move to subdirectory-based build system

Closes #224

1 files changed, 0 insertions, 444 deletions

diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
deleted file mode 100644
index 570c2e0d..00000000
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ /dev/null
@@ -1,444 +0,0 @@
-/* Copyright (c) 2013-2015 Stanislaw Halik <sthalik@misaki.pl>
- *
- * 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 <vector>
-#include <cstdio>
-#include <cmath>
-#include <algorithm>
-#include <QMutexLocker>
-#include "./include/markerdetector.h"
-#include "ftnoir_tracker_aruco.h"
-#include "opentrack/plugin-api.hpp"
-#include <opencv2/core/core.hpp>
-#include <opencv2/highgui/highgui.hpp>
-#include <opencv2/videoio.hpp>
-#include "opentrack/camera-names.hpp"
-#include "opentrack-compat/sleep.hpp"
-
-typedef struct {
-    int width;
-    int height;
-} resolution_tuple;
-
-static resolution_tuple resolution_choices[] = {
-    { 640, 480 },
-    { 320, 240 },
-    { 320, 200 },
-    { 0, 0 }
-};
-
-Tracker::Tracker() : stop(false), layout(nullptr), videoWidget(nullptr)
-{
-}
-
-Tracker::~Tracker()
-{
-    stop = true;
-    wait();
-    if (videoWidget)
-        delete videoWidget;
-    if(layout)
-        delete layout;
-    camera.release();
-}
-
-void Tracker::start_tracker(QFrame* videoframe)
-{
-    videoframe->show();
-    videoWidget = new ArucoVideoWidget(videoframe);
-    QHBoxLayout* layout = new QHBoxLayout();
-    layout->setContentsMargins(0, 0, 0, 0);
-    layout->addWidget(videoWidget);
-    if (videoframe->layout())
-        delete videoframe->layout();
-    videoframe->setLayout(layout);
-    videoWidget->show();
-    start();
-    for (int i = 0; i < 6; i++)
-        pose[i] = 0;
-    this->layout = layout;
-}
-
-#define HT_PI 3.1415926535
-
-void Tracker::getRT(cv::Matx33d& r_, cv::Vec3d& t_)
-{
-    QMutexLocker l(&mtx);
-
-    r_ = r;
-    t_ = t;
-}
-
-void Tracker::run()
-{
-    int rint = s.resolution;
-    if (rint < 0 || rint >= (int)(sizeof(resolution_choices) / sizeof(resolution_tuple)))
-        rint = 0;
-    resolution_tuple res = resolution_choices[rint];
-    int fps;
-    switch (static_cast<int>(s.force_fps))
-    {
-    default:
-    case 0:
-        fps = 0;
-        break;
-    case 1:
-        fps = 30;
-        break;
-    case 2:
-        fps = 60;
-        break;
-    case 3:
-        fps = 125;
-        break;
-    case 4:
-        fps = 200;
-        break;
-    }
-
-    {
-        QMutexLocker l(&camera_mtx);
-
-        camera = cv::VideoCapture(camera_name_to_index(s.camera_name));
-        if (res.width)
-        {
-            camera.set(cv::CAP_PROP_FRAME_WIDTH, res.width);
-            camera.set(cv::CAP_PROP_FRAME_HEIGHT, res.height);
-        }
-        if (fps)
-            camera.set(cv::CAP_PROP_FPS, fps);
-
-        if (!camera.isOpened())
-        {
-            qDebug() << "aruco tracker: can't open camera";
-            return;
-        }
-    }
-
-    aruco::MarkerDetector detector;
-    detector.setDesiredSpeed(3);
-
-    cv::Rect last_roi(65535, 65535, 0, 0);
-
-    auto freq = cv::getTickFrequency();
-    auto last_time = cv::getTickCount();
-    double cur_fps = 0;
-    std::vector<int> box_sizes { 5, 7, 9, 11 };
-    int box_idx = 0;
-    double failed = 0;
-    const double max_failed = 1.25;
-    cv::Vec3d rvec, tvec;
-    cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1);
-    cv::Mat dist_coeffs = cv::Mat::zeros(5, 1, CV_32FC1);
-    bool otsu = false;
-
-    while (!stop)
-    {
-        cv::Mat color;
-        {
-            QMutexLocker l(&camera_mtx);
-
-            if (!camera.read(color))
-                continue;
-        }
-        static constexpr int thres_param2 = 5;
-        cv::Mat grayscale;
-        cv::cvtColor(color, grayscale, cv::COLOR_RGB2GRAY);
-        
-        const int scale = grayscale.cols > 480 ? 2 : 1;
