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authorStéphane Lenclud <github@lenclud.com>2019-04-28 00:03:24 +0200
committerStéphane Lenclud <github@lenclud.com>2019-04-28 00:03:24 +0200
commit3e56f47a9cef709d4a099a0ac6ff43e361fe4a43 (patch)
treea8968cb73e7568902c83bb2275982ac23261a2f7 /tracker-easy
parent518becf76bb5313949c76e9fa02d1ada2c25242d (diff)
Easy Tracker: UI rework for custom model with three, four or five vertices.
More settings can be changed live without have to restart the tracker. Fixing a few deadlock issues.
Diffstat (limited to 'tracker-easy')
-rw-r--r--tracker-easy/lang/nl_NL.ts89
-rw-r--r--tracker-easy/lang/ru_RU.ts93
-rw-r--r--tracker-easy/lang/stub.ts89
-rw-r--r--tracker-easy/lang/zh_CN.ts89
-rw-r--r--tracker-easy/point-extractor.cpp19
-rw-r--r--tracker-easy/point-extractor.h10
-rw-r--r--tracker-easy/settings.h23
-rw-r--r--tracker-easy/tracker-easy-dialog.cpp126
-rw-r--r--tracker-easy/tracker-easy-dialog.h7
-rw-r--r--tracker-easy/tracker-easy-settings.ui702
-rw-r--r--tracker-easy/tracker-easy.cpp391
-rw-r--r--tracker-easy/tracker-easy.h11
12 files changed, 707 insertions, 942 deletions
diff --git a/tracker-easy/lang/nl_NL.ts b/tracker-easy/lang/nl_NL.ts
index f084f93f..9b7ae1dd 100644
--- a/tracker-easy/lang/nl_NL.ts
+++ b/tracker-easy/lang/nl_NL.ts
@@ -4,26 +4,6 @@
<context>
<name>EasyTracker::Dialog</name>
<message>
- <source>%1 yaw samples. Yaw more to %2 samples for stable calibration.</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
- <source>%1 pitch samples. Pitch more to %2 samples for stable calibration.</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
- <source>%1 samples. Over %2, good!</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
- <source>Stop calibration</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
- <source>Start calibration</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
<source>Tracker offline</source>
<translation type="unfinished"></translation>
</message>
@@ -142,31 +122,6 @@
<translation type="unfinished"></translation>
</message>
<message>
- <source>z:</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
- <source>x:</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
- <source>y:</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
- <source>Model position</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
- <source>Use only yaw and pitch while calibrating.
-Don&apos;t roll or change position.</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
- <source>Start calibration</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
<source>About</source>
<translation type="unfinished"></translation>
</message>
@@ -239,27 +194,59 @@ Don&apos;t roll or change position.</source>
<translation type="unfinished"></translation>
</message>
<message>
- <source>Four</source>
+ <source>Custom</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Top Right</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Top</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Top Left</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Left</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Vertex count</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Three vertices</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Four vertices</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Five vertices</source>
<translation type="unfinished"></translation>
</message>
<message>
- <source>Model vertices</source>
+ <source>Center</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-size:16pt;&quot;&gt;Top&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
+ <source>Right</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-size:16pt;&quot;&gt;Left&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
+ <source>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:12pt;&quot;&gt;X&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</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-size:16pt;&quot;&gt;Right&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
+ <source>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:12pt;&quot;&gt;Y&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</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-size:16pt;&quot;&gt;Center&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
+ <source>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:12pt;&quot;&gt;Z&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
<translation type="unfinished"></translation>
</message>
</context>
diff --git a/tracker-easy/lang/ru_RU.ts b/tracker-easy/lang/ru_RU.ts
index e05e58f3..ba8caacb 100644
--- a/tracker-easy/lang/ru_RU.ts
+++ b/tracker-easy/lang/ru_RU.ts
@@ -4,26 +4,6 @@
<context>
<name>EasyTracker::Dialog</name>
<message>
- <source>%1 yaw samples. Yaw more to %2 samples for stable calibration.</source>
- <translation type="unfinished">По оси YAW выполнено: %1 замер(а/ов). Для стабильного результата необходимо не меньше %2</translation>
- </message>
- <message>
- <source>%1 pitch samples. Pitch more to %2 samples for stable calibration.</source>
- <translation type="unfinished">По оси Pitch выполнено: %1 замер(а/ов). Для стабильного результата необходимо не меньше %2</translation>
- </message>
- <message>
- <source>%1 samples. Over %2, good!</source>
- <translation type="unfinished">Получено %1 образца(-ов). Больше %2, отлично!!</translation>
- </message>
- <message>
- <source>Stop calibration</source>
- <translation type="unfinished">Остановить калибровку</translation>
- </message>
- <message>
- <source>Start calibration</source>
- <translation type="unfinished">Начать калибровку</translation>
- </message>
- <message>
<source>Tracker offline</source>
<translation type="unfinished">Отслеживание отключено</translation>
</message>
@@ -142,35 +122,6 @@
<translation>Кепка</translation>
</message>
<message>
- <source>z:</source>
- <translation></translation>
- </message>
- <message>
- <source>x:</source>
- <translation></translation>
- </message>
- <message>
- <source>y:</source>
- <translation></translation>
- </message>
- <message>
- <source>Model position</source>
- <translation>Положение модели</translation>
- </message>
- <message>
- <source>Use only yaw and pitch while calibrating.
-Don&apos;t roll or change position.</source>
- <translation>Во время калибровки
-используйте только оси
-YAW и PITCH.
-Не используйте оси
-ROLL или X/Y-смещения.</translation>
- </message>
- <message>
- <source>Start calibration</source>
- <translation>Начать калибровку</translation>
- </message>
- <message>
<source>About</source>
<translation>О программе</translation>
</message>
@@ -243,27 +194,59 @@ ROLL или X/Y-смещения.</translation>
<translation type="unfinished"></translation>
</message>
<message>
- <source>Four</source>
+ <source>Custom</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Top Right</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Top</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Top Left</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Left</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Vertex count</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Three vertices</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Four vertices</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Five vertices</source>
<translation type="unfinished"></translation>
</message>
<message>
- <source>Model vertices</source>
+ <source>Center</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-size:16pt;&quot;&gt;Top&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
+ <source>Right</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-size:16pt;&quot;&gt;Left&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
+ <source>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:12pt;&quot;&gt;X&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</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-size:16pt;&quot;&gt;Right&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
+ <source>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:12pt;&quot;&gt;Y&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</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-size:16pt;&quot;&gt;Center&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
+ <source>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:12pt;&quot;&gt;Z&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
<translation type="unfinished"></translation>
</message>
</context>
diff --git a/tracker-easy/lang/stub.ts b/tracker-easy/lang/stub.ts
index 89c6d087..55a0bd46 100644
--- a/tracker-easy/lang/stub.ts
+++ b/tracker-easy/lang/stub.ts
@@ -4,26 +4,6 @@
<context>
<name>EasyTracker::Dialog</name>
<message>
- <source>%1 yaw samples. Yaw more to %2 samples for stable calibration.</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
- <source>%1 pitch samples. Pitch more to %2 samples for stable calibration.</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
- <source>%1 samples. Over %2, good!</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
- <source>Stop calibration</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
- <source>Start calibration</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
<source>Tracker offline</source>
<translation type="unfinished"></translation>
</message>
@@ -142,31 +122,6 @@
<translation type="unfinished"></translation>
</message>
<message>
- <source>z:</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
- <source>x:</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
- <source>y:</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
- <source>Model position</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
- <source>Use only yaw and pitch while calibrating.
