0">
- <widget class="QLabel" name="label_17">
+ <widget class="QLabel" name="label_4">
<property name="text">
- <string>Dynamic Pose Resolution</string>
+ <string>Pitch</string>
+ </property>
+ <property name="buddy">
+ <cstring>campitch_spin</cstring>
</property>
</widget>
</item>
<item row="1" column="1">
- <widget class="QCheckBox" name="dynpose_check">
+ <widget class="QSpinBox" name="campitch_spin">
+ <property name="contextMenuPolicy">
+ <enum>Qt::DefaultContextMenu</enum>
+ </property>
<property name="toolTip">
- <string/>
+ <string>The angle the camera is facing upwards</string>
+ </property>
+ <property name="suffix">
+ <string> deg</string>
+ </property>
+ <property name="minimum">
+ <number>-180</number>
+ </property>
+ <property name="maximum">
+ <number>180</number>
</property>
+ </widget>
+ </item>
+ <item row="1" column="2">
+ <widget class="QLabel" name="label_5">
<property name="text">
- <string/>
+ <string>positive = upwards</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_20">
+ <property name="text">
+ <string>Yaw</string>
+ </property>
+ <property name="buddy">
+ <cstring>camyaw_spin</cstring>
</property>
</widget>
</item>
<item row="2" column="1">
- <widget class="QPushButton" name="reset_button">
- <property name="enabled">
- <bool>false</bool>
+ <widget class="QSpinBox" name="camyaw_spin">
+ <property name="contextMenuPolicy">
+ <enum>Qt::DefaultContextMenu</enum>
</property>
<property name="toolTip">
- <string>Reset the tracker's internal state</string>
+ <string>The angle the camera is facing leftwards</string>
</property>
+ <property name="suffix">
+ <string> deg</string>
+ </property>
+ <property name="prefix">
+ <string/>
+ </property>
+ <property name="minimum">
+ <number>-180</number>
+ </property>
+ <property name="maximum">
+ <number>180</number>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="2">
+ <widget class="QLabel" name="label_21">
<property name="text">
- <string>Reset</string>
+ <string>positve = left</string>
</property>
</widget>
</item>
@@ -130,1071 +390,657 @@
</widget>
</item>
<item>
- <spacer name="verticalSpacer">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>20</height>
- </size>
+ <widget class="QGroupBox" name="groupBox_2">
+ <property name="title">
+ <string>Point extraction</string>
</property>
- </spacer>
+ <layout class="QGridLayout" name="gridLayout_7">
+ <item row="0" column="4">
+ <widget class="QSpinBox" name="mindiam_spin">
+ <property name="toolTip">
+ <string>Minimum point diameter</string>
+ </property>
+ <property name="suffix">
+ <string> px</string>
+ </property>
+ <property name="maximum">
+ <number>1024</number>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1" colspan="2">
+ <widget class="QSlider" name="threshold_slider">
+ <property name="toolTip">
+ <string>Intensity threshold for point extraction</string>
+ </property>
+ <property name="maximum">
+ <number>255</number>
+ </property>
+ <property name="pageStep">
+ <number>1</number>
+ </property>
+ <property name="value">
+ <number>127</number>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="tickPosition">
+ <enum>QSlider::TicksBothSides</enum>
+ </property>
+ <property name="tickInterval">
+ <number>25</number>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="4">
+ <widget class="QSpinBox" name="maxdiam_spin">
+ <property name="toolTip">
+ <string>Maximum point diameter</string>
+ </property>
+ <property name="suffix">
+ <string> px</string>
+ </property>
+ <property name="maximum">
+ <number>1024</number>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="3">
+ <widget class="QLabel" name="label_8">
+ <property name="text">
+ <string>Max size</string>
+ </property>
+ <property name="buddy">
+ <cstring>maxdiam_spin</cstring>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1" colspan="2">
+ <widget class="QSlider" name="threshold_secondary_slider">
+ <property name="toolTip">
+ <string>Per pixel hysteresis width (leave left if there is little difference between dot and non-dot, move right for increased stability against pixel noise)</string>
+ </property>
+ <property name="maximum">
+ <number>255</number>
+ </property>
+ <property name="pageStep">
+ <number>1</number>
+ </property>
+ <property name="value">
+ <number>100</number>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="tickPosition">
+ <enum>QSlider::TicksBothSides</enum>
+ </property>
+ <property name="tickInterval">
+ <number>25</number>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label">
+ <property name="text">
+ <string>Threshold</string>
+ </property>
+ <property name="buddy">
+ <cstring>threshold_slider</cstring>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_secondary">
+ <property name="text">
+ <string>Hysteresis</string>
+ </property>
+ <property name="buddy">
+ <cstring>threshold_secondary_slider</cstring>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="3">
+ <widget class="QLabel" name="label_7">
+ <property name="text">
+ <string>Min size</string>
+ </property>
+ <property name="buddy">
+ <cstring>mindiam_spin</cstring>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
</item>
</layout>
</widget>
- <widget class="QWidget" name="tab_2">
+ <widget class="QWidget" name="tab_4">
<attribute name="title">
- <string>Camera</string>
+ <string>Model</string>
</attribute>
- <layout class="QVBoxLayout" name="verticalLayout_7">
+ <layout class="QVBoxLayout" name="verticalLayout_16">
<item>
- <widget class="QGroupBox" name="groupBox">
- <property name="toolTip">
- <string>The camera device used as input</string>
+ <widget class="QTabWidget" name="model_tabs">
+ <property name="tabShape">
+ <enum>QTabWidget::Rounded</enum>
</property>
- <property name="title">
- <string>Camera Settings</string>
+ <property name="currentIndex">
+ <number>1</number>
+ </property>
+ <property name="usesScrollButtons">
+ <bool>false</bool>
</property>
- <layout class="QVBoxLayout" name="verticalLayout">
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_3">
- <item>
- <widget class="QLabel" name="label_2">
- <property name="minimumSize">
- <size>
- <width>55</width>
- <height>0</height>
- </size>
+ <property name="documentMode">
+ <bool>false</bool>
+ </property>
+ <property name="tabsClosable">
+ <bool>false</bool>
+ </property>
+ <widget class="QWidget" name="tab_5">
+ <attribute name="title">
+ <string>Clip</string>
+ </attribute>
+ <layout class="QGridLayout" name="gridLayout_6">
+ <item row="0" column="0">
+ <widget class="QGroupBox" name="groupBox_8">
+ <property name="title">
+ <string>Model Dimensions</string>
+ </property>
+ <widget class="QSpinBox" name="clip_tlength_spin">
+ <property name="geometry">
+ <rect>
+ <x>70</x>
+ <y>35</y>
+ <width>100</width>
+ <height>22</height>
+ </rect>
+ </property>
+ <property name="suffix">
+ <string> units</string>
+ </property>
+ <property name="minimum">
+ <number>-65535</number>
+ </property>
+ <property name="maximum">
+ <number>65535</number>
+ </property>
+ </widget>
+ <widget class="QSpinBox" name="clip_bheight_spin">
+ <property name="geometry">
+ <rect>
+ <x>110</x>
+ <y>115</y>
+ <width>100</width>
+ <height>22</height>
+ </rect>
+ </property>
+ <property name="suffix">
+ <string> units</string>
+ </property>
+ <property name="minimum">
+ <number>-65535</number>
+ </property>
+ <property name="maximum">
+ <number>65535</number>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_44">
+ <property name="geometry">
+ <rect>
+ <x>40</x>
+ <y>55</y>
+ <width>71</width>
+ <height>111</height>
+ </rect>
</property>
<property name="text">
- <string>Device</string>
+ <string/>
</property>
- <property name="buddy">
- <cstring>camdevice_combo</cstring>
+ <property name="pixmap">
+ <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/clip_side.png</pixmap>
