Initial PT 1.1 import

Codebase broken at this stage

1 files changed, 0 insertions, 261 deletions

diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
deleted file mode 100644
index 48702d19..00000000
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ /dev/null
@@ -1,261 +0,0 @@
-/* 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>
-#include "facetracknoir/global-settings.h"
-
-using namespace std;
-using namespace cv;
-
-//#define PT_PERF_LOG	//log performance
-
-//-----------------------------------------------------------------------------
-Tracker::Tracker()
-    : tracking_valid(false), frame_count(0), commands(0), video_widget(NULL), fresh(false)
-{
-    should_quit = false;
-	qDebug()<<"Tracker::Tracker";
-	TrackerSettings settings;
-    settings.load_ini();
-	apply(settings);
-}
-
-Tracker::~Tracker()
-{
-	qDebug()<<"Tracker::~Tracker";
-	set_command(ABORT);
-	wait();
-	if (video_widget) delete 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 (should_quit)
-                break;
-            
-			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())
-			{
-				const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, draw_frame);
-				tracking_valid = point_tracker.track(points, camera.get_info().f, dt);
-				frame_count++;
-                fresh = true;
-			}
-#ifdef PT_PERF_LOG
-			log_stream<<"dt: "<<dt;
-			if (!frame.empty()) log_stream<<" fps: "<<camera.get_info().fps;
-			log_stream<<"\n";
-#endif
-            refreshVideo();
-		}
-        msleep(sleep_time);
-	}
-
-	qDebug()<<"Tracker:: Thread stopping";
-}
-
-void Tracker::apply(const TrackerSettings& settings)
-{
-	qDebug()<<"Tracker:: Applying settings";
-	QMutexLocker lock(&mutex);
-	camera.set_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);
-	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 = std::auto_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;
-	draw_frame = settings.video_widget;
-	cam_pitch = settings.cam_pitch;
-
-	bEnableRoll = settings.bEnableRoll;
-	bEnablePitch = settings.bEnablePitch;
-	bEnableYaw = settings.bEnableYaw;
-	bEnableX = settings.bEnableX;
-	bEnableY = settings.bEnableY;
-	bEnableZ = settings.bEnableZ;
-
-	t_MH = settings.t_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_CH_0 = X_CM_0 * X_MH;
-}
-
-void Tracker::refreshVideo()
-{	
-    if (video_widget && fresh)
-	{
-		Mat frame_copy;
-		std::auto_ptr< vector<Vec2f> > points;
-		{
-            //QMutexLocker lock(&mutex);
-			if (!draw_frame || frame.empty()) return;
-		
-			// copy the frame and points from the tracker thread
-			frame_copy = frame.clone();
-			points = std::auto_ptr< vector<Vec2f> >(new vector<Vec2f>(point_extractor.get_points()));
-		}
-	    //QMutexLocker lck(&mutex);	
-		video_widget->update_image(frame_copy, points);
-    }
-}
-
-void Tracker::StartTracker(QFrame* videoframe)
-{
-    const int VIDEO_FRAME_WIDTH = videoframe->width();
-    const int VIDEO_FRAME_HEIGHT = videoframe->height();
-    TrackerSettings settings;
-    settings.load_ini();
-    apply(settings);
-    qDebug("Tracker::Initialize");
-    // setup video frame
-    video_widget = new VideoWidget(videoframe);
-    QHBoxLayout* layout = new QHBoxLayout();
-    layout->setContentsMargins(0, 0, 0, 0);
-    layout->addWidget(video_widget);
-    if (videoframe->layout()) delete videoframe->layout();
-    videoframe->setLayout(layout);
-    video_widget->resize(VIDEO_FRAME_WIDTH, VIDEO_FRAME_HEIGHT);
-    videoframe->show();
-    connect(&timer, SIGNAL(timeout()), this, SLOT(paint_widget()));
-    timer.start(40);
-    camera.start();
-    start();
-    reset_command(PAUSE);
-}
-
-void Tracker::paint_widget() {
-    if (fresh) {
-        fresh = false;
-        video_widget->update();
-    }
-}
-
-bool Tracker::GiveHeadPoseData(double *data)
-{
-	const double rad2deg = 180.0/3.14159265;
-	const double deg2rad = 1.0/rad2deg;
-	{
-		QMutexLocker lock(&mutex);
-
-		if (!tracking_valid) return false;
-
-		FrameTrafo X_CM = point_tracker.get_pose();
-		FrameTrafo X_MH(Matx33f::eye(), t_MH);
-		FrameTrafo X_CH = X_CM * X_MH;
-
-		Matx33f R = X_CH.R * X_CH_0.R.t(); 
-		Vec3f t   = X_CH.t - X_CH_0.t;		
-		
-		// correct for camera pitch
-		Matx33f R_CP( 1, 0, 0,
-			          0,  cos(deg2rad*cam_pitch), sin(deg2rad*cam_pitch),
-					  0, -sin(deg2rad*cam_pitch), cos(deg2rad*cam_pitch));
-		R = R_CP * R * R_CP.t();
-		t = R_CP * t;
-
-		// get translation(s)
-		if (bEnableX) {
-            data[TX] = t[0] / 10.0;	// convert to cm
-		}
-		if (bEnableY) {
-            data[TY] = t[1] / 10.0;
-		}
-		if (bEnableZ) {
-            data[TZ] = t[2] / 10.0;
-		}
-
-		// translate rotation matrix from opengl (G) to roll-pitch-yaw (R) frame
-		// -z -> x, y -> z, x -> -y
-		Matx33f R_RG( 0, 0,-1,
-			         -1, 0, 0,
-					  0, 1, 0);
-		R = R_RG * R * R_RG.t();
-
-		// extract rotation angles
-		double alpha, beta, gamma;
-		//beta = atan2( -R(2,0), sqrt(R(0,0)*R(0,0) + R(1,0)*R(1,0)) );
-		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;
-		}
-		if (bEnableRoll) {
-            data[Roll]  = rad2deg * gamma;
-		}
-	}
-	return true;
-}
-
-//-----------------------------------------------------------------------------
-//#pragma comment(linker, "/export:GetTracker=_GetTracker@0")
-
-extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor()
-{
-    return new Tracker;
-}