Easy Tracker: PNP solver now a settings option.

9 files changed, 174 insertions, 127 deletions

diff --git a/tracker-easy/lang/nl_NL.ts b/tracker-easy/lang/nl_NL.ts
index f83e859a..21ea306e 100644
--- a/tracker-easy/lang/nl_NL.ts
+++ b/tracker-easy/lang/nl_NL.ts
@@ -138,26 +138,6 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Color channels used</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Average</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Natural</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Red only</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Blue only</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
         <source>Maximum point diameter</source>
         <translation type="unfinished"></translation>
     </message>
@@ -255,10 +235,6 @@ Don&apos;t roll or change position.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Green only</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
         <source>Debug (full size preview)</source>
         <translation type="unfinished"></translation>
     </message>
@@ -274,5 +250,37 @@ Don&apos;t roll or change position.</source>
         <source>Size in pixels of half the edge defining deadzone squares around tracked points</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Perspective-N-Point solver</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Make sure you pick a solver supporting the number of marker you are using. For three points detection use either P3P or AP3P.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>P3P</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ITERATIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>EPNP</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DLS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPNP</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>AP3P</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 </TS>
diff --git a/tracker-easy/lang/ru_RU.ts b/tracker-easy/lang/ru_RU.ts
index 0dbc8323..bc725e23 100644
--- a/tracker-easy/lang/ru_RU.ts
+++ b/tracker-easy/lang/ru_RU.ts
@@ -138,26 +138,6 @@
         <translation>Полузнок устанавливает размер точек</translation>
     </message>
     <message>
-        <source>Color channels used</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Average</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Natural</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Red only</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Blue only</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
         <source>Maximum point diameter</source>
         <translation></translation>
     </message>
@@ -260,10 +240,6 @@ ROLL или X/Y-смещения.</translation>
         <translation>Параметры камеры:</translation>
     </message>
     <message>
-        <source>Green only</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
         <source>Debug (full size preview)</source>
         <translation type="unfinished"></translation>
     </message>
@@ -279,5 +255,37 @@ ROLL или X/Y-смещения.</translation>
         <source>Size in pixels of half the edge defining deadzone squares around tracked points</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Perspective-N-Point solver</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Make sure you pick a solver supporting the number of marker you are using. For three points detection use either P3P or AP3P.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>P3P</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ITERATIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>EPNP</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DLS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPNP</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>AP3P</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 </TS>
diff --git a/tracker-easy/lang/stub.ts b/tracker-easy/lang/stub.ts
index 32b314e9..75e29070 100644
--- a/tracker-easy/lang/stub.ts
+++ b/tracker-easy/lang/stub.ts
@@ -138,26 +138,6 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Color channels used</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Average</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Natural</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Red only</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Blue only</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
         <source>Maximum point diameter</source>
         <translation type="unfinished"></translation>
     </message>
@@ -255,10 +235,6 @@ Don&apos;t roll or change position.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Green only</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
         <source>Debug (full size preview)</source>
         <translation type="unfinished"></translation>
     </message>
@@ -274,5 +250,37 @@ Don&apos;t roll or change position.</source>
         <source>Size in pixels of half the edge defining deadzone squares around tracked points</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Perspective-N-Point solver</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Make sure you pick a solver supporting the number of marker you are using. For three points detection use either P3P or AP3P.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>P3P</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ITERATIVE</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>EPNP</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DLS</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>UPNP</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>AP3P</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 </TS>
diff --git a/tracker-easy/lang/zh_CN.ts b/tracker-easy/lang/zh_CN.ts
index f90e261f..68172059 100644
--- a/tracker-easy/lang/zh_CN.ts
+++ b/tracker-easy/lang/zh_CN.ts
@@ -226,52 +226,60 @@
         <translation>设备信息：</translation>
     </message>
     <message>
-        <source>Color channels used</source>
+        <source>Value</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Average</source>
+        <source>Use only yaw and pitch while calibrating.
+Don&apos;t roll or change position.</source>
+        <translation>用pitch和yaw校准。不要roll或者变换位置</translation>
+    </message>
+    <message>
+        <source>Debug (full size preview)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Natural</source>
+        <source>Deadzone</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Red only</source>
+        <source>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Easy Tracker&lt;br/&gt;Version 0.1&lt;/span&gt;&lt;/p&gt;&lt;p&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;by Stéphane Lenclud&lt;/span&gt;&lt;/p&gt;&lt;p&gt;See  &lt;a href=&quot;https://github.com/opentrack/opentrack/wiki/Easy-Tracker&quot;&gt;&lt;span style=&quot; font-weight:600; text-decoration: underline; color:#9999AA;&quot;&gt;documentation on GitHub&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Blue only</source>
+        <source>Size in pixels of half the edge defining deadzone squares around tracked points</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Value</source>
+        <source>Perspective-N-Point solver</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Use only yaw and pitch while calibrating.
-Don&apos;t roll or change position.</source>
-        <translation>用pitch和yaw校准。不要roll或者变换位置</translation>
+        <source>Make sure you pick a solver supporting the number of marker you are using. For three points detection use either P3P or AP3P.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Green only</source>
+        <source>P3P</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Debug (full size preview)</source>
+        <source>ITERATIVE</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Deadzone</source>
+        <source>EPNP</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Easy Tracker&lt;br/&gt;Version 0.1&lt;/span&gt;&lt;/p&gt;&lt;p&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;by Stéphane Lenclud&lt;/span&gt;&lt;/p&gt;&lt;p&gt;See  &lt;a href=&quot;https://github.com/opentrack/opentrack/wiki/Easy-Tracker&quot;&gt;&lt;span style=&quot; font-weight:600; text-decoration: underline; color:#9999AA;&quot;&gt;documentation on GitHub&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
+        <source>DLS</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Size in pixels of half the edge defining deadzone squares around tracked points</source>
+        <source>UPNP</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>AP3P</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/tracker-easy/settings.h b/tracker-easy/settings.h
index 53b80052..4d043e6a 100644
--- a/tracker-easy/settings.h
+++ b/tracker-easy/settings.h
@@ -1,19 +1,10 @@
 #pragma once
 