-Don&apos;t roll or change position.</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
- <source>Start calibration</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
<source>About</source>
<translation type="unfinished"></translation>
</message>
@@ -239,27 +194,59 @@ Don&apos;t roll or change position.</source>
<translation type="unfinished"></translation>
</message>
<message>
- <source>Four</source>
+ <source>Custom</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Top Right</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Top</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Top Left</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Left</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Vertex count</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Three vertices</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Four vertices</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Five vertices</source>
<translation type="unfinished"></translation>
</message>
<message>
- <source>Model vertices</source>
+ <source>Center</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-size:16pt;&quot;&gt;Top&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
+ <source>Right</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-size:16pt;&quot;&gt;Left&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
+ <source>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:12pt;&quot;&gt;X&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</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-size:16pt;&quot;&gt;Right&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
+ <source>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:12pt;&quot;&gt;Y&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</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-size:16pt;&quot;&gt;Center&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
+ <source>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:12pt;&quot;&gt;Z&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
<translation type="unfinished"></translation>
</message>
</context>
diff --git a/tracker-easy/lang/zh_CN.ts b/tracker-easy/lang/zh_CN.ts
index 417de26a..73f0f0be 100644
--- a/tracker-easy/lang/zh_CN.ts
+++ b/tracker-easy/lang/zh_CN.ts
@@ -4,26 +4,6 @@
<context>
<name>EasyTracker::Dialog</name>
<message>
- <source>%1 yaw samples. Yaw more to %2 samples for stable calibration.</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
- <source>%1 pitch samples. Pitch more to %2 samples for stable calibration.</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
- <source>%1 samples. Over %2, good!</source>
- <translation type="unfinished">%1 样本。%2 正常</translation>
- </message>
- <message>
- <source>Stop calibration</source>
- <translation type="unfinished">停止校准</translation>
- </message>
- <message>
- <source>Start calibration</source>
- <translation type="unfinished">开始校准</translation>
- </message>
- <message>
<source>Tracker offline</source>
<translation type="unfinished">跟踪器脱机</translation>
</message>
@@ -142,26 +122,6 @@
<translation>帽子式</translation>
</message>
<message>
- <source>z:</source>
- <translation>Z:</translation>
- </message>
- <message>
- <source>x:</source>
- <translation>X:</translation>
- </message>
- <message>
- <source>y:</source>
- <translation>Y:</translation>
- </message>
- <message>
- <source>Model position</source>
- <translation>姿态空间位置</translation>
- </message>
- <message>
- <source>Start calibration</source>
- <translation>开始校准</translation>
- </message>
- <message>
<source>About</source>
<translation>关于</translation>
</message>
@@ -178,11 +138,6 @@
<translation>设备信息:</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>
- </message>
- <message>
<source>Debug (full size preview)</source>
<translation type="unfinished"></translation>
</message>
@@ -239,27 +194,59 @@ Don&apos;t roll or change position.</source>
<translation type="unfinished"></translation>
</message>
<message>
- <source>Four</source>
+ <source>Custom</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Top Right</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Top</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Top Left</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Left</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Vertex count</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Three vertices</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Four vertices</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>Five vertices</source>
<translation type="unfinished"></translation>
</message>
<message>
- <source>Model vertices</source>
+ <source>Center</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-size:16pt;&quot;&gt;Top&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
+ <source>Right</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-size:16pt;&quot;&gt;Left&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
+ <source>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:12pt;&quot;&gt;X&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</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-size:16pt;&quot;&gt;Right&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
+ <source>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:12pt;&quot;&gt;Y&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</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-size:16pt;&quot;&gt;Center&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
+ <source>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:12pt;&quot;&gt;Z&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
<translation type="unfinished"></translation>
</message>
</context>
diff --git a/tracker-easy/point-extractor.cpp b/tracker-easy/point-extractor.cpp
index 0a5ca81d..b7cf7356 100644
--- a/tracker-easy/point-extractor.cpp
+++ b/tracker-easy/point-extractor.cpp
@@ -29,12 +29,19 @@ using namespace numeric_types;
namespace EasyTracker
{
- PointExtractor::PointExtractor() : s(KModuleName)
+ PointExtractor::PointExtractor() : iSettings(KModuleName)
{
-
+ UpdateSettings();
}
+ ///
+ void PointExtractor::UpdateSettings()
+ {
+ iMinPointSize = iSettings.iMinBlobSize;
+ iMaxPointSize = iSettings.iMaxBlobSize;
+ }
+ ///
void PointExtractor::ExtractPoints(const cv::Mat& aFrame, cv::Mat* aPreview, int aNeededPointCount, std::vector<cv::Point>& aPoints)
{
//TODO: Assert if channel size is neither one nor two
@@ -108,10 +115,10 @@ namespace EasyTracker
bBox = cv::boundingRect(iContours[i]);
// Make sure bounding box matches our criteria
- if (bBox.width >= s.min_point_size
- && bBox.height >= s.min_point_size
- && bBox.width <= s.max_point_size
