Initial PT 1.1 import

Codebase broken at this stage

1 files changed, 265 insertions, 0 deletions

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
new file mode 100644
index 00000000..88a3fc8d
--- /dev/null
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
@@ -0,0 +1,265 @@
+/* Copyright (c) 2012 Patrick Ruoff

+ *

+ * 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 "ftnoir_tracker_pt.h"

+#include <QHBoxLayout>

+#include <cmath>

+#include <QDebug>

+#include <QFile>

+#include <QCoreApplication>

+

+using namespace std;

+using namespace cv;

+using namespace boost;

+

+//#define PT_PERF_LOG	//log performance

+

+const float rad2deg = 180.0/3.14159265;

+const float deg2rad = 1.0/rad2deg;

+

+//-----------------------------------------------------------------------------

+Tracker::Tracker()

+	: frame_count(0),

+	  commands(0), 

+	  video_widget(NULL), 

+	  video_frame(NULL),

+	  tracking_valid(false)

+{

+	qDebug()<<"Tracker::Tracker";

+	TrackerSettings settings;

+	settings.load_ini();

+	apply(settings);

+	camera.start();

+	start();

+}

+

+Tracker::~Tracker()

+{

+	qDebug()<<"Tracker::~Tracker";

+	// terminate tracker thread

+	set_command(ABORT);

+	wait();

+	// destroy video widget

+	show_video_widget = false;

+	update_show_video_widget();

+}

+

+void Tracker::set_command(Command command)

+{

+	QMutexLocker lock(&mutex);

+	commands |= command;

+}

+

+void Tracker::reset_command(Command command)

+{

+	QMutexLocker lock(&mutex);

+	commands &= ~command;

+}

+

+void Tracker::run()

+{

+	qDebug()<<"Tracker:: Thread started";

+

+#ifdef PT_PERF_LOG

+	QFile log_file(QCoreApplication::applicationDirPath() + "/PointTrackerPerformance.txt");

+	if (!log_file.open(QIODevice::WriteOnly | QIODevice::Text)) return;

+	QTextStream log_stream(&log_file);

+#endif

+

+	time.start();

+	float dt;

+	bool new_frame;

+	forever

+	{

+		{	

+			QMutexLocker lock(&mutex);

+			

+			if (commands & ABORT) break;

+			if (commands & PAUSE) continue;

+			commands = 0;

+			

+			dt = time.elapsed() / 1000.0;

+			time.restart();

+

+			new_frame = camera.get_frame(dt, &frame);

+			if (new_frame && !frame.empty())

+			{

+				frame = frame_rotation.rotate_frame(frame);

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

+				tracking_valid = point_tracker.track(points, camera.get_info().f, dt);

+				frame_count++;

+			}

+#ifdef PT_PERF_LOG

+			log_stream<<"dt: "<<dt;

+			if (!frame.empty()) log_stream<<" fps: "<<camera.get_info().fps;

+			log_stream<<"\n";

+#endif

+		}

+		msleep(sleep_time);

+	}

+

+	qDebug()<<"Tracker:: Thread stopping";

+}

+

+void Tracker::apply(const TrackerSettings& settings)

+{

+	qDebug()<<"Tracker:: Applying settings";

+	QMutexLocker lock(&mutex);

+	camera.set_device_index(settings.cam_index);

+	camera.set_res(settings.cam_res_x, settings.cam_res_y);	

+	camera.set_fps(settings.cam_fps);

+	camera.set_f(settings.cam_f);

+	frame_rotation.rotation = static_cast<FrameRotation::Rotation>(settings.cam_roll);

+	point_extractor.threshold_val = settings.threshold;

+	point_extractor.min_size = settings.min_point_size;

+	point_extractor.max_size = settings.max_point_size;

+	point_tracker.point_model = boost::shared_ptr<PointModel>(new PointModel(settings.M01, settings.M02));

+	point_tracker.dynamic_pose_resolution = settings.dyn_pose_res;

+	sleep_time = settings.sleep_time;

+	point_tracker.dt_reset = settings.reset_time / 1000.0;

+	show_video_widget = settings.video_widget;

+	update_show_video_widget();

+	bEnableRoll  = settings.bEnableRoll;