 #include "options/options.hpp"
+#include <opencv2/calib3d.hpp>
 
 #include <QString>
 
-enum pt_color_type
-{
-    // explicit values, gotta preserve the numbering in .ini
-    // don't reuse when removing some of the modes
-    pt_color_natural = 2,
-    pt_color_red_only = 3,
-    pt_color_average = 5,
-    pt_color_blue_only = 6,
-    pt_color_green_only = 7,
-};
 
 namespace EasyTracker {
 
@@ -58,7 +49,7 @@ namespace EasyTracker {
         value<bool> debug{ b, "debug", false };
 
         value<bool> auto_threshold{ b, "automatic-threshold", true };
-        value<pt_color_type> blob_color{ b, "blob-color", pt_color_natural };
+        value<int> PnpSolver{ b, "pnp-solver", cv::SOLVEPNP_P3P };
 
         value<slider_value> threshold_slider{ b, "threshold-slider", { 128, 0, 255 } };
 
diff --git a/tracker-easy/tracker-easy-dialog.cpp b/tracker-easy/tracker-easy-dialog.cpp
index e3b72e38..36c5d99d 100644
--- a/tracker-easy/tracker-easy-dialog.cpp
+++ b/tracker-easy/tracker-easy-dialog.cpp
@@ -11,6 +11,7 @@
 #include "video/camera.hpp"
 
 #include <opencv2/core.hpp>
+#include <opencv2/calib3d.hpp>
 
 #include <QString>
 #include <QtGlobal>
@@ -95,18 +96,11 @@ namespace EasyTracker
 
         connect(this, &Dialog::poll_tracker_info, this, &Dialog::poll_tracker_info_impl, Qt::DirectConnection);
 
-        constexpr pt_color_type color_types[] = {
-            pt_color_average,
-            pt_color_natural,
-            pt_color_red_only,
-            pt_color_green_only,
-            pt_color_blue_only,
-        };
 
-        for (unsigned k = 0; k < std::size(color_types); k++)
-            ui.blob_color->setItemData(k, int(color_types[k]));
+        for (unsigned k = 0; k < cv::SOLVEPNP_MAX_COUNT; k++)
+            ui.comboBoxSolvers->setItemData(k, k);
 
-        tie_setting(s.blob_color, ui.blob_color);
+        tie_setting(s.PnpSolver, ui.comboBoxSolvers);
 
         tie_setting(s.threshold_slider, ui.threshold_value_display, [this](const slider_value& val) {
             return threshold_display_text(int(val));
diff --git a/tracker-easy/tracker-easy-settings.ui b/tracker-easy/tracker-easy-settings.ui
index ffe6ebce..9ff929dc 100644
--- a/tracker-easy/tracker-easy-settings.ui
+++ b/tracker-easy/tracker-easy-settings.ui
@@ -198,7 +198,7 @@
              </sizepolicy>
             </property>
             <property name="text">
-             <string>Color channels used</string>
+             <string>Perspective-N-Point solver</string>
             </property>
            </widget>
           </item>
@@ -242,36 +242,47 @@
            </widget>
           </item>
           <item row="7" column="1">
-           <widget class="QComboBox" name="blob_color">
+           <widget class="QComboBox" name="comboBoxSolvers">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
             </property>
+            <property name="toolTip">
+             <string>Make sure you pick a solver supporting the number of marker you are using. For three points detection use either P3P or AP3P.</string>
+            </property>
+            <property name="currentText">
+             <string>P3P</string>
+            </property>
+            <item>
+             <property name="text">
+              <string>ITERATIVE</string>
+             </property>
+            </item>
             <item>
              <property name="text">
-              <string>Average</string>
+              <string>EPNP</string>
              </property>
             </item>
             <item>
              <property name="text">
-              <string>Natural</string>
+              <string>P3P</string>
              </property>
             </item>
             <item>
              <property name="text">
-              <string>Red only</string>
+              <string>DLS</string>
              </property>
             </item>
             <item>
              <property name="text">
-              <string>Green only</string>
+              <string>UPNP</string>
              </property>
             </item>
             <item>
              <property name="text">
-              <string>Blue only</string>
+              <string>AP3P</string>
              </property>
             </item>
            </widget>
@@ -1393,7 +1404,7 @@ Don't roll or change position.</string>
   <tabstop>fov</tabstop>
   <tabstop>debug</tabstop>
   <tabstop>camera_settings</tabstop>
-  <tabstop>blob_color</tabstop>
+  <tabstop>comboBoxSolvers</tabstop>
   <tabstop>auto_threshold</tabstop>
   <tabstop>threshold_slider</tabstop>
   <tabstop>mindiam_spin</tabstop>
diff --git a/tracker-easy/tracker-easy.cpp b/tracker-easy/tracker-easy.cpp
index 199bf95a..ebc6e128 100644
--- a/tracker-easy/tracker-easy.cpp
+++ b/tracker-easy/tracker-easy.cpp
@@ -50,10 +50,13 @@ namespace EasyTracker
 
