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authorStanislaw Halik <sthalik@misaki.pl>2013-12-31 08:41:16 +0100
committerStanislaw Halik <sthalik@misaki.pl>2013-12-31 08:42:33 +0100
commitd1e0537f704ea67483ccbdf7461e636490aba0cf (patch)
tree6b965181a903a6f1fba1d9415b7fe634bbf27451 /ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
parent54892e5f6a15c1ce0aba364039174eda3d1a6b8b (diff)
meta: get rid of Initialize(), now RAII
Diffstat (limited to 'ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp')
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp309
1 files changed, 76 insertions, 233 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index 9408de02..a0a11ed2 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -99,47 +99,8 @@ static resolution_tuple resolution_choices[] = {
{ 0, 0 }
};
-void Tracker::load_settings()
+Tracker::Tracker() : stop(false), layout(nullptr), videoWidget(nullptr)
{
- QMutexLocker foo(&mtx);
- QSettings settings("opentrack");
- QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString();
- QSettings iniFile( currentFile, QSettings::IniFormat );
-
- iniFile.beginGroup( "aruco-Tracker" );
- fov = iniFile.value("fov", 56).toFloat();
- force_fps = iniFile.value("fps", 0).toInt();
- camera_index = iniFile.value("camera-index", -1).toInt();
- int res = iniFile.value("resolution", 0).toInt();
- if (res < 0 || res >= (int)(sizeof(resolution_choices) / sizeof(resolution_tuple)))
- res = 0;
- resolution_tuple r = resolution_choices[res];
- force_width = r.width;
- force_height = r.height;
- enableRX = iniFile.value("enable-rx", true).toBool();
- enableRY = iniFile.value("enable-ry", true).toBool();
- enableRZ = iniFile.value("enable-rz", true).toBool();
- enableTX = iniFile.value("enable-tx", true).toBool();
- enableTY = iniFile.value("enable-ty", true).toBool();
- enableTZ = iniFile.value("enable-tz", true).toBool();
-
- for (int i = 0; i < 3; i++)
- {
- headpos[i] = iniFile.value(QString("headpos-%1").arg(i), 0).toDouble();
- }
- headpitch = iniFile.value("pitch", 0).toDouble();
- red_only = iniFile.value("red-only", true).toBool();
-
- iniFile.endGroup();
-}
-
-Tracker::Tracker()
-{
- layout = nullptr;
- stop = false;
- videoWidget = NULL;
- enableRX = enableRY = enableRZ = enableTX = enableTY = enableTZ = true;
- load_settings();
}
Tracker::~Tracker()
@@ -166,7 +127,6 @@ void Tracker::StartTracker(QFrame* videoframe)
delete videoframe->layout();
videoframe->setLayout(layout);
videoWidget->show();
- load_settings();
start();
for (int i = 0; i < 6; i++)
pose[i] = 0;
@@ -177,13 +137,35 @@ void Tracker::StartTracker(QFrame* videoframe)
void Tracker::run()
{
- camera = cv::VideoCapture(camera_index);
- if (force_width)
- camera.set(CV_CAP_PROP_FRAME_WIDTH, force_width);
- if (force_height)
- camera.set(CV_CAP_PROP_FRAME_HEIGHT, force_height);
- if (force_fps)
- camera.set(CV_CAP_PROP_FPS, force_fps);
+ int res = s.resolution;
+ if (res < 0 || res >= (int)(sizeof(resolution_choices) / sizeof(resolution_tuple)))
+ res = 0;
+ resolution_tuple r = resolution_choices[res];
+ int fps;
+ switch (static_cast<int>(s.force_fps))
+ {
+ default:
+ case 0:
+ fps = 0;
+ break;
+ case 30:
+ fps = 1;
+ break;
+ case 60:
+ fps = 2;
+ break;
+ case 120:
+ fps = 3;
+ break;