-        detector.setThresholdParams(box_sizes[box_idx], thres_param2);
-
-        static constexpr double pi = 3.1415926f;
-        const int w = grayscale.cols, h = grayscale.rows;
-        const double diag_fov = static_cast<int>(s.fov) * pi / 180.;
-        const double fov_w = 2.*atan(tan(diag_fov/2.)/sqrt(1. + h/(double)w * h/(double)w));
-        const double fov_h = 2.*atan(tan(diag_fov/2.)/sqrt(1. + w/(double)h * w/(double)h));
-        const float focal_length_w = .5 * w / tan(.5 * fov_w);
-        const float focal_length_h = .5 * h / tan(.5 * fov_h);
-
-        intrinsics.at<float> (0, 0) = focal_length_w;
-        intrinsics.at<float> (1, 1) = focal_length_h;
-        intrinsics.at<float> (0, 2) = grayscale.cols/2;
-        intrinsics.at<float> (1, 2) = grayscale.rows/2;
-
-        std::vector< aruco::Marker > markers;
-
-        const double size_min = 0.05;
-        const double size_max = 0.3;
-
-        bool roi_valid = false;
-        
-        auto time = cv::getTickCount();
-        
-        const double dt = (time - last_time) / freq;
-        last_time = time;
-        cur_fps = cur_fps * 0.97 + 0.03 * (dt == 0 ? 0 : 1./dt);
-        
-        if (last_roi.width > 0 && last_roi.height)
-        {
-            detector.setThresholdParams(box_sizes[box_idx], thres_param2);
-            detector.setMinMaxSize(std::max(0.01, size_min * grayscale.cols / last_roi.width),
-                                   std::min(1.0, size_max * grayscale.cols / last_roi.width));
-
-            cv::Mat grayscale_ = grayscale(last_roi).clone();
-            if (detector.detect(grayscale_, markers, cv::Mat(), cv::Mat(), -1, false),
-                markers.size() == 1 && markers[0].size() == 4)
-            {
-                failed = std::max(0., failed - dt);
-                auto& m = markers.at(0);
-                for (int i = 0; i < 4; i++)
-                {
-                    auto& p = m.at(i);
-                    p.x += last_roi.x;
-                    p.y += last_roi.y;
-                }
-                roi_valid = true;
-            }
-        }
-
-        if (!roi_valid)
-        {
-            otsu = !otsu;
-            detector._thresMethod = otsu ? aruco::MarkerDetector::FIXED_THRES : aruco::MarkerDetector::ADPT_THRES;
-            failed += dt;
-            if (failed > max_failed)
-            {
-                box_idx++;
-                box_idx %= box_sizes.size();
-                qDebug() << "aruco: box size now" << box_sizes[box_idx];
-                failed = 0;
-            }
-            detector.setThresholdParams(box_sizes[box_idx], thres_param2);
-            detector.setMinMaxSize(size_min, size_max);
-            detector.detect(grayscale, markers, cv::Mat(), cv::Mat(), -1, false);
-        }
-
-        if (markers.size() == 1 && markers[0].size() == 4) {
-            const auto& m = markers.at(0);
-            for (int i = 0; i < 4; i++)
-                cv::line(color, m[i], m[(i+1)%4], cv::Scalar(0, 0, 255), scale, 8);
-        }
-
-        char buf[128];
-
-        frame = color.clone();
-
-        ::sprintf(buf, "Hz: %d", (int)cur_fps);
-        cv::putText(frame, buf, cv::Point(10, 32), cv::FONT_HERSHEY_PLAIN, scale, cv::Scalar(0, 255, 0), scale*2);
-
-        if (markers.size() == 1 && markers[0].size() == 4) {
-            const auto& m = markers.at(0);
-            const float size = 40;
-
-            cv::Mat obj_points(4,3,CV_32FC1);
-            const int x1=1, x2=2, x3=3, x4=0;
-            obj_points.at<float>(x1,0)=-size + s.headpos_x;
-            obj_points.at<float>(x1,1)=-size + s.headpos_y;
-            obj_points.at<float>(x1,2)= 0 + s.headpos_z;
-
-            obj_points.at<float>(x2,0)=size + s.headpos_x;
-            obj_points.at<float>(x2,1)=-size + s.headpos_y;
-            obj_points.at<float>(x2,2)= 0 + s.headpos_z;
-
-            obj_points.at<float>(x3,0)=size + s.headpos_x;
