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authorStanislaw Halik <sthalik@misaki.pl>2013-07-28 17:47:08 +0200
committerStanislaw Halik <sthalik@misaki.pl>2013-07-28 17:47:08 +0200
commit5e52c80e5d9994c7f7fd304f15d91ec7517e06a4 (patch)
tree6ef8032dd0d442e0418f1c4b6a0186538d652573
parentf7ebbcc2f6fdc3f835b323d7515a5291daa90481 (diff)
Speed up tracking at 60 Hz to acceptable levels
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp24
1 files changed, 13 insertions, 11 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index 200010e8..b1f08542 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -156,7 +156,7 @@ void Tracker::StartTracker(QFrame* videoframe)
this->layout = layout;
load_settings();
connect(&timer, SIGNAL(timeout()), this, SLOT(paint_widget()));
- timer.start(40);
+ timer.start(50);
start();
for (int i = 0; i < 6; i++)
pose[i] = 0;
@@ -184,13 +184,14 @@ void Tracker::run()
aruco::MarkerDetector detector;
detector.setDesiredSpeed(3);
- cv::Mat color, grayscale, rvec, tvec;
+ cv::Mat color, grayscale, rvec, tvec, tmp;
while (!stop)
{
if (!camera.read(color))
break;
- cv::cvtColor(color, grayscale, cv::COLOR_BGR2GRAY);
+ cv::cvtColor(color, tmp, cv::COLOR_BGR2GRAY);
+ cv::resize(tmp, grayscale, cv::Size(color.cols*0.5, color.rows*0.5), cv::INTER_AREA);
const float focal_length_w = 0.5 * grayscale.cols / tan(0.5 * fov * HT_PI / 180);
const float focal_length_h = 0.5 * grayscale.rows / tan(0.5 * fov * grayscale.rows / grayscale.cols * HT_PI / 180.0);
cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1);
@@ -208,7 +209,13 @@ void Tracker::run()
detector.detect(grayscale, markers, cv::Mat(), cv::Mat(), -1, false);
- QMutexLocker lck(&mtx);
+ frame = color;
+
+ if (frame.rows > 0 && !fresh)
+ {
+ videoWidget->update_image(frame.data, frame.cols, frame.rows);
+ fresh = true;
+ }
if (markers.size() == 1 && markers[0].size() == 4) {
const aruco::Marker& m = markers.at(0);
@@ -238,6 +245,8 @@ void Tracker::run()
cv::Vec3d foo = cv::RQDecomp3x3(rotation_matrix, junk1, junk2);
+ QMutexLocker lck(&mtx);
+
for (int i = 0; i < 3; i++)
pose[i] = tvec.at<double>(i);
@@ -248,8 +257,6 @@ void Tracker::run()
pose[Yaw] -= atan(pose[TX] / pose[TZ]) * 180 / HT_PI;
pose[Pitch] -= atan(pose[TY] / pose[TZ]) * 180 / HT_PI;
}
-
- frame = color.clone();
}
}
@@ -257,11 +264,6 @@ bool Tracker::GiveHeadPoseData(double *data)
{
QMutexLocker lck(&mtx);
- if (frame.rows > 0)
- {
- videoWidget->update_image(frame.data, frame.cols, frame.rows);
- fresh = true;
- }
if (enableRX)
data[Yaw] = pose[Yaw];
if (enableRY)