+ }
+ camera = cv::VideoCapture(s.camera_index);
+ if (r.width)
+ {
+ camera.set(CV_CAP_PROP_FRAME_WIDTH, r.width);
+ camera.set(CV_CAP_PROP_FRAME_HEIGHT, r.height);
+ }
+ if (fps)
+ camera.set(CV_CAP_PROP_FPS, fps);
aruco::MarkerDetector detector;
detector.setDesiredSpeed(3);
@@ -206,7 +188,7 @@ void Tracker::run()
auto freq = cv::getTickFrequency();
auto last_time = cv::getTickCount();
- int fps = 0;
+ int cur_fps = 0;
int last_fps = 0;
cv::Point2f last_centroid;
@@ -216,7 +198,7 @@ void Tracker::run()
continue;
auto tm = cv::getTickCount();
color_.copyTo(color);
- if (red_only)
+ if (s.red_only)
{
cv::Mat channel[3];
cv::split(color, channel);
@@ -227,8 +209,8 @@ void Tracker::run()
const int scale = frame.cols > 480 ? 2 : 1;
detector.setThresholdParams(scale > 1 ? 11 : 7, 4);
- 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);
+ const float focal_length_w = 0.5 * grayscale.cols / tan(0.5 * s.fov * HT_PI / 180);
+ const float focal_length_h = 0.5 * grayscale.rows / tan(0.5 * s.fov * grayscale.rows / grayscale.cols * HT_PI / 180.0);
cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1);
intrinsics.at<float> (0, 0) = focal_length_w;
intrinsics.at<float> (1, 1) = focal_length_h;
@@ -275,12 +257,12 @@ void Tracker::run()
if ((long) (time / freq) != (long) (last_time / freq))
{
- last_fps = fps;
- fps = 0;
+ last_fps = cur_fps;
+ cur_fps = 0;
last_time = time;
}
- fps++;
+ cur_fps++;
char buf[128];
@@ -296,18 +278,18 @@ void Tracker::run()
const float size = 7;
cv::Mat obj_points(4,3,CV_32FC1);
- obj_points.at<float>(1,0)=-size + headpos[0];
- obj_points.at<float>(1,1)=-size + headpos[1];
- obj_points.at<float>(1,2)=0 + headpos[2];
- obj_points.at<float>(2,0)=size + headpos[0];
- obj_points.at<float>(2,1)=-size + headpos[1];
- obj_points.at<float>(2,2)=0 + headpos[2];
- obj_points.at<float>(3,0)=size + headpos[0];
- obj_points.at<float>(3,1)=size + headpos[1];
- obj_points.at<float>(3,2)=0 + headpos[2];
- obj_points.at<float>(0,0)=-size + headpos[0];
- obj_points.at<float>(0,1)=size + headpos[1];
- obj_points.at<float>(0,2)=0 + headpos[2];
+ obj_points.at<float>(1,0)=-size + s.headpos_x;
+ obj_points.at<float>(1,1)=-size + s.headpos_y;
+ obj_points.at<float>(1,2)=0 + s.headpos_z;
+ obj_points.at<float>(2,0)=size + s.headpos_x;
+ obj_points.at<float>(2,1)=-size + s.headpos_y;
+ obj_points.at<float>(2,2)=0 + s.headpos_z;
+ obj_points.at<float>(3,0)=size + s.headpos_x;
+ obj_points.at<float>(3,1)=size + s.headpos_y;
+ obj_points.at<float>(3,2)=0 + s.headpos_z;
+ obj_points.at<float>(0,0)=-size + s.headpos_x;
+ obj_points.at<float>(0,1)=size + s.headpos_y;
+ obj_points.at<float>(0,2)=0 + s.headpos_z;
last_roi = cv::Rect(65535, 65535, 0, 0);
@@ -341,22 +323,12 @@ void Tracker::run()
cv::Rodrigues(rvec, rotation_matrix);
{
- const double beta = headpitch * HT_PI / 180;
- double pitch[] = {
- 1, 0, 0,
- 0, cos(beta), -sin(beta),
- 0, sin(beta), cos(beta)
- };
- cv::Mat rot(3, 3, CV_64F, pitch);
- cv::Mat tvec2 = rot * tvec;
- rotation_matrix = rot * rotation_matrix;
-
cv::Vec3d euler = cv::RQDecomp3x3(rotation_matrix, junk1, junk2);
QMutexLocker lck(&mtx);
for (int i = 0; i < 3; i++)
- pose[i] = tvec2.at<double>(i);
+ pose[i] = tvec.at<double>(i);
pose[Yaw] = euler[1];
pose[Pitch] = -euler[0];