- && bBox.height <= s.max_point_size)
+ if (bBox.width >= iMinPointSize
+ && bBox.height >= iMinPointSize
+ && bBox.width <= iMaxPointSize
+ && bBox.height <= iMaxPointSize)
{
// Do a mean shift or cam shift, it's not bringing much though
//cv::CamShift(iFrameGray, bBox, cv::TermCriteria(cv::TermCriteria::EPS + cv::TermCriteria::MAX_ITER, 10, 1));
diff --git a/tracker-easy/point-extractor.h b/tracker-easy/point-extractor.h
index b037eed6..f275769d 100644
--- a/tracker-easy/point-extractor.h
+++ b/tracker-easy/point-extractor.h
@@ -24,9 +24,11 @@ namespace EasyTracker
// extracts points from frame and draws some processing info into frame, if draw_output is set
// dt: time since last call in seconds
void ExtractPoints(const cv::Mat& aFrame, cv::Mat* aPreview, int aNeededPointCount, std::vector<cv::Point>& aPoints);
-
+
+ void UpdateSettings();
+
// Settings
- Settings s;
+ Settings iSettings;
// Our frame with a channel size of 8 bits
cv::Mat iFrameChannelSizeOne;
// Our frame with a single 8 bits channel
@@ -34,6 +36,10 @@ namespace EasyTracker
//
std::vector<std::vector<cv::Point> > iContours;
+ // Take a copy of settings to avoid dead lock
+ int iMinPointSize;
+ int iMaxPointSize;
+
};
}
diff --git a/tracker-easy/settings.h b/tracker-easy/settings.h
index 8c6a2b3e..825282d4 100644
--- a/tracker-easy/settings.h
+++ b/tracker-easy/settings.h
@@ -23,18 +23,22 @@ namespace EasyTracker {
value<int> cam_res_x{ b, "camera-res-width", 640 },
cam_res_y{ b, "camera-res-height", 480 },
cam_fps{ b, "camera-fps", 30 };
- value<double> min_point_size{ b, "min-point-size", 2.5 },
- max_point_size{ b, "max-point-size", 50 };
+ value<int> iMinBlobSize{ b, "iMinBlobSize", 4 }, iMaxBlobSize{ b, "iMaxBlobSize", 15 };
value<int> DeadzoneRectHalfEdgeSize { b, "deadzone-rect-half-edge-size", 1 };
- value<int> iFourPointsTopX{ b, "iFourPointsTopX", 0 }, iFourPointsTopY{ b, "iFourPointsTopY", 0 }, iFourPointsTopZ{ b, "iFourPointsTopZ", 0 };
- value<int> iFourPointsLeftX{ b, "iFourPointsLeftX", 0 }, iFourPointsLeftY{ b, "iFourPointsLeftY", 0 }, iFourPointsLeftZ{ b, "iFourPointsLeftZ", 0 };
- value<int> iFourPointsRightX{ b, "iFourPointsRightX", 0 }, iFourPointsRightY{ b, "iFourPointsRightY", 0 }, iFourPointsRightZ{ b, "iFourPointsRightZ", 0 };
- value<int> iFourPointsCenterX{ b, "iFourPointsCenterX", 0 }, iFourPointsCenterY{ b, "iFourPointsCenterY", 0 }, iFourPointsCenterZ{ b, "iFourPointsCenterZ", 0 };
+ // Type of custom model
+ value<bool> iCustomModelThree{ b, "iCustomModelThree", true };
+ value<bool> iCustomModelFour{ b, "iCustomModelFour", false };
+ value<bool> iCustomModelFive{ b, "iCustomModelFive", false };
+
+ // Custom model vertices
+ value<int> iVertexTopX{ b, "iVertexTopX", 0 }, iVertexTopY{ b, "iVertexTopY", 0 }, iVertexTopZ{ b, "iVertexTopZ", 0 };
+ value<int> iVertexRightX{ b, "iVertexRightX", 0 }, iVertexRightY{ b, "iVertexRightY", 0 }, iVertexRightZ{ b, "iVertexRightZ", 0 };
+ value<int> iVertexLeftX{ b, "iVertexLeftX", 0 }, iVertexLeftY{ b, "iVertexLeftY", 0 }, iVertexLeftZ{ b, "iVertexLeftZ", 0 };
+ value<int> iVertexCenterX{ b, "iVertexCenterX", 0 }, iVertexCenterY{ b, "iVertexCenterY", 0 }, iVertexCenterZ{ b, "iVertexCenterZ", 0 };
+ value<int> iVertexTopRightX{ b, "iVertexTopRightX", 0 }, iVertexTopRightY{ b, "iVertexTopRightY", 0 }, iVertexTopRightZ{ b, "iVertexTopRightZ", 0 };
+ value<int> iVertexTopLeftX{ b, "iVertexTopLeftX", 0 }, iVertexTopLeftY{ b, "iVertexTopLeftY", 0 }, iVertexTopLeftZ{ b, "iVertexTopLeftZ", 0 };
- value<int> t_MH_x{ b, "model-centroid-x", 0 },
- t_MH_y{ b, "model-centroid-y", 0 },
- t_MH_z{ b, "model-centroid-z", 0 };
value<int> clip_ty{ b, "clip-ty", 40 },
clip_tz{ b, "clip-tz", 30 },
@@ -50,6 +54,7 @@ namespace EasyTracker {
value<bool> debug{ b, "debug", false };
+
value<int> PnpSolver{ b, "pnp-solver", cv::SOLVEPNP_P3P };
diff --git a/tracker-easy/tracker-easy-dialog.cpp b/tracker-easy/tracker-easy-dialog.cpp
index ce100b48..b30efed4 100644
--- a/tracker-easy/tracker-easy-dialog.cpp
+++ b/tracker-easy/tracker-easy-dialog.cpp
@@ -42,8 +42,8 @@ namespace EasyTracker
tie_setting(s.cam_res_y, ui.res_y_spin);
tie_setting(s.cam_fps, ui.fps_spin);
- tie_setting(s.min_point_size, ui.mindiam_spin);
- tie_setting(s.max_point_size, ui.maxdiam_spin);
+ tie_setting(s.iMinBlobSize, ui.mindiam_spin);
+ tie_setting(s.iMaxBlobSize, ui.maxdiam_spin);
tie_setting(s.DeadzoneRectHalfEdgeSize, ui.spinDeadzone);
tie_setting(s.clip_by, ui.clip_bheight_spin);
@@ -55,25 +55,30 @@ namespace EasyTracker
tie_setting(s.cap_y, ui.cap_height_spin);
tie_setting(s.cap_z, ui.cap_length_spin);
- tie_setting(s.iFourPointsTopX, ui.iSpinFourTopX);
- tie_setting(s.iFourPointsTopY, ui.iSpinFourTopY);
- tie_setting(s.iFourPointsTopZ, ui.iSpinFourTopZ);
+ tie_setting(s.iVertexTopX, ui.iSpinVertexTopX);
+ tie_setting(s.iVertexTopY, ui.iSpinVertexTopY);
+ tie_setting(s.iVertexTopZ, ui.iSpinVertexTopZ);
- tie_setting(s.iFourPointsLeftX, ui.iSpinFourLeftX);
- tie_setting(s.iFourPointsLeftY, ui.iSpinFourLeftY);
- tie_setting(s.iFourPointsLeftZ, ui.iSpinFourLeftZ);
+ tie_setting(s.iVertexRightX, ui.iSpinVertexRightX);
+ tie_setting(s.iVertexRightY, ui.iSpinVertexRightY);
+ tie_setting(s.iVertexRightZ, ui.iSpinVertexRightZ);
- tie_setting(s.iFourPointsRightX, ui.iSpinFourRightX);
- tie_setting(s.iFourPointsRightY, ui.iSpinFourRightY);
- tie_setting(s.iFourPointsRightZ, ui.iSpinFourRightZ);
+ tie_setting(s.iVertexLeftX, ui.iSpinVertexLeftX);
+ tie_setting(s.iVertexLeftY, ui.iSpinVertexLeftY);
+ tie_setting(s.iVertexLeftZ, ui.iSpinVertexLeftZ);
- tie_setting(s.iFourPointsCenterX, ui.iSpinFourCenterX);
- tie_setting(s.iFourPointsCenterY, ui.iSpinFourCenterY);
- tie_setting(s.iFourPointsCenterZ, ui.iSpinFourCenterZ);
+ tie_setting(s.iVertexCenterX, ui.iSpinVertexCenterX);
+ tie_setting(s.iVertexCenterY, ui.iSpinVertexCenterY);
+ tie_setting(s.iVertexCenterZ, ui.iSpinVertexCenterZ);
+
+ tie_setting(s.iVertexTopRightX, ui.iSpinVertexTopRightX);
+ tie_setting(s.iVertexTopRightY, ui.iSpinVertexTopRightY);
+ tie_setting(s.iVertexTopRightZ, ui.iSpinVertexTopRightZ);
+
+ tie_setting(s.iVertexTopLeftX, ui.iSpinVertexTopLeftX);
+ tie_setting(s.iVertexTopLeftY, ui.iSpinVertexTopLeftY);
+ tie_setting(s.iVertexTopLeftZ, ui.iSpinVertexTopLeftZ);
- tie_setting(s.t_MH_x, ui.tx_spin);
- tie_setting(s.t_MH_y, ui.ty_spin);
- tie_setting(s.t_MH_z, ui.tz_spin);
tie_setting(s.fov, ui.fov);
@@ -82,8 +87,6 @@ namespace EasyTracker
tie_setting(s.debug, ui.debug);
- connect(ui.tcalib_button, SIGNAL(toggled(bool)), this, SLOT(startstop_trans_calib(bool)));
-
connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
@@ -91,11 +94,18 @@ namespace EasyTracker
set_camera_settings_available(ui.camdevice_combo->currentText());