</property>
</widget>
- </item>
- <item>
- <widget class="QComboBox" name="camdevice_combo">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
+ <widget class="QLabel" name="label_50">
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>35</y>
+ <width>46</width>
+ <height>13</height>
+ </rect>
</property>
- <property name="toolTip">
- <string>Camera device used as input</string>
+ <property name="text">
+ <string>Side</string>
</property>
</widget>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_8">
- <item>
- <layout class="QGridLayout" name="gridLayout_8">
- <item row="0" column="0">
- <widget class="QLabel" name="label_36">
- <property name="minimumSize">
- <size>
- <width>55</width>
- <height>0</height>
- </size>
+ <widget class="QSpinBox" name="clip_blength_spin">
+ <property name="geometry">
+ <rect>
+ <x>50</x>
+ <y>165</y>
+ <width>100</width>
+ <height>22</height>
+ </rect>
+ </property>
+ <property name="suffix">
+ <string> units</string>
+ </property>
+ <property name="minimum">
+ <number>-65535</number>
+ </property>
+ <property name="maximum">
+ <number>65535</number>
+ </property>
+ </widget>
+ <widget class="QSpinBox" name="clip_theight_spin">
+ <property name="geometry">
+ <rect>
+ <x>110</x>
+ <y>75</y>
+ <width>100</width>
+ <height>22</height>
+ </rect>
+ </property>
+ <property name="suffix">
+ <string> units</string>
+ </property>
+ <property name="minimum">
+ <number>-65535</number>
+ </property>
+ <property name="maximum">
+ <number>65535</number>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_51">
+ <property name="geometry">
+ <rect>
+ <x>255</x>
+ <y>40</y>
+ <width>46</width>
+ <height>13</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Front</string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_45">
+ <property name="geometry">
+ <rect>
+ <x>265</x>
+ <y>60</y>
+ <width>21</width>
+ <height>111</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ <property name="pixmap">
+ <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/clip_front.png</pixmap>
+ </property>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QWidget" name="tab_6">
+ <attribute name="title">
+ <string>Cap</string>
+ </attribute>
+ <layout class="QVBoxLayout" name="verticalLayout_14">
+ <item>
+ <widget class="QGroupBox" name="groupBox_9">
+ <property name="title">
+ <string>Model Dimensions</string>
+ </property>
+ <widget class="QLabel" name="label_46">
+ <property name="geometry">
+ <rect>
+ <x>30</x>
+ <y>90</y>
+ <width>111</width>
+ <height>81</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ <property name="pixmap">
+ <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/cap_side.png</pixmap>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_48">
+ <property name="geometry">
+ <rect>
+ <x>20</x>
+ <y>35</y>
+ <width>46</width>
+ <height>13</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Side</string>
+ </property>
+ </widget>
+ <widget class="QSpinBox" name="cap_length_spin">
+ <property name="geometry">
+ <rect>
+ <x>20</x>
+ <y>70</y>
+ <width>101</width>
+ <height>22</height>
+ </rect>
+ </property>
+ <property name="suffix">
+ <string> units</string>
+ </property>
+ <property name="minimum">
+ <number>-65535</number>
+ </property>
+ <property name="maximum">
+ <number>65535</number>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_54">
+ <property name="geometry">
+ <rect>
+ <x>140</x>
+ <y>90</y>
+ <width>16</width>
+ <height>16</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>R</string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_55">
+ <property name="geometry">
+ <rect>
+ <x>290</x>
+ <y>85</y>
+ <width>16</width>
+ <height>16</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>R</string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_47">
+ <property name="geometry">
+ <rect>
+ <x>270</x>
+ <y>85</y>
+ <width>81</width>
+ <height>81</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ <property name="pixmap">
+ <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/cap_front.png</pixmap>
+ </property>
+ </widget>
+ <widget class="QSpinBox" name="cap_width_spin">
+ <property name="geometry">
+ <rect>
+ <x>255</x>
+ <y>55</y>
+ <width>100</width>
+ <height>22</height>
+ </rect>
+ </property>
+ <property name="suffix">
+ <string> units</string>
+ </property>
+ <property name="minimum">
+ <number>-65535</number>
+ </property>
+ <property name="maximum">
+ <number>65535</number>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_49">
+ <property name="geometry">
+ <rect>
+ <x>290</x>
+ <y>35</y>
+ <width>46</width>
+ <height>13</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Front</string>
+ </property>
+ </widget>
+ <widget class="QSpinBox" name="cap_height_spin">
+ <property name="geometry">
+ <rect>
+ <x>60</x>
+ <y>120</y>
+ <width>116</width>
+ <height>22</height>
+ </rect>
+ </property>
+ <property name="suffix">
+ <string> units</string>
+ </property>
+ <property name="minimum">
+ <number>-65535</number>
+ </property>
+ <property name="maximum">
+ <number>65535</number>
+ </property>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QWidget" name="tab_7">
+ <attribute name="title">
+ <string>Custom</string>
+ </attribute>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="0" column="0">
+ <widget class="QGroupBox" name="groupBox_7">
+ <property name="title">
+ <string>Model Dimensions</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_5">
+ <item row="3" column="1">
+ <widget class="QLabel" name="label_57">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
</property>
<property name="text">
- <string>Resolution</string>
+ <string>z:</string>
</property>
</widget>
</item>
- <item row="0" column="5">
- <widget class="QLabel" name="label_37">
- <property name="text">
- <string>FPS</string>
+ <item row="2" column="5">
+ <widget class="QSpinBox" name="m2y_spin">
+ <property name="suffix">
+ <string> units</string>
</property>
- <property name="buddy">
- <cstring>fps_spin</cstring>
+ <property name="minimum">
+ <number>-65535</number>
+ </property>
+ <property name="maximum">
+ <number>65535</number>
</property>
</widget>
</item>
- <item row="0" column="6">
- <widget class="QSpinBox" name="fps_spin">
+ <item row="1" column="1">
+ <widget class="QLabel" name="label_63">
<property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+ <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
- <property name="toolTip">
- <string>Desired capture framerate</string>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- </item>
- <item row="0" column="2">
- <widget class="QLabel" name="label_41">
<property name="text">
- <string>x</string>
+ <string>x:</string>
</property>
</widget>
</item>
- <item row="0" column="1">
- <widget class="QSpinBox" name="res_x_spin">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
+ <item row="1" column="2">
+ <widget class="QSpinBox" name="m1x_spin">
+ <property name="suffix">
+ <string> units</string>
</property>
- <property name="toolTip">
- <string>Desired capture width</string>
+ <property name="minimum">
+ <number>-65535</number>
</property>
<property name="maximum">
- <number>2000</number>
- </property>
- <property name="singleStep">
- <number>10</number>
+ <number>65535</number>
</property>
</widget>
</item>
- <item row="0" column="3">
- <widget class="QSpinBox" name="res_y_spin">
- <property name="toolTip">
- <string>Desired capture height</string>
- </property>
- <property name="maximum">
- <number>2000</number>
- </property>
- <property name="singleStep">
- <number>10</number>
+ <item row="2" column="2">
+ <widget class="QSpinBox" name="m1y_spin">
+ <property name="suffix">
+ <string> units</string>
</property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_34">