@@ -389,17 +361,17 @@ void Tracker::GetHeadPoseData(double *data)
{
QMutexLocker lck(&mtx);
- if (enableRX)
+ if (s.eyaw)
data[Yaw] = pose[Yaw];
- if (enableRY)
+ if (s.epitch)
data[Pitch] = pose[Pitch];
- if (enableRZ)
+ if (s.eroll)
data[Roll] = pose[Roll];
- if (enableTX)
+ if (s.ex)
data[TX] = pose[TX];
- if (enableTY)
+ if (s.ey)
data[TY] = pose[TY];
- if (enableTZ)
+ if (s.ez)
data[TZ] = pose[TZ];
}
@@ -468,178 +440,49 @@ TrackerControls::TrackerControls()
tracker = nullptr;
ui.setupUi(this);
setAttribute(Qt::WA_NativeWindow, true);
- connect(ui.cameraName, SIGNAL(currentIndexChanged(int)), this, SLOT(settingChanged(int)));
- connect(ui.cameraFPS, SIGNAL(currentIndexChanged(int)), this, SLOT(settingChanged(int)));
- connect(ui.cameraFOV, SIGNAL(valueChanged(double)), this, SLOT(settingChanged(double)));
- connect(ui.rx, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
- connect(ui.ry, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
- connect(ui.rz, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
- connect(ui.tx, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
- connect(ui.ty, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
- connect(ui.tz, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
- connect(ui.cx, SIGNAL(valueChanged(double)), this, SLOT(settingChanged(double)));
- connect(ui.cy, SIGNAL(valueChanged(double)), this, SLOT(settingChanged(double)));
- connect(ui.cz, SIGNAL(valueChanged(double)), this, SLOT(settingChanged(double)));
- //connect(ui.buttonCancel, SIGNAL(clicked()), this, SLOT(doCancel()));
- //connect(ui.buttonOK, SIGNAL(clicked()), this, SLOT(doOK()));
- //connect(ui.buttonSettings, SIGNAL(clicked()), this, SLOT(cameraSettings()));
+ tie_setting(s.camera_index, ui.cameraName);
+ tie_setting(s.force_fps, ui.cameraFPS);
+ tie_setting(s.fov, ui.cameraFOV);
+ tie_setting(s.eyaw, ui.rx);
+ tie_setting(s.epitch, ui.ry);
+ tie_setting(s.eroll, ui.rz);
+ tie_setting(s.ex, ui.tx);
+ tie_setting(s.ey, ui.ty);
+ tie_setting(s.ez, ui.tz);
+ tie_setting(s.headpos_x, ui.cx);
+ tie_setting(s.headpos_y, ui.cy);
+ tie_setting(s.headpos_z, ui.cz);
+ tie_setting(s.red_only, ui.red_only);
connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
- loadSettings();
- settingsDirty = false;
-}
-
-TrackerControls::~TrackerControls()
-{
-}
-
-void TrackerControls::showEvent(QShowEvent *)
-{
-}
-
-void TrackerControls::Initialize(QWidget*)
-{
- loadSettings();
- show();
-}
-
-void TrackerControls::loadSettings()
-{
- ui.cameraName->clear();
- QList<QString> names = get_camera_names();
- names.prepend("Any available");
- ui.cameraName->addItems(names);
- QSettings settings("opentrack");
- QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString();
- QSettings iniFile( currentFile, QSettings::IniFormat );
- iniFile.beginGroup( "aruco-Tracker" );
- ui.cameraName->setCurrentIndex(iniFile.value("camera-index", -1).toInt() + 1);
- ui.cameraFOV->setValue(iniFile.value("fov", 56).toFloat());
- int fps;
- switch (iniFile.value("fps", 0).toInt())
- {
- default:
- case 0:
- fps = 0;
- break;
- case 30:
- fps = 1;
- break;
- case 60:
- fps = 2;
- break;
- case 120:
- fps = 3;
- break;
- }
- ui.cameraFPS->setCurrentIndex(fps);
- ui.rx->setCheckState(iniFile.value("enable-rx", true).toBool() ? Qt::Checked : Qt::Unchecked);