connect(ui.camera_settings, &QPushButton::clicked, this, &Dialog::show_camera_settings);
+ // Radio Button
+ connect(ui.iRadioButtonCustomModelThree, &QRadioButton::clicked, this, &Dialog::UpdateCustomModelControls);
+ connect(ui.iRadioButtonCustomModelFour, &QRadioButton::clicked, this, &Dialog::UpdateCustomModelControls);
+ connect(ui.iRadioButtonCustomModelFive, &QRadioButton::clicked, this, &Dialog::UpdateCustomModelControls);
+
+ tie_setting(s.iCustomModelThree, ui.iRadioButtonCustomModelThree);
+ tie_setting(s.iCustomModelFour, ui.iRadioButtonCustomModelFour);
+ tie_setting(s.iCustomModelFive, ui.iRadioButtonCustomModelFive);
+
connect(&timer, &QTimer::timeout, this, &Dialog::poll_tracker_info_impl);
timer.setInterval(250);
- connect(&calib_timer, &QTimer::timeout, this, &Dialog::trans_calib_step);
- calib_timer.setInterval(35);
poll_tracker_info_impl();
@@ -107,63 +117,30 @@ namespace EasyTracker
tie_setting(s.PnpSolver, ui.comboBoxSolvers);
+ UpdateCustomModelControls();
}
-
- void Dialog::startstop_trans_calib(bool start)
+ void Dialog::UpdateCustomModelControls()
{
- QMutexLocker l(&calibrator_mutex);
-
- if (start)
+ if (ui.iRadioButtonCustomModelThree->isChecked())
{
- qDebug() << "pt: starting translation calibration";
- calib_timer.start();
- trans_calib.reset();
- s.t_MH_x = 0;
- s.t_MH_y = 0;
- s.t_MH_z = 0;
-
- ui.sample_count_display->setText(QString());
+ ui.iGroupBoxCenter->hide();
+ ui.iGroupBoxTopRight->hide();
+ ui.iGroupBoxTopLeft->hide();
}
- else
+ else if (ui.iRadioButtonCustomModelFour->isChecked())
{
- calib_timer.stop();
- qDebug() << "pt: stopping translation calibration";
- {
- auto[tmp, nsamples] = trans_calib.get_estimate();
- s.t_MH_x = int(tmp[0]);
- s.t_MH_y = int(tmp[1]);
- s.t_MH_z = int(tmp[2]);
-
- constexpr int min_yaw_samples = 15;
- constexpr int min_pitch_samples = 15;
- constexpr int min_samples = min_yaw_samples + min_pitch_samples;
-
- // Don't bother counting roll samples. Roll calibration is hard enough
- // that it's a hidden unsupported feature anyway.
-
- QString sample_feedback;
- if (nsamples[0] < min_yaw_samples)
- sample_feedback = tr("%1 yaw samples. Yaw more to %2 samples for stable calibration.").arg(nsamples[0]).arg(min_yaw_samples);
- else if (nsamples[1] < min_pitch_samples)
- sample_feedback = tr("%1 pitch samples. Pitch more to %2 samples for stable calibration.").arg(nsamples[1]).arg(min_pitch_samples);
- else
- {
- const int nsamples_total = nsamples[0] + nsamples[1];
- sample_feedback = tr("%1 samples. Over %2, good!").arg(nsamples_total).arg(min_samples);
- }
-
- ui.sample_count_display->setText(sample_feedback);
- }
+ ui.iGroupBoxCenter->show();
+ ui.iGroupBoxTopRight->hide();
+ ui.iGroupBoxTopLeft->hide();
+ }
+ else if (ui.iRadioButtonCustomModelFive->isChecked())
+ {
+ ui.iGroupBoxCenter->hide();
+ ui.iGroupBoxTopRight->show();
+ ui.iGroupBoxTopLeft->show();
}
- ui.tx_spin->setEnabled(!start);
- ui.ty_spin->setEnabled(!start);
- ui.tz_spin->setEnabled(!start);
- if (start)
- ui.tcalib_button->setText(tr("Stop calibration"));
- else
- ui.tcalib_button->setText(tr("Start calibration"));
}
void Dialog::poll_tracker_info_impl()
@@ -203,12 +180,7 @@ namespace EasyTracker
(void)video::show_dialog(s.camera_name);
}
- void Dialog::trans_calib_step()
- {
- QMutexLocker l(&calibrator_mutex);
- // TODO: Do we still need that function
- }
-
+
void Dialog::save()
{
s.b->save();
@@ -228,7 +200,6 @@ namespace EasyTracker
void Dialog::register_tracker(ITracker *t)
{
tracker = static_cast<Tracker*>(t);
- ui.tcalib_button->setEnabled(true);
poll_tracker_info();
timer.start();
}
@@ -236,7 +207,6 @@ namespace EasyTracker
void Dialog::unregister_tracker()
{
tracker = nullptr;
- ui.tcalib_button->setEnabled(false);
poll_tracker_info();
timer.stop();
}
diff --git a/tracker-easy/tracker-easy-dialog.h b/tracker-easy/tracker-easy-dialog.h
index 768eaa21..f63ef66f 100644
--- a/tracker-easy/tracker-easy-dialog.h
+++ b/tracker-easy/tracker-easy-dialog.h
@@ -26,12 +26,13 @@ namespace EasyTracker
void register_tracker(ITracker *tracker) override;
void unregister_tracker() override;
void save();
+ private:
+ void UpdateCustomModelControls();
+
public slots:
void doOK();
void doCancel();
- void startstop_trans_calib(bool start);
- void trans_calib_step();
void poll_tracker_info_impl();
void set_camera_settings_available(const QString& camera_name);
void show_camera_settings();
@@ -41,7 +42,7 @@ namespace EasyTracker
Settings s;
Tracker* tracker;
- QTimer timer, calib_timer;
+ QTimer timer;
TranslationCalibrator trans_calib;
QMutex calibrator_mutex;
diff --git a/tracker-easy/tracker-easy-settings.ui b/tracker-easy/tracker-easy-settings.ui
index 9b9c67a8..6690a3e5 100644
--- a/tracker-easy/tracker-easy-settings.ui
+++ b/tracker-easy/tracker-easy-settings.ui
@@ -9,8 +9,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>422</width>
- <height>724</height>
+ <width>465</width>
+ <height>764</height>
</rect>
</property>
<property name="sizePolicy">
@@ -36,71 +36,17 @@
<property name="sizeConstraint">
<enum>QLayout::SetFixedSize</enum>
</property>
- <item row="1" column="0" alignment="Qt::AlignVCenter">
- <widget class="QGroupBox" name="groupBox_5">
+ <item row="8" column="0">
+ <widget class="QDialogButtonBox" name="buttonBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Maximum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
- <property name="title">
- <string>Status</string>
+ <property name="standardButtons">
+ <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
</property>
- <layout class="QGridLayout" name="gridLayout_10">
- <item row="1" column="0">
- <widget class="QLabel" name="label_3">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Extracted Points:</string>
- </property>
- </widget>
- </item>
- <item row="0" column="0">
- <widget class="QLabel" name="label_38">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Camera Info:</string>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QLabel" name="pointinfo_label">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QLabel" name="caminfo_label">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- </layout>
</widget>
</item>
<item row="0" column="0">
@@ -115,7 +61,7 @@
<locale language="English" country="UnitedStates"/>
</property>
<property name="currentIndex">
- <number>1</number>
+ <number>0</number>
</property>
<widget class="QWidget" name="tabTracker">
<attribute name="title">
@@ -387,9 +333,6 @@
<property name="text">
<string>Max size</string>
</property>
- <property name="buddy">
- <cstring>maxdiam_spin</cstring>
- </property>
</widget>
</item>
<item row="0" column="0">
@@ -477,8 +420,8 @@
</item>
</widget>
</item>