+	bEnablePitch = settings.bEnablePitch;

+	bEnableYaw   = settings.bEnableYaw;

+	bEnableX     = settings.bEnableX;

+	bEnableY     = settings.bEnableY;

+	bEnableZ     = settings.bEnableZ;

+

+	t_MH = settings.t_MH;

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

+		                                         0, 1,                             0,

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

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

+		                   0,  cos(deg2rad*settings.cam_pitch), sin(deg2rad*settings.cam_pitch),

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

+

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

+	X_GH_0 = R_GC * X_MH;

+

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

+}

+

+void Tracker::reset()

+{

+	QMutexLocker lock(&mutex);

+	point_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;

+}

+

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

+{

+	QMutexLocker lock(&mutex);

+	if (frame.empty()) return false;

+		

+	// copy the frame and points from the tracker thread

+	frame_copy = frame.clone();

+	points = boost::shared_ptr< vector<Vec2f> >(new vector<Vec2f>(point_extractor.get_points()));

+	return true;

+}

+

+void Tracker::update_show_video_widget()

+{

+	if (!show_video_widget && video_widget) {

+		delete video_widget;

+		video_widget = NULL;

+		if (video_frame->layout()) delete video_frame->layout();

+	}

+	else if (video_frame && show_video_widget && !video_widget)

+	{

+		const int VIDEO_FRAME_WIDTH  = 252;

+		const int VIDEO_FRAME_HEIGHT = 189;

+

+		video_widget = new VideoWidget(video_frame, this);

+		QHBoxLayout* video_layout = new QHBoxLayout();

+		video_layout->setContentsMargins(0, 0, 0, 0);

+		video_layout->addWidget(video_widget);

+		video_frame->setLayout(video_layout);

+		video_widget->resize(VIDEO_FRAME_WIDTH, VIDEO_FRAME_HEIGHT);

+	}

+}

+

+//-----------------------------------------------------------------------------

+// ITracker interface

+void Tracker::Initialize(QFrame *video_frame)

+{

+	qDebug("Tracker::Initialize");

+	// setup video frame	

+	this->video_frame = video_frame;

+	video_frame->setAttribute(Qt::WA_NativeWindow);

+	video_frame->show();

+	update_show_video_widget();

+}

+

+void Tracker::refreshVideo()

+{	

+	if (video_widget) video_widget->update_frame_and_points();

+}

+

+void Tracker::StartTracker(HWND parent_window)

+{

+	reset_command(PAUSE);

+}

+

+void Tracker::StopTracker(bool exit)

+{

+	set_command(PAUSE);

+}

+

+bool Tracker::GiveHeadPoseData(THeadPoseData *data)

+{

+	{

+		QMutexLocker lock(&mutex);

+

+		if (!tracking_valid) return false;

+

+		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(); 

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

+

+		// get translation(s)

+		if (bEnableX) data->x = t[0] / 10.0;	// convert to cm

+		if (bEnableY) data->y = t[1] / 10.0;

+		if (bEnableZ) data->z = t[2] / 10.0;

+

+		// translate rotation matrix from opengl (G) to roll-pitch-yaw (E) frame

+		// -z -> x, y -> z, x -> -y

+		Matx33f R_EG( 0, 0,-1,

+		             -1, 0, 0,

+		              0, 1, 0);

+		R = R_EG * R * R_EG.t();

+

+		// extract rotation angles

+		float alpha, beta, gamma;

+		beta  = atan2( -R(2,0), sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) );

+		alpha = atan2( R(1,0), R(0,0));

+		gamma = atan2( R(2,1), R(2,2));		

+

+		if (bEnableYaw)   data->yaw   =   rad2deg * alpha;

+		if (bEnablePitch) data->pitch = - rad2deg * beta;	// FTNoIR expects a minus here

+		if (bEnableRoll)  data->roll  =   rad2deg * gamma;

+	}

+	return true;

+}

+

+//-----------------------------------------------------------------------------

+#pragma comment(linker, "/export:GetTracker=_GetTracker@0")

+

+FTNOIR_TRACKER_BASE_EXPORT ITrackerPtr __stdcall GetTracker()

+{

+	return new Tracker;

+}
\ No newline at end of file