aruco: allow for filter only red spectrum

3 files changed, 120 insertions, 97 deletions

diff --git a/ftnoir_tracker_aruco/aruco-trackercontrols.ui b/ftnoir_tracker_aruco/aruco-trackercontrols.ui
index 629d1bbb..710a33e1 100644
--- a/ftnoir_tracker_aruco/aruco-trackercontrols.ui
+++ b/ftnoir_tracker_aruco/aruco-trackercontrols.ui
@@ -10,7 +10,7 @@
     <x>0</x>
     <y>0</y>
     <width>704</width>
-    <height>399</height>
+    <height>339</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -112,98 +112,6 @@
      </property>
     </widget>
    </item>
-   <item row="7" column="1">
-    <widget class="QGroupBox" name="groupBox_2">
-     <property name="title">
-      <string>Head centroid position</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-     <layout class="QFormLayout" name="formLayout_2">
-      <property name="formAlignment">
-       <set>Qt::AlignHCenter|Qt::AlignTop</set>
-      </property>
-      <item row="0" column="0">
-       <widget class="QLabel" name="label_5">
-        <property name="text">
-         <string>TX</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="1">
-       <widget class="QDoubleSpinBox" name="cx">
-        <property name="minimum">
-         <double>-200.000000000000000</double>
-        </property>
-        <property name="maximum">
-         <double>200.000000000000000</double>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="0">
-       <widget class="QLabel" name="label_7">
-        <property name="text">
-         <string>TY</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="1">
-       <widget class="QDoubleSpinBox" name="cy">
-        <property name="minimum">
-         <double>-200.000000000000000</double>
-        </property>
-        <property name="maximum">
-         <double>200.000000000000000</double>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="0">
-       <widget class="QLabel" name="label_8">
-        <property name="text">
-         <string>TZ</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="1">
-       <widget class="QDoubleSpinBox" name="cz">
-        <property name="minimum">
-         <double>-200.000000000000000</double>
-        </property>
-        <property name="maximum">
-         <double>200.000000000000000</double>
-        </property>
-       </widget>
-      </item>
-      <item row="3" column="0">
-       <widget class="QLabel" name="label_9">
-        <property name="text">
-         <string>Pitch</string>
-        </property>
-       </widget>
-      </item>
-      <item row="3" column="1">
-       <widget class="QDoubleSpinBox" name="pitch_deg">
-        <property name="suffix">
-         <string>°</string>
-        </property>
-        <property name="decimals">
-         <number>2</number>
-        </property>
-        <property name="minimum">
-         <double>-60.000000000000000</double>
-        </property>
-        <property name="maximum">
-         <double>60.000000000000000</double>
-        </property>
-        <property name="value">
-         <double>0.000000000000000</double>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
-   </item>
    <item row="2" column="1" colspan="2">
     <widget class="QComboBox" name="cameraName"/>
    </item>
@@ -254,7 +162,7 @@
      </property>
     </widget>
    </item>
-   <item row="6" column="2" rowspan="3" colspan="3">
+   <item row="6" column="2" rowspan="4" colspan="3">
     <widget class="QLabel" name="label_6">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
@@ -285,7 +193,7 @@
      </property>
     </widget>
    </item>
-   <item row="9" column="4">
+   <item row="10" column="4">
     <widget class="QDialogButtonBox" name="buttonBox">
      <property name="standardButtons">
       <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
@@ -323,6 +231,112 @@
      </property>
     </widget>
    </item>
+   <item row="7" column="0">
+    <widget class="QLabel" name="label_10">
+     <property name="text">
+      <string>Red channel only</string>
+     </property>
+    </widget>
+   </item>
+   <item row="7" column="1">
+    <widget class="QCheckBox" name="red_only">
+     <property name="text">
+      <string>Recommended!</string>
+     </property>
+    </widget>
+   </item>
+   <item row="8" column="1">
+    <widget class="QGroupBox" name="groupBox_2">
+     <property name="title">
+      <string>Head centroid position</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+     <layout class="QFormLayout" name="formLayout_2">
+      <property name="formAlignment">
+       <set>Qt::AlignHCenter|Qt::AlignTop</set>
+      </property>
+      <item row="0" column="0">
+       <widget class="QLabel" name="label_5">
+        <property name="text">
+         <string>TX</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QDoubleSpinBox" name="cx">
+        <property name="minimum">
+         <double>-200.000000000000000</double>
+        </property>
+        <property name="maximum">
+         <double>200.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_7">
+        <property name="text">
+         <string>TY</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QDoubleSpinBox" name="cy">
+        <property name="minimum">
+         <double>-200.000000000000000</double>
+        </property>
+        <property name="maximum">
+         <double>200.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QLabel" name="label_8">
+        <property name="text">
+         <string>TZ</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QDoubleSpinBox" name="cz">
+        <property name="minimum">
+         <double>-200.000000000000000</double>
+        </property>
+        <property name="maximum">
+         <double>200.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="0">
+       <widget class="QLabel" name="label_9">
+        <property name="text">
+         <string>Pitch</string>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="1">
+       <widget class="QDoubleSpinBox" name="pitch_deg">
+        <property name="suffix">
+         <string>°</string>
+        </property>
+        <property name="decimals">
+         <number>2</number>
+        </property>
+        <property name="minimum">
+         <double>-60.000000000000000</double>
+        </property>
+        <property name="maximum">
+         <double>60.000000000000000</double>
+        </property>
+        <property name="value">
+         <double>0.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
   </layout>
  </widget>
  <tabstops>
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index 4c900ab4..9408de02 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -128,6 +128,7 @@ void Tracker::load_settings()
         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();
 }
@@ -215,7 +216,13 @@ void Tracker::run()
             continue;
         auto tm = cv::getTickCount();
         color_.copyTo(color);
-        cv::cvtColor(color, grayscale, cv::COLOR_BGR2GRAY);
+        if (red_only)
+        {
+            cv::Mat channel[3];
+            cv::split(color, channel);
+            grayscale = channel[2];
+        } else
+            cv::cvtColor(color, grayscale, cv::COLOR_BGR2GRAY);
 
         const int scale = frame.cols > 480 ? 2 : 1;
         detector.setThresholdParams(scale > 1 ? 11 : 7, 4);
@@ -546,7 +553,7 @@ void TrackerControls::loadSettings()
     }
 
     ui.pitch_deg->setValue(iniFile.value("pitch", 0).toDouble());
-
+    ui.red_only->setChecked(iniFile.value("red-only", true).toBool());
 	iniFile.endGroup();
 	settingsDirty = false;
 }
@@ -597,6 +604,7 @@ void TrackerControls::save()
     {
         iniFile.setValue(QString("headpos-%1").arg(i), headpos[i]->value());
     }
+    iniFile.setValue("red-only", ui.red_only->isChecked());
 	iniFile.endGroup();
 	settingsDirty = false;
     if (tracker)
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
index be2ad3d7..545ad5d0 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
@@ -42,6 +42,7 @@ private:
     cv::Mat frame;
     double headpos[3], headpitch;
     cv::VideoCapture camera;
+    volatile bool red_only;
 };
 
 // Widget that has controls for FTNoIR protocol client-settings.