- <property name="text">
- <string>F/W</string>
+ <property name="minimum">
+ <number>-65535</number>
</property>
- <property name="buddy">
- <cstring>f_dspin</cstring>
+ <property name="maximum">
+ <number>65535</number>
</property>
</widget>
</item>
- <item row="1" column="1">
- <widget class="QDoubleSpinBox" name="f_dspin">
- <property name="toolTip">
- <string>The camera's focal length devided by its sensor width</string>
+ <item row="3" column="5">
+ <widget class="QSpinBox" name="m2z_spin">
+ <property name="suffix">
+ <string> units</string>
</property>
- <property name="decimals">
- <number>2</number>
+ <property name="minimum">
+ <number>-65535</number>
</property>
- <property name="singleStep">
- <double>0.100000000000000</double>
+ <property name="maximum">
+ <number>65535</number>
</property>
</widget>
</item>
- <item row="0" column="4">
- <spacer name="horizontalSpacer_2">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
+ <item row="1" column="5">
+ <widget class="QSpinBox" name="m2x_spin">
+ <property name="suffix">
+ <string> units</string>
</property>
- </spacer>
- </item>
- <item row="0" column="7">
- <spacer name="horizontalSpacer_9">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
+ <property name="minimum">
+ <number>-65535</number>
</property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>0</width>
- <height>20</height>
- </size>
+ <property name="maximum">
+ <number>65535</number>
</property>
- </spacer>
+ </widget>
</item>
- </layout>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_7"/>
- </item>
- </layout>
- </widget>
- </item>
- <item>
- <widget class="QGroupBox" name="groupBox_4">
- <property name="title">
- <string>Camera Orientation</string>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout_8">
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_6">
- <item>
- <layout class="QGridLayout" name="gridLayout_3">
- <item row="1" column="0">
- <widget class="QLabel" name="label_4">
+ <item row="0" column="0" colspan="6">
+ <widget class="QLabel" name="label_56">
<property name="text">
- <string>Pitch</string>
- </property>
- <property name="buddy">
- <cstring>campitch_spin</cstring>
+ <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Location of the two remaining model points&lt;br/&gt;with respect to the reference point in default pose&lt;/p&gt;&lt;p&gt;Use any units you want, e.g. millimeters, inches, parsecs...&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
- <item row="1" column="1">
- <widget class="QSpinBox" name="campitch_spin">
- <property name="contextMenuPolicy">
- <enum>Qt::DefaultContextMenu</enum>
- </property>
- <property name="toolTip">
- <string>The angle the camera is facing upwards</string>
+ <item row="3" column="2">
+ <widget class="QSpinBox" name="m1z_spin">
+ <property name="suffix">
+ <string> units</string>
</property>
<property name="minimum">
- <number>-99</number>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QLabel" name="label_20">
- <property name="text">
- <string>Yaw</string>
+ <number>-65535</number>
</property>
- <property name="buddy">
- <cstring>camyaw_spin</cstring>
+ <property name="maximum">
+ <number>65535</number>
</property>
</widget>
</item>
- <item row="2" column="1">
- <widget class="QSpinBox" name="camyaw_spin">
- <property name="contextMenuPolicy">
- <enum>Qt::DefaultContextMenu</enum>
- </property>
- <property name="toolTip">
- <string>The angle the camera is facing leftwards</string>
- </property>
- <property name="minimum">
- <number>-99</number>
+ <item row="2" column="4">
+ <widget class="QLabel" name="label_70">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
</property>
- </widget>
- </item>
- <item row="2" column="2">
- <widget class="QLabel" name="label_21">
<property name="text">
- <string>deg (positve = leftwards)</string>
+ <string>y:</string>
</property>
</widget>
</item>
- <item row="0" column="1">
- <widget class="QComboBox" name="camroll_combo">
+ <item row="1" column="4">
+ <widget class="QLabel" name="label_67">
<property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>0</height>
- </size>
- </property>
- <property name="toolTip">
- <string>Rotation of the camera image</string>
- </property>
- </widget>
- </item>
- <item row="1" column="2">
- <widget class="QLabel" name="label_5">
<property name="text">
- <string>deg (positive = upwards)</string>
+ <string>x:</string>
</property>
</widget>
</item>
- <item row="0" column="2">
- <widget class="QLabel" name="label_19">
- <property name="text">
- <string>deg</string>
+ <item row="1" column="3">
+ <widget class="QLabel" name="label_64">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
</property>
- </widget>
- </item>
- <item row="0" column="0">
- <widget class="QLabel" name="label_18">
<property name="text">
- <string>Roll</string>
- </property>
- <property name="buddy">
- <cstring>camroll_combo</cstring>
+ <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:16pt;&quot;&gt;P&lt;/span&gt;&lt;span style=&quot; font-size:16pt; vertical-align:sub;&quot;&gt;3&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
- </layout>
- </item>
- <item>
- <spacer name="horizontalSpacer_10">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>0</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- </item>
- <item>
- <spacer name="verticalSpacer_2">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>0</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <widget class="QGroupBox" name="groupBox_2">
- <property name="title">
- <string>Point Extraction</string>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout_4">
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout">
- <item>
- <widget class="QLabel" name="label">
- <property name="text">
- <string>Threshold</string>
- </property>
- <property name="buddy">
- <cstring>threshold_slider</cstring>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QSlider" name="threshold_slider">
- <property name="toolTip">
- <string>Intensity threshold for point extraction</string>
- </property>
- <property name="maximum">
- <number>255</number>
- </property>
- <property name="value">
- <number>127</number>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_secondary">
- <item>
- <widget class="QLabel" name="label_secondary">
- <property name="text">
- <string>Hysteresis</string>
- </property>
- <property name="buddy">
- <cstring>threshold_secondary_slider</cstring>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QSlider" name="threshold_secondary_slider">
- <property name="toolTip">
- <string>Per pixel hysteresis width (leave left if there is little difference between dot and non-dot, move right for increased stability against pixel noise)</string>
- </property>
- <property name="maximum">
- <number>255</number>
- </property>
- <property name="pageStep">
- <number>1</number>
- </property>
- <property name="value">
- <number>100</number>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_2">
- <item>
- <widget class="QLabel" name="label_7">
- <property name="text">
- <string>Min Diameter</string>
- </property>
- <property name="buddy">
- <cstring>mindiam_spin</cstring>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QSpinBox" name="mindiam_spin">
- <property name="toolTip">
- <string>Minimum point diameter</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_12">
- <property name="text">
- <string>px</string>
- </property>
- </widget>
- </item>
- <item>
- <spacer name="horizontalSpacer">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <widget class="QLabel" name="label_8">
- <property name="text">
- <string>Max Diameter</string>
- </property>
- <property name="buddy">
- <cstring>maxdiam_spin</cstring>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QSpinBox" name="maxdiam_spin">