-            obj_points.at<float>(x3,1)=size + s.headpos_y;
-            obj_points.at<float>(x3,2)= 0 + s.headpos_z;
-
-            obj_points.at<float>(x4,0)= -size + s.headpos_x;
-            obj_points.at<float>(x4,1)= size + s.headpos_y;
-            obj_points.at<float>(x4,2)= 0 + s.headpos_z;
-            
-            std::vector<cv::Point2f> img_points = m;
-            if (!cv::solvePnP(obj_points, img_points, intrinsics, dist_coeffs, rvec, tvec, false, cv::SOLVEPNP_ITERATIVE))
-                goto fail;
-
-            {
-                std::vector<cv::Point2f> repr2;
-                std::vector<cv::Point3f> centroid;
-                centroid.push_back(cv::Point3f(0, 0, 0));
-                cv::projectPoints(centroid, rvec, tvec, intrinsics, dist_coeffs, repr2);
-
-                {
-                    auto s = cv::Scalar(255, 0, 255);
-                    cv::circle(frame, repr2.at(0), 4, s, -1);
-                }
-            }
-
-            for (int i = 0; i < 4; i++)
-            {
-                obj_points.at<float>(i, 0) -= s.headpos_x;
-                obj_points.at<float>(i, 1) -= s.headpos_y;
-                obj_points.at<float>(i, 2) -= s.headpos_z;
-            }
-
-            cv::Mat rvec_, tvec_;
-            cv::solvePnP(obj_points, m, intrinsics, dist_coeffs, rvec_, tvec_, false, cv::SOLVEPNP_ITERATIVE);
-
-            cv::Mat roi_points = obj_points * c_search_window;
-            std::vector<cv::Point2f> roi_projection(4);
-            cv::projectPoints(roi_points, rvec_, tvec_, intrinsics, dist_coeffs, roi_projection);
-
-            last_roi = cv::Rect(color.cols-1, color.rows-1, 0, 0);
-
-            for (int i = 0; i < 4; i++)
-            {
-                auto proj = roi_projection[i];
-                int min_x = std::min<int>(proj.x, last_roi.x),
-                    min_y = std::min<int>(proj.y, last_roi.y);
-
-                int max_x = std::max<int>(proj.x, last_roi.width),
-                    max_y = std::max<int>(proj.y, last_roi.height);
-
-                last_roi.x = min_x;
-                last_roi.y = min_y;
-
-                last_roi.width = max_x;
-                last_roi.height = max_y;
-            }
-
-            if (last_roi.x < 0)
-                last_roi.x = 0;
-            if (last_roi.y < 0)
-                last_roi.y = 0;
-            if (last_roi.width < 0)
-                last_roi.width = 0;
-            if (last_roi.height < 0)
-                last_roi.height = 0;
-            if (last_roi.x >= color.cols-1)
-                last_roi.x = color.cols-1;
-            if (last_roi.width >= color.cols-1)
-                last_roi.width = color.cols-1;
-            if (last_roi.y >= color.rows-1)
-                last_roi.y= color.rows-1;
-            if (last_roi.height >= color.rows-1)
-                last_roi.height = color.rows-1;
-
-            last_roi.width -= last_roi.x;
-            last_roi.height -= last_roi.y;
-
-            auto rmat = cv::Matx33d::zeros();
-            cv::Matx33d m_r(3, 3, CV_64FC1), m_q(3, 3, CV_64FC1);
-            cv::Rodrigues(rvec, rmat);
-
-            {
-                cv::Vec3d euler = cv::RQDecomp3x3(rmat, m_r, m_q);
-
-                QMutexLocker lck(&mtx);
-
-                for (int i = 0; i < 3; i++)
-                    pose[i] = tvec(i);
-                pose[Yaw] = euler[1];
-                pose[Pitch] = -euler[0];
-                pose[Roll] = euler[2];
-
-                r = rmat;
-                t = cv::Vec3d(tvec[0], -tvec[1], tvec[2]);
-            }
-
-            if (roi_valid)
-                cv::rectangle(frame, last_roi, cv::Scalar(255, 0, 255), 1);
-        }
-        else
-fail:
-            last_roi = cv::Rect(65535, 65535, 0, 0);
-
-        if (frame.rows > 0)
-            videoWidget->update_image(frame);
-    }
-
-    // give opencv time to exit camera threads, etc.