- <item row="2" column="1">
- <widget class="QDoubleSpinBox" name="mindiam_spin">
+ <item row="5" column="1">
+ <widget class="QSpinBox" name="spinDeadzone">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Maximum">
<horstretch>0</horstretch>
@@ -486,21 +429,15 @@
</sizepolicy>
</property>
<property name="toolTip">
- <string>Minimum point diameter</string>
+ <string>Size in pixels of half the edge defining deadzone squares around tracked points</string>
</property>
<property name="suffix">
<string> px</string>
</property>
- <property name="decimals">
- <number>1</number>
- </property>
- <property name="singleStep">
- <double>0.100000000000000</double>
- </property>
</widget>
</item>
<item row="3" column="1">
- <widget class="QDoubleSpinBox" name="maxdiam_spin">
+ <widget class="QSpinBox" name="maxdiam_spin">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Maximum">
<horstretch>0</horstretch>
@@ -513,16 +450,10 @@
<property name="suffix">
<string> px</string>
</property>
- <property name="decimals">
- <number>1</number>
- </property>
- <property name="singleStep">
- <double>0.100000000000000</double>
- </property>
</widget>
</item>
- <item row="5" column="1">
- <widget class="QSpinBox" name="spinDeadzone">
+ <item row="2" column="1">
+ <widget class="QSpinBox" name="mindiam_spin">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Maximum">
<horstretch>0</horstretch>
@@ -530,7 +461,7 @@
</sizepolicy>
</property>
<property name="toolTip">
- <string>Size in pixels of half the edge defining deadzone squares around tracked points</string>
+ <string>Minimum point diameter</string>
</property>
<property name="suffix">
<string> px</string>
@@ -871,61 +802,55 @@
</item>
</layout>
</widget>
- <widget class="QWidget" name="tabModelFourPoints">
+ <widget class="QWidget" name="tabModelCustom">
<property name="enabled">
<bool>true</bool>
</property>
<attribute name="title">
- <string>Four</string>
+ <string>Custom</string>
</attribute>
<layout class="QGridLayout" name="gridLayout">
- <item row="0" column="0">
- <widget class="QGroupBox" name="groupBox_7">
+ <item row="1" column="0">
+ <widget class="QGroupBox" name="groupBox">
<property name="title">
- <string>Model vertices</string>
+ <string/>
</property>
- <layout class="QGridLayout" name="gridLayout_5">
- <item row="0" column="6">
- <widget class="QSpinBox" name="iSpinFourTopZ">
- <property name="suffix">
- <string> mm</string>
- </property>
- <property name="minimum">
- <number>-65535</number>
- </property>
- <property name="maximum">
- <number>65535</number>
+ <property name="flat">
+ <bool>false</bool>
+ </property>
+ <layout class="QHBoxLayout" name="horizontalLayout_8">
+ <item>
+ <widget class="QLabel" name="label">
+ <property name="text">
+ <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:12pt;&quot;&gt;X&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
- <item row="0" column="1">
- <widget class="QLabel" name="label_68">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
+ <item>
+ <widget class="QLabel" name="label_6">
<property name="text">
- <string>x:</string>
+ <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:12pt;&quot;&gt;Y&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
- <item row="0" column="3">
- <widget class="QLabel" name="label_76">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
+ <item>
+ <widget class="QLabel" name="label_11">
<property name="text">
- <string>y:</string>
+ <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:12pt;&quot;&gt;Z&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
</item>
- <item row="0" column="2">
- <widget class="QSpinBox" name="iSpinFourTopX">
+ </layout>
+ </widget>
+ </item>
+ <item row="7" column="0">
+ <widget class="QGroupBox" name="iGroupBoxTopRight">
+ <property name="title">
+ <string>Top Right</string>
+ </property>
+ <layout class="QHBoxLayout" name="horizontalLayout_6">
+ <item>
+ <widget class="QSpinBox" name="iSpinVertexTopRightX">
<property name="suffix">
<string> mm</string>
</property>
@@ -937,34 +862,43 @@
</property>
</widget>
</item>
- <item row="0" column="5">
- <widget class="QLabel" name="label_65">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
+ <item>
+ <widget class="QSpinBox" name="iSpinVertexTopRightY">
+ <property name="suffix">
+ <string> mm</string>
</property>
- <property name="text">
- <string>z:</string>
+ <property name="minimum">
+ <number>-65535</number>
+ </property>
+ <property name="maximum">
+ <number>65535</number>
</property>
</widget>
</item>
- <item row="0" column="0">
- <widget class="QLabel" name="label_75">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
+ <item>
+ <widget class="QSpinBox" name="iSpinVertexTopRightZ">
+ <property name="suffix">
+ <string> mm</string>
</property>
- <property name="text">
- <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:16pt;&quot;&gt;Top&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+ <property name="minimum">
+ <number>-65535</number>
+ </property>
+ <property name="maximum">
+ <number>65535</number>
</property>
</widget>
</item>
- <item row="0" column="4">
- <widget class="QSpinBox" name="iSpinFourTopY">
+ </layout>
+ </widget>
+ </item>
+ <item row="8" column="0">
+ <widget class="QGroupBox" name="iGroupBoxTopLeft">
+ <property name="title">
+ <string>Top Left</string>
+ </property>
+ <layout class="QHBoxLayout" name="horizontalLayout_7">
+ <item>
+ <widget class="QSpinBox" name="iSpinVertexTopLeftX">
<property name="suffix">
<string> mm</string>
</property>
@@ -976,8 +910,8 @@
</property>
</widget>
</item>
- <item row="2" column="6">
- <widget class="QSpinBox" name="iSpinFourLeftZ">
+ <item>
+ <widget class="QSpinBox" name="iSpinVertexTopLeftY">
<property name="suffix">
<string> mm</string>
</property>
@@ -989,8 +923,8 @@
</property>
</widget>
</item>
- <item row="2" column="2">
- <widget class="QSpinBox" name="iSpinFourLeftX">
+ <item>
+ <widget class="QSpinBox" name="iSpinVertexTopLeftZ">
<property name="suffix">
<string> mm</string>
</property>
@@ -1002,8 +936,17 @@
</property>
</widget>
</item>
- <item row="2" column="4">
- <widget class="QSpinBox" name="iSpinFourLeftY">
+ </layout>
+ </widget>
+ </item>
+ <item row="5" column="0">
+ <widget class="QGroupBox" name="iGroupBoxLeft">
+ <property name="title">
+ <string>Left</string>
+ </property>
+ <layout class="QHBoxLayout" name="horizontalLayout_4">
+ <item>
+ <widget class="QSpinBox" name="iSpinVertexLeftX">
<property name="suffix">
<string> mm</string>
</property>
@@ -1015,73 +958,76 @@
</property>
</widget>
</item>
- <item row="2" column="0">
- <widget class="QLabel" name="label_74">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
+ <item>