- <property name="toolTip">
- <string>Maximum point diameter</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_13">
- <property name="text">
- <string>px</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- </item>
- </layout>
- </widget>
- <widget class="QWidget" name="tab_4">
- <attribute name="title">
- <string>Model</string>
- </attribute>
- <layout class="QVBoxLayout" name="verticalLayout_16">
- <item>
- <widget class="QTabWidget" name="model_tabs">
- <property name="tabShape">
- <enum>QTabWidget::Rounded</enum>
- </property>
- <property name="currentIndex">
- <number>2</number>
- </property>
- <property name="usesScrollButtons">
- <bool>false</bool>
- </property>
- <property name="documentMode">
- <bool>false</bool>
- </property>
- <property name="tabsClosable">
- <bool>false</bool>
- </property>
- <widget class="QWidget" name="tab_5">
- <attribute name="title">
- <string>Clip</string>
- </attribute>
- <layout class="QVBoxLayout" name="verticalLayout_13">
- <item>
- <widget class="QGroupBox" name="groupBox_8">
- <property name="title">
- <string>Model Dimensions (mm)</string>
- </property>
- <layout class="QHBoxLayout" name="horizontalLayout_16">
- <item>
- <widget class="QWidget" name="widget_4" native="true">
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_60">
<property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
- <property name="minimumSize">
- <size>
- <width>150</width>
- <height>160</height>
- </size>
+ <property name="text">
+ <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:16pt;&quot;&gt;P&lt;/span&gt;&lt;span style=&quot; font-size:16pt; vertical-align:sub;&quot;&gt;3&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
- <widget class="QLabel" name="label_44">
- <property name="geometry">
- <rect>
- <x>30</x>
- <y>30</y>
- <width>71</width>
- <height>111</height>
- </rect>
- </property>
- <property name="text">
- <string/>
- </property>
- <property name="pixmap">
- <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/clip_side.png</pixmap>
- </property>
- </widget>
- <widget class="QSpinBox" name="clip_theight_spin">
- <property name="geometry">
- <rect>
- <x>100</x>
- <y>50</y>
- <width>46</width>
- <height>22</height>
- </rect>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- <widget class="QSpinBox" name="clip_tlength_spin">
- <property name="geometry">
- <rect>
- <x>60</x>
- <y>10</y>
- <width>46</width>
- <height>22</height>
- </rect>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- <widget class="QSpinBox" name="clip_bheight_spin">
- <property name="geometry">
- <rect>
- <x>100</x>
- <y>90</y>
- <width>46</width>
- <height>22</height>
- </rect>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- <widget class="QLabel" name="label_50">
- <property name="geometry">
- <rect>
- <x>10</x>
- <y>10</y>
- <width>46</width>
- <height>13</height>
- </rect>
- </property>
- <property name="text">
- <string>Side</string>
- </property>
- </widget>
- <widget class="QSpinBox" name="clip_blength_spin">
- <property name="geometry">
- <rect>
- <x>40</x>
- <y>140</y>
- <width>46</width>
- <height>22</height>
- </rect>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- <widget class="QLabel" name="label_52">
- <property name="geometry">
- <rect>
- <x>70</x>
- <y>70</y>
- <width>16</width>
- <height>16</height>
- </rect>
- </property>
- <property name="text">
- <string>R</string>
- </property>
- </widget>
</widget>
</item>
- <item>
- <widget class="QWidget" name="widget_3" native="true">
+ <item row="3" column="4">
+ <widget class="QLabel" name="label_69">
<property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
- <property name="minimumSize">
- <size>
- <width>100</width>
- <height>140</height>
- </size>
- </property>
- <widget class="QLabel" name="label_51">
- <property name="geometry">
- <rect>
- <x>10</x>
- <y>10</y>
- <width>46</width>
- <height>13</height>
- </rect>
- </property>
- <property name="text">
- <string>Front</string>
- </property>
- </widget>
- <widget class="QLabel" name="label_45">
- <property name="geometry">
- <rect>
- <x>40</x>
- <y>30</y>
- <width>21</width>
- <height>111</height>
- </rect>
- </property>
- <property name="text">
- <string/>
- </property>
- <property name="pixmap">
- <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/clip_front.png</pixmap>
- </property>
- </widget>
- <widget class="QLabel" name="label_53">
- <property name="geometry">
- <rect>
- <x>60</x>
- <y>70</y>
- <width>16</width>
- <height>16</height>
- </rect>
- </property>
- <property name="text">
- <string>R</string>
- </property>
- </widget>
- </widget>
- </item>
- </layout>
- </widget>
- </item>
- </layout>
- </widget>
- <widget class="QWidget" name="tab_6">
- <attribute name="title">
- <string>Cap</string>
- </attribute>
- <layout class="QVBoxLayout" name="verticalLayout_14">
- <item>
- <widget class="QGroupBox" name="groupBox_9">
- <property name="title">
- <string>Model Dimensions (mm)</string>
- </property>
- <layout class="QHBoxLayout" name="horizontalLayout_15">
- <item>
- <widget class="QWidget" name="widget" native="true">
- <property name="minimumSize">
- <size>
- <width>140</width>
- <height>130</height>
- </size>
+ <property name="text">
+ <string>z:</string>
</property>
- <widget class="QLabel" name="label_46">
- <property name="geometry">
- <rect>
- <x>20</x>
- <y>50</y>
- <width>111</width>
- <height>81</height>
- </rect>
- </property>
- <property name="text">
- <string/>
- </property>
- <property name="pixmap">
- <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/cap_side.png</pixmap>
- </property>
- </widget>
- <widget class="QSpinBox" name="cap_height_spin">
- <property name="geometry">
- <rect>
- <x>30</x>
- <y>80</y>
- <width>46</width>
- <height>22</height>
- </rect>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- <widget class="QLabel" name="label_54">
- <property name="geometry">
- <rect>
- <x>130</x>
- <y>50</y>
- <width>16</width>
- <height>16</height>
- </rect>
- </property>
- <property name="text">
- <string>R</string>
- </property>
- </widget>
- <widget class="QLabel" name="label_48">
- <property name="geometry">
- <rect>
- <x>10</x>
- <y>10</y>
- <width>46</width>
- <height>13</height>
- </rect>
- </property>
- <property name="text">
- <string>Side</string>
- </property>
- </widget>
- <widget class="QSpinBox" name="cap_length_spin">
- <property name="geometry">
- <rect>
- <x>50</x>
- <y>40</y>
- <width>46</width>
- <height>22</height>
- </rect>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
</widget>
</item>
- <item>
- <widget class="QWidget" name="widget_2" native="true">
+ <item row="2" column="1">
+ <widget class="QLabel" name="label_58">
<property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+ <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
- <property name="minimumSize">
- <size>
- <width>100</width>
- <height>130</height>
- </size>
- </property>
- <widget class="QLabel" name="label_49">
- <property name="geometry">
- <rect>
- <x>10</x>
- <y>10</y>
- <width>46</width>
- <height>13</height>
- </rect>
- </property>
- <property name="text">
- <string>Front</string>
- </property>
- </widget>
- <widget class="QLabel" name="label_55">
- <property name="geometry">
- <rect>
- <x>30</x>
- <y>50</y>
- <width>16</width>
- <height>16</height>
- </rect>
- </property>
- <property name="text">
- <string>R</string>
- </property>
- </widget>
- <widget class="QLabel" name="label_47">
- <property name="geometry">
- <rect>
- <x>10</x>
- <y>50</y>
- <width>81</width>
- <height>81</height>
- </rect>
- </property>
- <property name="text">
- <string/>
- </property>
- <property name="pixmap">
- <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/cap_front.png</pixmap>
- </property>