-    portable::sleep(500);
-}
-
-void Tracker::data(double *data)
-{
-    QMutexLocker lck(&mtx);
-
-    data[Yaw] = pose[Yaw];
-    data[Pitch] = pose[Pitch];
-    data[Roll] = pose[Roll];
-    data[TX] = pose[TX] * .1;
-    data[TY] = pose[TY] * .1;
-    data[TZ] = pose[TZ] * .1;
-}
-
-TrackerControls::TrackerControls()
-{
-    tracker = nullptr;
-    calib_timer.setInterval(200);
-    ui.setupUi(this);
-    setAttribute(Qt::WA_NativeWindow, true);
-    ui.cameraName->addItems(get_camera_names());
-    tie_setting(s.camera_name, ui.cameraName);
-    tie_setting(s.resolution, ui.resolution);
-    tie_setting(s.force_fps, ui.cameraFPS);
-    tie_setting(s.fov, ui.cameraFOV);
-    tie_setting(s.headpos_x, ui.cx);
-    tie_setting(s.headpos_y, ui.cy);
-    tie_setting(s.headpos_z, ui.cz);
-    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()));
-    connect(this, SIGNAL(destroyed()), this, SLOT(cleanupCalib()));
-    connect(&calib_timer, SIGNAL(timeout()), this, SLOT(update_tracker_calibration()));
-    connect(ui.camera_settings, SIGNAL(pressed()), this, SLOT(camera_settings()));
-}
-
-void TrackerControls::toggleCalibrate()
-{
-    if (!calib_timer.isActive())
-    {
-        s.headpos_x = 0;
-        s.headpos_y = 0;
-        s.headpos_z = 0;
-        calibrator.reset();
-        calib_timer.start();
-    } else {
-        cleanupCalib();
-        
-        auto pos = calibrator.get_estimate();
-        s.headpos_x = pos(0);
-        s.headpos_y = pos(1);
-        s.headpos_z = pos(2);
-    }
-}
-
-void TrackerControls::cleanupCalib()
-{
-    if (calib_timer.isActive())
-        calib_timer.stop();
-}
-
-void TrackerControls::update_tracker_calibration()
-{
-    if (calib_timer.isActive() && tracker)
-    {
-        cv::Matx33d r;
-        cv::Vec3d t;
-        tracker->getRT(r, t);
-        calibrator.update(r, t);
-    }
-}
-
-void TrackerControls::doOK()
-{
-    s.b->save();
-    this->close();
-}
-
-void TrackerControls::doCancel()
-{
-    s.b->reload();
-    this->close();
-}
-
-void TrackerControls::camera_settings()
-{
-    open_camera_settings(tracker ? &tracker->camera : nullptr, s.camera_name, tracker ? &tracker->camera_mtx : nullptr);
-}
-
-OPENTRACK_DECLARE_TRACKER(Tracker, TrackerControls, TrackerDll)