         // Make sure deadzones are updated whenever the settings are changed
         connect(&iSettings.DeadzoneRectHalfEdgeSize, value_::value_changed<int>(), this, &Tracker::UpdateDeadzones, Qt::DirectConnection);
+        UpdateDeadzones(iSettings.DeadzoneRectHalfEdgeSize);
 
-        CreateModelFromSettings();
+        // Make sure solver is updated whenever the settings are changed
+        connect(&iSettings.PnpSolver, value_::value_changed<int>(), this, &Tracker::UpdateSolver, Qt::DirectConnection);
+        UpdateSolver(iSettings.PnpSolver);
 
-        UpdateDeadzones(iSettings.DeadzoneRectHalfEdgeSize);
+        CreateModelFromSettings();        
     }
 
     Tracker::~Tracker()
@@ -62,9 +65,12 @@ namespace EasyTracker
 
         iThread.exit();
         iThread.wait();        
-
-        QMutexLocker l(&camera_mtx);
-        camera->stop();        
+        
+        if (camera)
+        {
+            QMutexLocker l(&camera_mtx);
+            camera->stop();
+        }        
     }
 
 
@@ -156,8 +162,6 @@ namespace EasyTracker
             {
                 ever_success.store(true, std::memory_order_relaxed);
 
-                // Solve P3P problem with OpenCV
-
                 //Bitmap origin is top left
                 iTrackedPoints.clear();
                 // Tracked points must match the order of the object model points.
@@ -233,15 +237,13 @@ namespace EasyTracker
                         }
                     }
 
-
                     dbgout << "Object: " << iModel << "\n";
                     dbgout << "Points: " << iTrackedPoints << "\n";
 
-
-                    // TODO: try SOLVEPNP_AP3P too, make it a settings option?
                     iAngles.clear();
                     iBestSolutionIndex = -1;
-                    int solutionCount = cv::solveP3P(iModel, iTrackedPoints, iCameraMatrix, iDistCoeffsMatrix, iRotations, iTranslations, cv::SOLVEPNP_P3P);
+                    // Solve P3P problem with OpenCV
+                    int solutionCount = cv::solveP3P(iModel, iTrackedPoints, iCameraMatrix, iDistCoeffsMatrix, iRotations, iTranslations, iSolver);
 
                     if (solutionCount > 0)
                     {
@@ -449,10 +451,23 @@ namespace EasyTracker
     }
 
 
+    void Tracker::UpdateSolver(int aSolver)
+    {
+        QMutexLocker l(&center_lock);
+        iSolver = aSolver;
+    }
+
+
+
     module_status Tracker::start_tracker(QFrame* video_frame)
     {
-        //video_frame->setAttribute(Qt::WA_NativeWindow);
+        // Check that we support that solver
+        if (iSolver!=cv::SOLVEPNP_P3P && iSolver != cv::SOLVEPNP_AP3P)
+        {
+            return module_status("Error: Solver not supported use either P3P or AP3P.");
+        }
 
+        //video_frame->setAttribute(Qt::WA_NativeWindow);
         widget = std::make_unique<video_widget>(video_frame);
         layout = std::make_unique<QHBoxLayout>(video_frame);
         layout->setContentsMargins(0, 0, 0, 0);
diff --git a/tracker-easy/tracker-easy.h b/tracker-easy/tracker-easy.h
index bbafcefa..41226d23 100644
--- a/tracker-easy/tracker-easy.h
+++ b/tracker-easy/tracker-easy.h
@@ -69,6 +69,7 @@ namespace EasyTracker
         void SetFps(int aFps);
         void DoSetFps(int aFps);
         void UpdateDeadzones(int aHalfEdgeSize);
+        void UpdateSolver(int aSolver);
 
         QMutex camera_mtx;
         QThread iThread;
@@ -98,6 +99,9 @@ namespace EasyTracker
         int iDeadzoneEdge=0;
         int iDeadzoneHalfEdge=0;
 
+        // Solver
+        int iSolver = cv::SOLVEPNP_P3P;
+
         // Statistics
         Timer iTimer;
         Timer iFpsTimer;