- </widget>
- <widget class="QSpinBox" name="cap_width_spin">
- <property name="geometry">
- <rect>
- <x>50</x>
- <y>30</y>
- <width>46</width>
- <height>22</height>
- </rect>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- </widget>
- </item>
- </layout>
- </widget>
- </item>
- </layout>
- </widget>
- <widget class="QWidget" name="tab_7">
- <attribute name="title">
- <string>Custom</string>
- </attribute>
- <layout class="QVBoxLayout" name="verticalLayout_15">
- <item>
- <widget class="QGroupBox" name="groupBox_7">
- <property name="title">
- <string>Model Dimensions (mm)</string>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout_12">
- <item>
- <widget class="QLabel" name="label_56">
<property name="text">
- <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Location of the two remaining model points&lt;br/&gt;with respect to the reference point in default pose&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+ <string>y:</string>
</property>
</widget>
</item>
- <item>
- <spacer name="verticalSpacer_4">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>0</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_14">
- <item>
- <spacer name="horizontalSpacer_14">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>10</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <layout class="QGridLayout" name="gridLayout_4">
- <item row="3" column="2">
- <widget class="QSpinBox" name="m1z_spin">
- <property name="minimum">
- <number>-999</number>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QLabel" name="label_58">
- <property name="text">
- <string>y:</string>
- </property>
- </widget>
- </item>
- <item row="2" column="2">
- <widget class="QSpinBox" name="m1y_spin">
- <property name="minimum">
- <number>-999</number>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- </item>
- <item row="3" column="1">
- <widget class="QLabel" name="label_57">
- <property name="text">
- <string>z:</string>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_60">
- <property name="text">
- <string>M1:</string>
- </property>
- </widget>
- </item>
- <item row="1" column="2">
- <widget class="QSpinBox" name="m1x_spin">
- <property name="minimum">
- <number>-999</number>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QLabel" name="label_63">
- <property name="text">
- <string>x:</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <spacer name="horizontalSpacer_15">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <layout class="QGridLayout" name="gridLayout_5">
- <item row="1" column="2">
- <widget class="QSpinBox" name="m2x_spin">
- <property name="minimum">
- <number>-999</number>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QLabel" name="label_67">
- <property name="text">
- <string>x:</string>
- </property>
- </widget>
- </item>
- <item row="3" column="1">
- <widget class="QLabel" name="label_69">
- <property name="text">
- <string>z:</string>
- </property>
- </widget>
- </item>
- <item row="2" column="2">
- <widget class="QSpinBox" name="m2y_spin">
- <property name="minimum">
- <number>-999</number>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QLabel" name="label_70">
- <property name="text">
- <string>y:</string>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_64">
- <property name="text">
- <string>M2:</string>
- </property>
- </widget>
- </item>
- <item row="3" column="2">
- <widget class="QSpinBox" name="m2z_spin">
- <property name="suffix">
- <string/>
- </property>
- <property name="minimum">
- <number>-999</number>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <spacer name="horizontalSpacer_16">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>10</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- </layout>
- </item>
- <item>
- <spacer name="verticalSpacer_3">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>0</height>
- </size>
- </property>
- </spacer>
- </item>
</layout>
</widget>
</item>
@@ -1205,129 +1051,88 @@
<item>
<widget class="QGroupBox" name="groupBox_10">
<property name="title">
- <string>Model Position (mm)</string>
+ <string>Model position</string>
</property>
- <layout class="QVBoxLayout" name="verticalLayout_11">
- <item>
+ <layout class="QGridLayout" name="gridLayout_4">
+ <item row="1" column="1">
+ <widget class="QSpinBox" name="tx_spin">
+ <property name="suffix">
+ <string> units</string>
+ </property>
+ <property name="minimum">
+ <number>-65535</number>
+ </property>
+ <property name="maximum">
+ <number>65536</number>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0" colspan="3">
<widget class="QLabel" name="label_59">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Translation from head center to model reference point&lt;br/&gt; in default pose&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_17">
- <item>
- <spacer name="horizontalSpacer_17">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>10</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <layout class="QGridLayout" name="gridLayout_6">
- <item row="3" column="1">
- <widget class="QSpinBox" name="tz_spin">
- <property name="suffix">
- <string/>
- </property>
- <property name="minimum">
- <number>-999</number>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_61">
- <property name="text">
- <string>x:</string>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QLabel" name="label_62">
- <property name="text">
- <string>y:</string>
- </property>
- </widget>
- </item>
- <item row="3" column="0">
- <widget class="QLabel" name="label_66">
- <property name="text">
- <string>z:</string>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QSpinBox" name="ty_spin">
- <property name="minimum">
- <number>-999</number>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QSpinBox" name="tx_spin">
- <property name="minimum">
- <number>-999</number>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <spacer name="horizontalSpacer_18">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <widget class="QPushButton" name="tcalib_button">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="text">
- <string>Calibrate</string>
- </property>
- <property name="checkable">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item>
- <spacer name="horizontalSpacer_19">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>10</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- </layout>
+ <item row="2" column="1">
+ <widget class="QSpinBox" name="ty_spin">
+ <property name="suffix">
+ <string> units</string>
+ </property>
+ <property name="minimum">
+ <number>-65535</number>
+ </property>
+ <property name="maximum">
+ <number>65536</number>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_62">
+ <property name="text">
+ <string>y:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QLabel" name="label_66">
+ <property name="text">
+ <string>z:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_61">
+ <property name="text">
+ <string>x:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1">
+ <widget class="QSpinBox" name="tz_spin">
+ <property name="suffix">
+ <string> units</string>
+ </property>
+ <property name="minimum">
+ <number>-65535</number>
+ </property>
+ <property name="maximum">
+ <number>65536</number>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="2">
+ <widget class="QPushButton" name="tcalib_button">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="text">
+ <string>Calibrate</string>
+ </property>
+ <property name="checkable">
+ <bool>true</bool>
+ </property>
+ </widget>
</item>
</layout>
</widget>
@@ -1338,171 +1143,48 @@
<attribute name="title">
<string>About</string>
</attribute>
- <widget class="QLabel" name="label_10">
- <property name="geometry">
- <rect>
- <x>30</x>
- <y>30</y>
- <width>161</width>
- <height>111</height>