- ui.ry->setCheckState(iniFile.value("enable-ry", true).toBool() ? Qt::Checked : Qt::Unchecked);
- ui.rz->setCheckState(iniFile.value("enable-rz", true).toBool() ? Qt::Checked : Qt::Unchecked);
- ui.tx->setCheckState(iniFile.value("enable-tx", true).toBool() ? Qt::Checked : Qt::Unchecked);
- ui.ty->setCheckState(iniFile.value("enable-ty", true).toBool() ? Qt::Checked : Qt::Unchecked);
- ui.tz->setCheckState(iniFile.value("enable-tz", true).toBool() ? Qt::Checked : Qt::Unchecked);
- ui.resolution->setCurrentIndex(iniFile.value("resolution", 0).toInt());
-
- QDoubleSpinBox* headpos[] = {
- ui.cx,
- ui.cy,
- ui.cz
- };
-
- for (int i = 0; i < 3; i++)
- {
- headpos[i]->setValue(iniFile.value(QString("headpos-%1").arg(i)).toDouble());
- }
-
- ui.pitch_deg->setValue(iniFile.value("pitch", 0).toDouble());
- ui.red_only->setChecked(iniFile.value("red-only", true).toBool());
- iniFile.endGroup();
- settingsDirty = false;
-}
-
-void TrackerControls::save()
-{
- QSettings settings("opentrack");
- QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString();
- QSettings iniFile( currentFile, QSettings::IniFormat );
-
- iniFile.beginGroup( "aruco-Tracker" );
- iniFile.setValue("fov", ui.cameraFOV->value());
- int fps;
- switch (ui.cameraFPS->currentIndex())
- {
- case 0:
- default:
- fps = 0;
- break;
- case 1:
- fps = 30;
- break;
- case 2:
- fps = 60;
- break;
- case 3:
- fps = 120;
- break;
- }
- iniFile.setValue("fps", fps);
- iniFile.setValue("camera-index", ui.cameraName->currentIndex() - 1);
- iniFile.setValue("enable-rx", ui.rx->checkState() != Qt::Unchecked ? true : false);
- iniFile.setValue("enable-ry", ui.ry->checkState() != Qt::Unchecked ? true : false);
- iniFile.setValue("enable-rz", ui.rz->checkState() != Qt::Unchecked ? true : false);
- iniFile.setValue("enable-tx", ui.tx->checkState() != Qt::Unchecked ? true : false);
- iniFile.setValue("enable-ty", ui.ty->checkState() != Qt::Unchecked ? true : false);
- iniFile.setValue("enable-tz", ui.tz->checkState() != Qt::Unchecked ? true : false);
- iniFile.setValue("resolution", ui.resolution->currentIndex());
- iniFile.setValue("pitch", ui.pitch_deg->value());
-
- QDoubleSpinBox* headpos[] = {
- ui.cx,
- ui.cy,
- ui.cz
- };
-
- for (int i = 0; i < 3; i++)
- {
- iniFile.setValue(QString("headpos-%1").arg(i), headpos[i]->value());
- }
- iniFile.setValue("red-only", ui.red_only->isChecked());
- iniFile.endGroup();
- settingsDirty = false;
- if (tracker)
- tracker->load_settings();
+ ui.cameraName->addItems(get_camera_names());
}
void TrackerControls::doOK()
{
- save();
+ s.b->save();
this->close();
}
void TrackerControls::doCancel()
{
- if (settingsDirty) {
+ if (s.b->modifiedp()) {
int ret = QMessageBox::question ( this,
"Settings have changed",
"Do you want to save the settings?",
- QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel,
- QMessageBox::Discard );
+ QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel );
switch (ret) {
case QMessageBox::Save:
- save();
+ s.b->save();
this->close();
break;
case QMessageBox::Discard:
+ s.b->revert();
this->close();
break;
case QMessageBox::Cancel:
- // Cancel was clicked
- break;
- default:
- // should never be reached
- break;
+ break;
}
}
else {