+ <widget class="QSpinBox" name="iSpinVertexLeftY">
+ <property name="suffix">
+ <string> mm</string>
</property>
- <property name="text">
- <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:16pt;&quot;&gt;Left&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+ <property name="minimum">
+ <number>-65535</number>
+ </property>
+ <property name="maximum">
+ <number>65535</number>
</property>
</widget>
</item>
- <item row="2" column="3">
- <widget class="QLabel" name="label_72">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
+ <item>
+ <widget class="QSpinBox" name="iSpinVertexLeftZ">
+ <property name="suffix">
+ <string> mm</string>
</property>
- <property name="text">
- <string>y:</string>
+ <property name="minimum">
+ <number>-65535</number>
+ </property>
+ <property name="maximum">
+ <number>65535</number>
</property>
</widget>
</item>
- <item row="2" column="5">
- <widget class="QLabel" name="label_73">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
+ </layout>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <widget class="QGroupBox" name="groupBoxCustomModelType">
+ <property name="title">
+ <string>Vertex count</string>
+ </property>
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <item>
+ <widget class="QRadioButton" name="iRadioButtonCustomModelThree">
<property name="text">
- <string>z:</string>
+ <string>Three vertices</string>
+ </property>
+ <property name="checked">
+ <bool>true</bool>
</property>
</widget>
</item>
- <item row="2" column="1">
- <widget class="QLabel" name="label_71">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
+ <item>
+ <widget class="QRadioButton" name="iRadioButtonCustomModelFour">
<property name="text">
- <string>x:</string>
+ <string>Four vertices</string>
</property>
</widget>
</item>
- <item row="3" column="0">
- <widget class="QLabel" name="label_60">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
+ <item>
+ <widget class="QRadioButton" name="iRadioButtonCustomModelFive">
<property name="text">
- <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:16pt;&quot;&gt;Right&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+ <string>Five vertices</string>
</property>
</widget>
</item>
- <item row="3" column="2">
- <widget class="QSpinBox" name="iSpinFourRightX">
+ </layout>
+ </widget>
+ </item>
+ <item row="6" column="0">
+ <widget class="QGroupBox" name="iGroupBoxCenter">
+ <property name="title">
+ <string>Center</string>
+ </property>
+ <layout class="QHBoxLayout" name="horizontalLayout_5">
+ <item>
+ <widget class="QSpinBox" name="iSpinVertexCenterX">
<property name="suffix">
<string> mm</string>
</property>
@@ -1093,34 +1039,21 @@
</property>
</widget>
</item>
- <item row="3" column="1">
- <widget class="QLabel" name="label_63">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>x:</string>
+ <item>
+ <widget class="QSpinBox" name="iSpinVertexCenterY">
+ <property name="suffix">
+ <string> mm</string>
</property>
- </widget>
- </item>
- <item row="3" column="3">
- <widget class="QLabel" name="label_58">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
+ <property name="minimum">
+ <number>-65535</number>
</property>
- <property name="text">
- <string>y:</string>
+ <property name="maximum">
+ <number>65535</number>
</property>
</widget>
</item>
- <item row="3" column="4">
- <widget class="QSpinBox" name="iSpinFourRightY">
+ <item>
+ <widget class="QSpinBox" name="iSpinVertexCenterZ">
<property name="suffix">
<string> mm</string>
</property>
@@ -1132,21 +1065,17 @@
</property>
</widget>
</item>
- <item row="3" column="5">
- <widget class="QLabel" name="label_57">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>z:</string>
- </property>
- </widget>
- </item>
- <item row="3" column="6">
- <widget class="QSpinBox" name="iSpinFourRightZ">
+ </layout>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QGroupBox" name="iGroupBoxRight">
+ <property name="title">
+ <string>Right</string>
+ </property>
+ <layout class="QHBoxLayout" name="horizontalLayout_3">
+ <item>
+ <widget class="QSpinBox" name="iSpinVertexRightX">
<property name="suffix">
<string> mm</string>
</property>
@@ -1158,34 +1087,21 @@
</property>
</widget>
</item>
- <item row="5" column="0">
- <widget class="QLabel" name="label_64">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-size:16pt;&quot;&gt;Center&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+ <item>
+ <widget class="QSpinBox" name="iSpinVertexRightY">
+ <property name="suffix">
+ <string> mm</string>
</property>
- </widget>
- </item>
- <item row="5" column="1">
- <widget class="QLabel" name="label_67">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
+ <property name="minimum">
+ <number>-65535</number>
</property>
- <property name="text">
- <string>x:</string>
+ <property name="maximum">
+ <number>65535</number>
</property>
</widget>
</item>
- <item row="5" column="2">
- <widget class="QSpinBox" name="iSpinFourCenterX">
+ <item>
+ <widget class="QSpinBox" name="iSpinVertexRightZ">
<property name="suffix">
<string> mm</string>
</property>
@@ -1197,21 +1113,20 @@
</property>
</widget>
</item>
- <item row="5" column="3">
- <widget class="QLabel" name="label_70">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>y:</string>
- </property>
- </widget>
- </item>
- <item row="5" column="4">
- <widget class="QSpinBox" name="iSpinFourCenterY">
+ </layout>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QGroupBox" name="iGroupBoxTop">
+ <property name="title">
+ <string>Top</string>
+ </property>
+ <layout class="QHBoxLayout" name="horizontalLayout_2">
+ <property name="topMargin">
+ <number>9</number>
+ </property>
+ <item>
+ <widget class="QSpinBox" name="iSpinVertexTopX">
<property name="suffix">
<string> mm</string>
</property>
@@ -1223,21 +1138,21 @@
</property>
</widget>
</item>
- <item row="5" column="5">
- <widget class="QLabel" name="label_69">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
+ <item>
+ <widget class="QSpinBox" name="iSpinVertexTopY">
+ <property name="suffix">
+ <string> mm</string>
</property>
- <property name="text">
- <string>z:</string>
+ <property name="minimum">
+ <number>-65535</number>
+ </property>
+ <property name="maximum">
+ <number>65535</number>
</property>
</widget>
</item>
- <item row="5" column="6">
- <widget class="QSpinBox" name="iSpinFourCenterZ">
+ <item>
+ <widget class="QSpinBox" name="iSpinVertexTopZ">
<property name="suffix">
<string> mm</string>
</property>
@@ -1256,169 +1171,6 @@
</widget>
</widget>
</item>
- <item row="1" column="0">
- <widget class="QGroupBox" name="groupBox_10">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="title">
- <string>Model position</string>