- </rect>
- </property>
- <property name="text">
- <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FTNoIR PointTracker Plugin&lt;br/&gt;Version 1.1&lt;/span&gt;&lt;/p&gt;&lt;p&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;by Patrick Ruoff&lt;/span&gt;&lt;/p&gt;&lt;p&gt;&lt;a href=&quot;http://ftnoirpt.sourceforge.net/&quot;&gt;&lt;span style=&quot; font-weight:600; text-decoration: underline; color:#0000ff;&quot;&gt;Manual (external)&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
- </property>
- <property name="openExternalLinks">
- <bool>true</bool>
- </property>
- </widget>
- <widget class="QLabel" name="label_35">
- <property name="geometry">
- <rect>
- <x>200</x>
- <y>30</y>
- <width>141</width>
- <height>141</height>
- </rect>
- </property>
- <property name="text">
- <string/>
- </property>
- <property name="pixmap">
- <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/Logo_IR.png</pixmap>
- </property>
- </widget>
+ <layout class="QGridLayout" name="gridLayout_8">
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_10">
+ <property name="text">
+ <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FTNoIR PointTracker Plugin&lt;br/&gt;Version 1.1&lt;/span&gt;&lt;/p&gt;&lt;p&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;by Patrick Ruoff&lt;/span&gt;&lt;/p&gt;&lt;p&gt;&lt;a href=&quot;http://ftnoirpt.sourceforge.net/&quot;&gt;&lt;span style=&quot; font-weight:600; text-decoration: underline; color:#0000ff;&quot;&gt;Manual (external)&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+ </property>
+ <property name="openExternalLinks">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QLabel" name="label_35">
+ <property name="text">
+ <string/>
+ </property>
+ <property name="pixmap">
+ <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/Logo_IR.png</pixmap>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
</widget>
</widget>
</item>
- <item>
- <widget class="QGroupBox" name="groupBox_5">
- <property name="title">
- <string>Status</string>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout_5">
- <item>
- <layout class="QFormLayout" name="formLayout">
- <property name="fieldGrowthPolicy">
- <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
- </property>
- <item row="0" column="0">
- <widget class="QLabel" name="label_38">
- <property name="text">
- <string>Camera Info:</string>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QLabel" name="caminfo_label">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>120</width>
- <height>0</height>
- </size>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_3">
- <property name="text">
- <string>Extracted Points:</string>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QLabel" name="pointinfo_label">
- <property name="minimumSize">
- <size>
- <width>50</width>
- <height>0</height>
- </size>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_4">
- <item>
- <widget class="QPushButton" name="btnApply">
- <property name="text">
- <string>Save</string>
- </property>
- </widget>
- </item>
- <item>
- <spacer name="horizontalSpacer_6">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <widget class="QPushButton" name="ok_button">
- <property name="locale">
- <locale language="English" country="UnitedStates"/>
- </property>
- <property name="text">
- <string>Ok</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="cancel_button">
- <property name="locale">
- <locale language="English" country="UnitedStates"/>
- </property>
- <property name="text">
- <string>Cancel</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
</layout>
</widget>
<tabstops>
<tabstop>tabWidget</tabstop>
- <tabstop>reset_spin</tabstop>
<tabstop>camdevice_combo</tabstop>
<tabstop>res_x_spin</tabstop>
- <tabstop>res_y_spin</tabstop>
- <tabstop>fps_spin</tabstop>
- <tabstop>f_dspin</tabstop>
<tabstop>camroll_combo</tabstop>
<tabstop>campitch_spin</tabstop>
<tabstop>camyaw_spin</tabstop>
<tabstop>threshold_slider</tabstop>
- <tabstop>mindiam_spin</tabstop>
- <tabstop>maxdiam_spin</tabstop>
<tabstop>model_tabs</tabstop>
- <tabstop>clip_tlength_spin</tabstop>
- <tabstop>clip_theight_spin</tabstop>
- <tabstop>clip_bheight_spin</tabstop>
- <tabstop>clip_blength_spin</tabstop>
- <tabstop>cap_length_spin</tabstop>
- <tabstop>cap_height_spin</tabstop>
- <tabstop>cap_width_spin</tabstop>
<tabstop>m1x_spin</tabstop>
<tabstop>m1y_spin</tabstop>
<tabstop>m1z_spin</tabstop>
@@ -1512,31 +1194,11 @@
<tabstop>tx_spin</tabstop>
<tabstop>ty_spin</tabstop>
<tabstop>tz_spin</tabstop>
- <tabstop>tcalib_button</tabstop>
- <tabstop>ok_button</tabstop>
- <tabstop>cancel_button</tabstop>
</tabstops>
<resources>
<include location="ftnoir_tracker_pt.qrc"/>
</resources>
- <connections>
- <connection>
- <sender>dynpose_check</sender>
- <signal>toggled(bool)</signal>
- <receiver>reset_spin</receiver>
- <slot>setEnabled(bool)</slot>
- <hints>
- <hint type="sourcelabel">
- <x>172</x>
- <y>110</y>
- </hint>
- <hint type="destinationlabel">
- <x>351</x>
- <y>112</y>
- </hint>
- </hints>
- </connection>
- </connections>
+ <connections/>
<slots>
<slot>startEngineClicked()</slot>
<slot>stopEngineClicked()</slot>
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 3fa6910d..768a3a71 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -26,7 +26,6 @@ Tracker::Tracker()
commands(0),
video_widget(NULL),
video_frame(NULL),
- tracking_valid(false),
new_settings(nullptr)
{
@@ -68,16 +67,13 @@ void Tracker::run()
#endif
time.start();
- double dt;
bool new_frame;
forever
{
if (commands & ABORT) break;
- if (commands & PAUSE) continue;
commands = 0;
- apply_inner();
- dt = time.start() / 1000000000.;
-
+ apply_inner();
+ const double dt = time.start() * 1e-9;
new_frame = camera.get_frame(dt, &frame);
if (new_frame && !frame.empty())
@@ -101,7 +97,7 @@ void Tracker::run()
color,
4);
}
- tracking_valid = point_tracker.track(points, camera.get_info().f, dt);
+ point_tracker.track(points, camera.get_info().f);
video_widget->update_image(frame);
}
#ifdef PT_PERF_LOG
@@ -124,12 +120,13 @@ void Tracker::apply_inner()
settings* tmp = new_settings.exchange(nullptr);
if (tmp == nullptr)
return;
+ reset();
auto& s = *tmp;
qDebug()<<"Tracker:: Applying settings";
camera.set_device_index(s.cam_index);
camera.set_res(s.cam_res_x, s.cam_res_y);
camera.set_fps(s.cam_fps);
- camera.set_f(s.cam_f);
+ camera.set_f(1);
frame_rotation.rotation = static_cast<RotationType>(static_cast<int>(s.cam_roll));
point_extractor.threshold_val = s.threshold;
point_extractor.threshold_secondary_val = s.threshold_secondary;
@@ -140,8 +137,6 @@ void Tracker::apply_inner()
cv::Vec3f M02(s.m02_x, s.m02_y, s.m02_z);
point_tracker.point_model = std::shared_ptr<PointModel>(new PointModel(M01, M02));
}
- point_tracker.dynamic_pose_resolution = s.dyn_pose_res;
- 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,
@@ -152,7 +147,6 @@ void Tracker::apply_inner()
FrameTrafo X_MH(Matx33f::eye(), t_MH);
X_GH_0 = R_GC * X_MH;
-
qDebug()<<"Tracker::apply ends";
}
@@ -201,7 +195,6 @@ void Tracker::StartTracker(QFrame *parent_window)
camera.start();
apply(s);
start();
- reset_command(PAUSE);
}
#ifndef OPENTRACK_API
@@ -220,9 +213,7 @@ void Tracker::GetHeadPoseData(THeadPoseData *data)
{
QMutexLocker lock(&mutex);
- if (!tracking_valid) return;
-
- FrameTrafo X_CM = point_tracker.get_pose();
+ FrameTrafo X_CM = point_tracker.get_pose();
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();
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
index 3d9a83fd..238dcd8f 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
@@ -61,8 +61,7 @@ protected:
QMutex mutex;
// thread commands
enum Command {
- ABORT = 1<<0,
- PAUSE = 1<<1
+ ABORT = 1<<0
};
void set_command(Command command);
void reset_command(Command command);
@@ -82,7 +81,6 @@ protected:
PTVideoWidget* video_widget;
QFrame* video_frame;
- bool tracking_valid;
settings s;
std::atomic<settings*> new_settings;
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
index e037a099..0e58a2e4 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
@@ -42,11 +42,7 @@ TrackerDialog::TrackerDialog()
ui.camroll_combo->addItem("0");
ui.camroll_combo->addItem("90");
- tie_setting(s.dyn_pose_res, ui.dynpose_check);
- tie_setting(s.reset_time, ui.reset_spin);
-
tie_setting(s.cam_index, ui.camdevice_combo);
- tie_setting(s.cam_f, ui.f_dspin);
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);
@@ -82,11 +78,9 @@ TrackerDialog::TrackerDialog()
tie_setting(s.t_MH_z, ui.tz_spin);
connect( ui.tcalib_button,SIGNAL(toggled(bool)), this,SLOT(startstop_trans_calib(bool)) );
- connect(ui.reset_button, SIGNAL(clicked()), this, SLOT(doReset()));
- connect(ui.ok_button, SIGNAL(clicked()), this, SLOT(doOK()));
- connect(ui.cancel_button, SIGNAL(clicked()), this, SLOT(doCancel()));
- connect(ui.btnApply, SIGNAL(clicked()), this, SLOT(doApply()));
+ connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
+ connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
ui.model_tabs->setCurrentIndex(s.active_model_panel);
@@ -94,7 +88,7 @@ TrackerDialog::TrackerDialog()
connect(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info()));
timer.start(100);
- connect(s.b.get(), SIGNAL(bundleChanged()), this, SLOT(do_apply_without_saving()));
+ connect(ui.buttonBox_2, SIGNAL(clicked(QAbstractButton*)), this, SLOT(do_apply_without_saving(QAbstractButton*)));
}
void TrackerDialog::set_model_clip()
@@ -172,19 +166,9 @@ void TrackerDialog::settings_changed()
if (tracker) tracker->apply(s);
}
-void TrackerDialog::doCenter()
-{
- if (tracker) tracker->center();
-}
-
-void TrackerDialog::doReset()
-{
- if (tracker) tracker->reset();
-}
-
void TrackerDialog::save()
{
- do_apply_without_saving();
+ do_apply_without_saving(nullptr);
s.b->save();
}
@@ -194,7 +178,7 @@ void TrackerDialog::doOK()
close();
}
-void TrackerDialog::do_apply_without_saving()
+void TrackerDialog::do_apply_without_saving(QAbstractButton*)
{
switch (s.active_model_panel) {
default:
@@ -295,7 +279,6 @@ void TrackerDialog::registerTracker(ITracker *t)
tracker->apply(s);
ui.tcalib_button->setEnabled(true);
//ui.center_button->setEnabled(true);
- ui.reset_button->setEnabled(true);
}
void TrackerDialog::unRegisterTracker()
@@ -305,7 +288,6 @@ void TrackerDialog::unRegisterTracker()
destroy_video_widget();
ui.tcalib_button->setEnabled(false);
//ui.center_button->setEnabled(false);
- ui.reset_button->setEnabled(false);
}
extern "C" OPENTRACK_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( )
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h
index a4d9c4b5..dbb93f30 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h
@@ -34,12 +34,10 @@ public:
void trans_calib_step();
public slots:
- void doCenter();
- void doReset();
void doOK();
- void doApply();
void doCancel();
- void do_apply_without_saving();
+ void doApply();
+ void do_apply_without_saving(QAbstractButton *);
void startstop_trans_calib(bool start);
void widget_destroyed(QObject* obj);
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
index e4cb9ad3..7faad9ed 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
@@ -28,18 +28,17 @@ struct settings
threshold_secondary,
min_point_size,
max_point_size;
- value<double> cam_f;
value<int> m01_x, m01_y, m01_z;
value<int> m02_x, m02_y, m02_z;
- value<bool> dyn_pose_res, video_widget;
+ value<bool> video_widget;
value<int> t_MH_x, t_MH_y, t_MH_z;
- value<int> reset_time;
-
value<int> clip_ty, clip_tz, clip_by, clip_bz;
value<int> active_model_panel, cap_x, cap_y, cap_z;
+
+ // XXX todo red channel only, good for crapola CCD sensors -sh 20140922
settings() :
b(bundle("tracker-pt")),
@@ -54,19 +53,16 @@ struct settings
threshold_secondary(b, "threshold-secondary", 128),
min_point_size(b, "min-point-size", 10),
max_point_size(b, "max-point-size", 50),
- cam_f(b, "camera-focal-length", 1),
m01_x(b, "m_01-x", 0),
m01_y(b, "m_01-y", 0),
m01_z(b, "m_01-z", 0),
m02_x(b, "m_02-x", 0),
m02_y(b, "m_02-y", 0),
m02_z(b, "m_02-z", 0),
- dyn_pose_res(b, "dynamic-pose-resolution", false),
video_widget(b, "video-widget", true),
t_MH_x(b, "model-centroid-x", 0),
t_MH_y(b, "model-centroid-y", 0),
t_MH_z(b, "model-centroid-z", 0),
- reset_time(b, "reset-time", 2000),
clip_ty(b, "clip-ty", 0),
clip_tz(b, "clip-tz", 0),
clip_by(b, "clip-by", 0),
diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp
index e9892d67..5f57baf5 100644
--- a/ftnoir_tracker_pt/point_tracker.cpp
+++ b/ftnoir_tracker_pt/point_tracker.cpp
@@ -37,7 +37,7 @@ static void set_row(Matx33f& m, int i, const Vec3f& v)
PointModel::PointModel(Vec3f M01, Vec3f M02)
: M01(M01),
M02(M02)
-{
+{
// calculate u
u = M01.cross(M02);
u /= norm(u);
@@ -48,7 +48,6 @@ PointModel::PointModel(Vec3f M01, Vec3f M02)
float s22 = M02.dot(M02);
P = 1.0/(s11*s22-s12*s12) * Matx22f(s22, -s12,
-s12, s11);
-
// calculate d and d_order for simple freetrack-like point correspondence
vector<Vec2f> points;
points.push_back(Vec2f(0,0));
@@ -97,151 +96,58 @@ void PointModel::get_d_order(const std::vector<cv::Vec2f>& points, int d_order[]
// ----------------------------------------------------------------------------
-PointTracker::PointTracker() :
- dynamic_pose_resolution(true),
- dt_reset(1),
- init_phase(true),
- dt_valid(0),
- v_t(0,0,0),
- v_r(0,0,0)
+PointTracker::PointTracker()
{
X_CM.t[2] = 1000; // default position: 1 m away from cam;
}
void PointTracker::reset()
{
- // enter init phase and reset velocities
- init_phase = true;
- dt_valid = 0;
- reset_velocities();
-}
-
-void PointTracker::reset_velocities()
-{
- v_t = Vec3f(0,0,0);
- v_r = Vec3f(0,0,0);
+ // enter init phase
+ X_CM = FrameTrafo();
}
-
-bool PointTracker::track(const vector<Vec2f>& points, float f, float dt)
+void PointTracker::track(const vector<Vec2f>& points, float f)
{
- if (!dynamic_pose_resolution) init_phase = true;
-
- dt_valid += dt;
- // if there was no valid tracking result for too long, do a reset
- if (dt_valid > dt_reset)
- {
- //qDebug()<<"dt_valid "<<dt_valid<<" > dt_reset "<<dt_reset;
- reset();
- }
-
- bool no_model =
-#ifdef OPENTRACK_API
- point_model.get() == NULL;
-#else
- !point_model;
-#endif
-
- // if there is a pointtracking problem, reset the velocities
- if (no_model || points.size() != PointModel::N_POINTS)
- {
- //qDebug()<<"Wrong number of points!";
- reset_velocities();
- return false;
- }
-
- X_CM_old = X_CM; // backup old transformation for velocity calculation
-
- if (!init_phase)
- predict(dt_valid);
-
- // if there is a point correspondence problem something has gone wrong, do a reset
- if (!find_correspondences(points, f))
- {
- //qDebug()<<"Error in finding point correspondences!";
- X_CM = X_CM_old; // undo prediction
- reset();
- return false;
- }
-
+ find_correspondences(points, f);
(void) POSIT(f);
//qDebug()<<"Number of POSIT iterations: "<<n_iter;
-
- if (!init_phase)
- update_velocities(dt_valid);
-
- // we have a valid tracking result, leave init phase and reset time since valid result
- init_phase = false;
- dt_valid = 0;
- return true;
-}
-
-void PointTracker::predict(float dt)
-{
- // predict with constant velocity
- Matx33f R;
- Rodrigues(dt*v_r, R);
- X_CM.R = R*X_CM.R;
- X_CM.t += dt * v_t;
-}
-
-void PointTracker::update_velocities(float dt)
-{
- // update velocities
- Rodrigues(X_CM.R*X_CM_old.R.t(), v_r);
- v_r /= dt;
- v_t = (X_CM.t - X_CM_old.t)/dt;
}
-bool PointTracker::find_correspondences(const vector<Vec2f>& points, float f)
+void PointTracker::find_correspondences(const std::vector<cv::Vec2f>& points, float f)
{
- if (init_phase) {
- // We do a simple freetrack-like sorting in the init phase...
