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authorStanislaw Halik <sthalik@misaki.pl>2014-10-14 23:02:15 +0200
committerStanislaw Halik <sthalik@misaki.pl>2014-10-14 23:02:15 +0200
commit14f59d9fe5f1926a8562efc8a51a785365bc0131 (patch)
tree37b27e0933e8e0d2ac9731b7c0d2fb92c3d59661 /ftnoir_tracker_aruco
parent2e79bf5e7c232aa8e09ea410083fce87330bbe3c (diff)
aruco: fix fixating on the prev marker location
Diffstat (limited to 'ftnoir_tracker_aruco')
-rw-r--r--ftnoir_tracker_aruco/aruco-trackercontrols.ui117
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp79
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.h6
3 files changed, 78 insertions, 124 deletions
diff --git a/ftnoir_tracker_aruco/aruco-trackercontrols.ui b/ftnoir_tracker_aruco/aruco-trackercontrols.ui
index 1898d15b..099dec02 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>562</width>
- <height>214</height>
+ <height>178</height>
</rect>
</property>
<property name="sizePolicy">
@@ -33,6 +33,42 @@
<item row="0" column="0">
<widget class="QFrame" name="frame">
<layout class="QGridLayout" name="gridLayout_3">
+ <item row="0" column="1">
+ <widget class="QDoubleSpinBox" name="cameraFOV">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="locale">
+ <locale language="English" country="UnitedStates"/>
+ </property>
+ <property name="minimum">
+ <double>35.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>180.000000000000000</double>
+ </property>
+ <property name="value">
+ <double>52.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_2">
+ <property name="text">
+ <string>Frames per second</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QLabel" name="label_4">
+ <property name="text">
+ <string>Resolution</string>
+ </property>
+ </widget>
+ </item>
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="text">
@@ -75,59 +111,6 @@
</item>
</widget>
</item>
- <item row="3" column="0">
- <widget class="QLabel" name="label_4">
- <property name="text">
- <string>Resolution</string>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QDoubleSpinBox" name="cameraFOV">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="locale">
- <locale language="English" country="UnitedStates"/>
- </property>
- <property name="minimum">
- <double>35.000000000000000</double>
- </property>
- <property name="maximum">
- <double>180.000000000000000</double>
- </property>
- <property name="value">
- <double>52.000000000000000</double>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_2">
- <property name="text">
- <string>Frames per second</string>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QComboBox" name="cameraName">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QLabel" name="label_3">
- <property name="text">
- <string>Camera name</string>
- </property>
- </widget>
- </item>
<item row="3" column="1">
<widget class="QComboBox" name="resolution">
<property name="sizePolicy">
@@ -158,26 +141,20 @@
</item>
</widget>
</item>
- <item row="4" column="0">
- <widget class="QLabel" name="label_6">
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_3">
<property name="text">
- <string>Sun glare removal</string>
+ <string>Camera name</string>
</property>
</widget>
</item>
- <item row="4" column="1">
- <widget class="QSlider" name="desaturate_slider">
- <property name="maximum">
- <number>100</number>
- </property>
- <property name="singleStep">
- <number>10</number>
- </property>
- <property name="pageStep">
- <number>20</number>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
+ <item row="2" column="1">
+ <widget class="QComboBox" name="cameraName">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
</property>
</widget>
</item>
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index 0974f0f0..fd8a8ce1 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -194,7 +194,6 @@ void Tracker::run()
auto last_time = cv::getTickCount();
int cur_fps = 0;
int last_fps = 0;
- cv::Point2f last_centroid;
while (!stop)
{
@@ -203,42 +202,9 @@ void Tracker::run()
continue;
auto tm = cv::getTickCount();
- const double c = s.desaturate * 16. / 100.;
-
- if (std::abs(c) > 1e-3)
- {
- const int w=color.cols, h=color.rows;
-
- cv::Mat hsv;
- cv::cvtColor(color, hsv, cv::COLOR_BGR2HSV);
- vector<cv::Mat> channels;
- cv::split(hsv, channels);
- cv::Mat sat = channels[1];
- cv::Mat val = channels[2];
-
- struct ops {
- static double sig(double x)
- {
- double x_ = -6 + x * 2 * 6;
- return 1./(1.+exp(-x_));
- }
- };
-
- for (int i = 0; i < h; i++)
- for (int j = 0; j < w; j++)
- {
- const double sat_ij = sat.at<unsigned char>(i, j)/255.;
- val.at<unsigned char>(i, j) *= std::max(0., 1. - c*ops::sig(sat_ij));
- }
-
- channels[1] = sat;
- channels[2] = val;
- cv::merge(channels, hsv);
- cv::cvtColor(hsv, color, cv::COLOR_HSV2BGR);
- }
cv::Mat grayscale;
cv::cvtColor(color, grayscale, cv::COLOR_BGR2GRAY);
-
+
const int scale = frame.cols > 480 ? 2 : 1;
detector.setThresholdParams(scale > 1 ? 11 : 7, 4);
@@ -333,9 +299,35 @@ void Tracker::run()
cv::Vec3d rvec, tvec;
- cv::solvePnP(obj_points, m, intrinsics, dist_coeffs, rvec, tvec, false, cv::ITERATIVE);
+ cv::solvePnP(obj_points, m, intrinsics, dist_coeffs, rvec, tvec, false, cv::P3P);
std::vector<cv::Point2f> roi_projection(4);
+
+ {
+ 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::P3P);
+ tvec = tvec_;
+ }
+
cv::Mat roi_points = obj_points * c_search_window;
cv::projectPoints(roi_points, rvec, tvec, intrinsics, dist_coeffs, roi_projection);
@@ -389,21 +381,9 @@ void Tracker::run()
r = rmat;
t = tvec;
}
-
- 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);
- }
if (roi_valid)
cv::rectangle(frame, last_roi, cv::Scalar(255, 0, 255), 1);
-
- last_centroid = repr2[0];
}
else
last_roi = cv::Rect(65535, 65535, 0, 0);
@@ -490,7 +470,6 @@ TrackerControls::TrackerControls()
tie_setting(s.headpos_x, ui.cx);
tie_setting(s.headpos_y, ui.cy);
tie_setting(s.headpos_z, ui.cz);
- tie_setting(s.desaturate, ui.desaturate_slider);
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()));
@@ -540,6 +519,6 @@ void TrackerControls::doOK()
void TrackerControls::doCancel()
{
- s.b->revert();
+ s.b->reload();
this->close();
}
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
index 03fff844..3d37dacd 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
@@ -28,7 +28,6 @@ struct settings {
pbundle b;
value<double> fov, headpos_x, headpos_y, headpos_z;
value<int> camera_index, force_fps, resolution;
- value<int> desaturate;
settings() :
b(bundle("aruco-tracker")),
fov(b, "field-of-view", 56),
@@ -37,15 +36,14 @@ struct settings {
headpos_z(b, "headpos-z", 0),
camera_index(b, "camera-index", 0),
force_fps(b, "force-fps", 0),
- resolution(b, "force-resolution", 0),
- desaturate(b, "desaturate", 0)
+ resolution(b, "force-resolution", 0)
{}
};
class Tracker : protected QThread, public ITracker
{
Q_OBJECT
- static constexpr double c_search_window = 2.9;
+ static constexpr double c_search_window = 2.2;
public:
Tracker();
~Tracker() override;