- </property>
- <layout class="QGridLayout" name="gridLayout_4">
- <item row="0" column="0">
- <widget class="QFrame" name="frame_2">
- <property name="frameShape">
- <enum>QFrame::NoFrame</enum>
- </property>
- <property name="frameShadow">
- <enum>QFrame::Raised</enum>
- </property>
- <layout class="QGridLayout" name="gridLayout_11">
- <item row="1" column="1">
- <widget class="QSpinBox" name="ty_spin">
- <property name="suffix">
- <string> mm</string>
- </property>
- <property name="minimum">
- <number>-65535</number>
- </property>
- <property name="maximum">
- <number>65536</number>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QLabel" name="label_66">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>z:</string>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QSpinBox" name="tz_spin">
- <property name="suffix">
- <string> mm</string>
- </property>
- <property name="minimum">
- <number>-65535</number>
- </property>
- <property name="maximum">
- <number>65536</number>
- </property>
- </widget>
- </item>
- <item row="0" column="0">
- <widget class="QLabel" name="label_61">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>x:</string>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QSpinBox" name="tx_spin">
- <property name="suffix">
- <string> mm</string>
- </property>
- <property name="minimum">
- <number>-65535</number>
- </property>
- <property name="maximum">
- <number>65536</number>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_62">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>y:</string>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QFrame" name="frame">
- <property name="frameShape">
- <enum>QFrame::NoFrame</enum>
- </property>
- <property name="frameShadow">
- <enum>QFrame::Raised</enum>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout_2">
- <item>
- <widget class="QLabel" name="label_59">
- <property name="text">
- <string>Use only yaw and pitch while calibrating.
-Don't roll or change position.</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- <property name="wordWrap">
- <bool>true</bool>
- </property>
- <property name="openExternalLinks">
- <bool>false</bool>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="sample_count_display">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string/>
- </property>
- <property name="wordWrap">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="tcalib_button">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="text">
- <string>Start calibration</string>
- </property>
- <property name="checkable">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- </item>
- </layout>
- </widget>
- </item>
</layout>
</widget>
<widget class="QWidget" name="tab_3">
@@ -1456,17 +1208,71 @@ Don't roll or change position.</string>
</widget>
</widget>
</item>
- <item row="2" column="0">
- <widget class="QDialogButtonBox" name="buttonBox">
+ <item row="7" column="0" alignment="Qt::AlignVCenter">
+ <widget class="QGroupBox" name="groupBox_5">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Maximum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
- <property name="standardButtons">
- <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+ <property name="title">
+ <string>Status</string>
</property>
+ <layout class="QGridLayout" name="gridLayout_10">
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_3">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Extracted Points:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_38">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Camera Info:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLabel" name="pointinfo_label">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QLabel" name="caminfo_label">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ </layout>
</widget>
</item>
</layout>
@@ -1487,10 +1293,6 @@ Don't roll or change position.</string>
<tabstop>cap_length_spin</tabstop>
<tabstop>cap_height_spin</tabstop>
<tabstop>cap_width_spin</tabstop>
- <tabstop>tx_spin</tabstop>
- <tabstop>ty_spin</tabstop>
- <tabstop>tz_spin</tabstop>
- <tabstop>tcalib_button</tabstop>
</tabstops>
<resources>
<include location="tracker_easy.qrc"/>
diff --git a/tracker-easy/tracker-easy.cpp b/tracker-easy/tracker-easy.cpp
index adffa33d..68729567 100644
--- a/tracker-easy/tracker-easy.cpp
+++ b/tracker-easy/tracker-easy.cpp
@@ -49,14 +49,35 @@ namespace EasyTracker
//connect(&iSettings.cam_fps, value_::value_changed<int>(), this, &Tracker::SetFps, Qt::DirectConnection);
// 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);
+ connect(&iSettings.DeadzoneRectHalfEdgeSize, value_::value_changed<int>(), this, &Tracker::UpdateSettings, Qt::DirectConnection);
+
+ // Update point extractor whenever some of the settings it needs are changed
+ connect(&iSettings.iMinBlobSize, value_::value_changed<int>(), this, &Tracker::UpdateSettings, Qt::DirectConnection);
+ connect(&iSettings.iMaxBlobSize, value_::value_changed<int>(), this, &Tracker::UpdateSettings, Qt::DirectConnection);
// 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);
+ connect(&iSettings.PnpSolver, value_::value_changed<int>(), this, &Tracker::UpdateSettings, Qt::DirectConnection);
+
+ // Debug
+ connect(&iSettings.debug, value_::value_changed<bool>(), this, &Tracker::UpdateSettings, Qt::DirectConnection);
+
+ // Make sure model is updated whenever it is changed
+ connect(&iSettings.iCustomModelThree, value_::value_changed<bool>(), this, &Tracker::UpdateModel, Qt::DirectConnection);
+ connect(&iSettings.iCustomModelFour, value_::value_changed<bool>(), this, &Tracker::UpdateModel, Qt::DirectConnection);
+ connect(&iSettings.iCustomModelFive, value_::value_changed<bool>(), this, &Tracker::UpdateModel, Qt::DirectConnection);
+
+ // Update model logic
+ #define UM(v) connect(&iSettings.v, value_::value_changed<int>(), this, &Tracker::UpdateModel, Qt::DirectConnection)
+ UM(iVertexTopX); UM(iVertexTopY); UM(iVertexTopZ);
+ UM(iVertexTopRightX); UM(iVertexTopRightY); UM(iVertexTopRightZ);
+ UM(iVertexTopLeftX); UM(iVertexTopLeftY); UM(iVertexTopLeftZ);
+ UM(iVertexRightX); UM(iVertexRightY); UM(iVertexRightZ);
+ UM(iVertexLeftX); UM(iVertexLeftY); UM(iVertexLeftZ);
+ UM(iVertexCenterX); UM(iVertexCenterY); UM(iVertexCenterZ);
+
+ UpdateModel();
- CreateModelFromSettings();
+ UpdateSettings();
}
Tracker::~Tracker()
@@ -94,20 +115,29 @@ namespace EasyTracker
}
///
- void Tracker::CreateModelFromSettings()
+ void Tracker::UpdateModel()
{
+ infout << std::chrono::system_clock::now().time_since_epoch().count() << ": Update model\n";
+
+ QMutexLocker lock(&iProcessLock);
// Construct the points defining the object we want to detect based on settings.