- // sort points
- int point_d_order[PointModel::N_POINTS];
- point_model->get_d_order(points, point_d_order);
-
- // set correspondences
- for (int i=0; i<PointModel::N_POINTS; ++i)
- {
- p[point_model->d_order[i]] = points[point_d_order[i]];
- }
- }
- else {
- // ... otherwise we look at the distance to the projection of the expected model points
- // project model points under current pose
- p_exp[0] = project(Vec3f(0,0,0), f);
- p_exp[1] = project(point_model->M01, f);
- p_exp[2] = project(point_model->M02, f);
-
- // set correspondences by minimum distance to projected model point
- bool point_taken[PointModel::N_POINTS];
- for (int i=0; i<PointModel::N_POINTS; ++i)
- point_taken[i] = false;
-
- float min_sdist = 0;
- int min_idx = 0;
-
- for (int i=0; i<PointModel::N_POINTS; ++i)
- {
- // find closest point to projected model point i
- for (int j=0; j<PointModel::N_POINTS; ++j)
- {
- Vec2f d = p_exp[i]-points[j];
- float sdist = d.dot(d);
- if (sdist < min_sdist || j==0)
- {
- min_idx = j;
- min_sdist = sdist;
- }
- }
- // if one point is closest to more than one model point, abort
- if (point_taken[min_idx]) return false;
- point_taken[min_idx] = true;
- p[i] = points[min_idx];
- }
- }
- return true;
+ // ... otherwise we look at the distance to the projection of the expected model points
+ // project model points under current pose
+ Vec2f p_exp[3];
+ p_exp[0] = project(Vec3f(0,0,0), f);
+ p_exp[1] = project(point_model->M01, f);
+ p_exp[2] = project(point_model->M02, f);
+
+ // set correspondences by minimum distance to projected model point
+ bool point_taken[PointModel::N_POINTS];
+ for (int i=0; i<PointModel::N_POINTS; ++i)
+ point_taken[i] = false;
+
+ for (int i=0; i<PointModel::N_POINTS; ++i)
+ {
+ float min_sdist = 1e4;
+ int min_idx = 0;
+ // find closest point to projected model point i
+ for (int j=0; j<PointModel::N_POINTS; ++j)
+ {
+ Vec2f d = p_exp[i]-points[j];
+ float sdist = d.dot(d);
+ if (sdist < min_sdist)
+ {
+ min_idx = j;
+ min_sdist = sdist;
+ }
+ }
+ // if one point is closest to more than one model point, abort
+ if (point_taken[min_idx]) return;
+ point_taken[min_idx] = true;
+ p[i] = points[min_idx];
+ }
}
@@ -255,15 +161,12 @@ int PointTracker::POSIT(float f)
// The expected rotation used for resolving the ambiguity in POSIT:
// In every iteration step the rotation closer to R_expected is taken
Matx33f R_expected;
- if (init_phase)
- R_expected = Matx33f::eye(); // in the init phase, we want to be close to the default pose = no rotation
- else
- R_expected = X_CM.R; // later we want to be close to the last (predicted) rotation
+ R_expected = X_CM.R; // later we want to be close to the last (predicted) rotation
// initial pose = last (predicted) pose
Vec3f k;
get_row(R_expected, 2, k);
- float Z0 = init_phase ? 1000 : X_CM.t[2];
+ float Z0 = std::abs(X_CM.t[2]) < 1e-3 ? 1e3 : X_CM.t[2];
float old_epsilon_1 = 0;
float old_epsilon_2 = 0;
diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h
index 512681fc..44bad28e 100644
--- a/ftnoir_tracker_pt/point_tracker.h
+++ b/ftnoir_tracker_pt/point_tracker.h
@@ -57,14 +57,14 @@ class PointModel
{
friend class PointTracker;
public:
- static const int N_POINTS = 3;
+ static constexpr int N_POINTS = 3;
PointModel(cv::Vec3f M01, cv::Vec3f M02);
- const cv::Vec3f& get_M01() const { return M01; };
- const cv::Vec3f& get_M02() const { return M02; };
+ const cv::Vec3f& get_M01() const { return M01; }
+ const cv::Vec3f& get_M02() const { return M02; }
-protected:
+private:
cv::Vec3f M01; // M01 in model frame
cv::Vec3f M02; // M02 in model frame
@@ -90,12 +90,9 @@ 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 f, float dt);
+ void track(const std::vector<cv::Vec2f>& points, float f);
std::shared_ptr<PointModel> point_model;
- bool dynamic_pose_resolution;
- float dt_reset;
-
FrameTrafo get_pose() const { return X_CM; }
void reset();
@@ -106,24 +103,13 @@ protected:
return cv::Vec2f(f*v_C[0]/v_C[2], f*v_C[1]/v_C[2]);
}
- bool find_correspondences(const std::vector<cv::Vec2f>& points, float f);
+ void find_correspondences(const std::vector<cv::Vec2f>& points, float f);
cv::Vec2f p[PointModel::N_POINTS]; // the points in model order
- cv::Vec2f p_exp[PointModel::N_POINTS]; // the expected point positions
-
- void predict(float dt);
- void update_velocities(float dt);
- void reset_velocities();
-
int POSIT(float f); // The POSIT algorithm, returns the number of iterations
- bool init_phase;
- float dt_valid; // time since last valid tracking result
- cv::Vec3f v_t; // velocities
- cv::Vec3f v_r;
FrameTrafo X_CM; // trafo from model to camera
- FrameTrafo X_CM_old;
};
#endif //POINTTRACKER_H