// We are converting them from millimeters to centimeters.
// TODO: Need to support clip too. That's cap only for now.
iModel.clear();
- if (iSettings.active_model_panel == FourPoints)
- {
- iModel.push_back(cv::Point3f(iSettings.iFourPointsTopX / 10.0, iSettings.iFourPointsTopY / 10.0, iSettings.iFourPointsTopZ / 10.0)); // Top
- iModel.push_back(cv::Point3f(iSettings.iFourPointsRightX / 10.0, iSettings.iFourPointsRightY / 10.0, iSettings.iFourPointsRightZ / 10.0)); // Right
- iModel.push_back(cv::Point3f(iSettings.iFourPointsLeftX / 10.0, iSettings.iFourPointsLeftY / 10.0, iSettings.iFourPointsLeftZ / 10.0)); // Left
- iModel.push_back(cv::Point3f(iSettings.iFourPointsCenterX / 10.0, iSettings.iFourPointsCenterY / 10.0, iSettings.iFourPointsCenterZ / 10.0)); // Center
+ if (iSettings.active_model_panel == Custom)
+ {
+ iModel.push_back(cv::Point3f(iSettings.iVertexTopX / 10.0, iSettings.iVertexTopY / 10.0, iSettings.iVertexTopZ / 10.0)); // Top
+ iModel.push_back(cv::Point3f(iSettings.iVertexRightX / 10.0, iSettings.iVertexRightY / 10.0, iSettings.iVertexRightZ / 10.0)); // Right
+ iModel.push_back(cv::Point3f(iSettings.iVertexLeftX / 10.0, iSettings.iVertexLeftY / 10.0, iSettings.iVertexLeftZ / 10.0)); // Left
+
+ if (iSettings.iCustomModelFour)
+ {
+ iModel.push_back(cv::Point3f(iSettings.iVertexCenterX / 10.0, iSettings.iVertexCenterY / 10.0, iSettings.iVertexCenterZ / 10.0)); // Center
+ }
+
}
- else if (iSettings.active_model_panel == Cap)
+ // Default to Cap for now
+ else //if (iSettings.active_model_panel == Cap)
{
iModel.push_back(cv::Point3f(0, 0, 0)); // Top
iModel.push_back(cv::Point3f(iSettings.cap_x / 10.0, iSettings.cap_z / 10.0, -iSettings.cap_y / 10.0)); // Right
@@ -140,11 +170,15 @@ namespace EasyTracker
iDistCoeffsMatrix.at<double>(7, 0) = iCameraInfo.radialDistortionSixthOrder; // Radial sixth order
}
+
+ const int KMinVertexCount = 3;
///
///
///
void Tracker::ProcessFrame()
{
+ QMutexLocker l(&iProcessLock);
+
// Create OpenCV matrix from our frame
// TODO: Assert channel size is one or two
iMatFrame = cv::Mat(iFrame.height, iFrame.width, CV_MAKETYPE((iFrame.channelSize == 2 ? CV_16U : CV_8U), iFrame.channels), iFrame.data, iFrame.stride);
@@ -159,207 +193,204 @@ namespace EasyTracker
iPoints.clear();
iPointExtractor.ExtractPoints(iMatFrame, (doPreview ? &iPreview.iFrameRgb : nullptr), iModel.size(), iPoints);
- const bool success = iPoints.size() >= iModel.size();
+ const bool success = iPoints.size() >= iModel.size() && iModel.size() >= KMinVertexCount;
int topPointIndex = -1;
int rightPointIndex = -1;
int leftPointIndex = -1;
int centerPointIndex = -1;
- {
- QMutexLocker l(&iProcessLock);
- if (success)
+
+ if (success)
+ {
+ //Bitmap origin is top left
+ iTrackedPoints.clear();
+ // Tracked points must match the order of the object model points.
+ // Find top most point, that's the one with min Y as we assume our guy's head is not up side down
+ int minY = std::numeric_limits<int>::max();
+ for (int i = 0; i < iPoints.size(); i++)
{
- //Bitmap origin is top left
- iTrackedPoints.clear();
- // Tracked points must match the order of the object model points.
- // Find top most point, that's the one with min Y as we assume our guy's head is not up side down
- int minY = std::numeric_limits<int>::max();
- for (int i = 0; i < iPoints.size(); i++)
+ if (iPoints[i].y < minY)
{
- if (iPoints[i].y < minY)
- {
- minY = iPoints[i].y;
- topPointIndex = i;
- }
+ minY = iPoints[i].y;
+ topPointIndex = i;
}
+ }
- int maxX = 0;
+ int maxX = 0;
- // Find right most point
- for (int i = 0; i < iPoints.size(); i++)
+ // Find right most point
+ for (int i = 0; i < iPoints.size(); i++)
+ {
+ // Excluding top most point
+ if (i != topPointIndex && iPoints[i].x > maxX)
{
- // Excluding top most point
- if (i != topPointIndex && iPoints[i].x > maxX)
- {
- maxX = iPoints[i].x;
- rightPointIndex = i;
- }
+ maxX = iPoints[i].x;
+ rightPointIndex = i;
}
+ }
- // Find left most point
-
- int minX = std::numeric_limits<int>::max();;
- for (int i = 0; i < iPoints.size(); i++)
+ // Find left most point
+ int minX = std::numeric_limits<int>::max();
+ for (int i = 0; i < iPoints.size(); i++)
+ {
+ // Excluding top most point and right most point
+ if (i != topPointIndex && i != rightPointIndex && iPoints[i].x < minX)
{
- // Excluding top most point and right most point
- if (i != topPointIndex && i != rightPointIndex && iPoints[i].x < minX)
- {
- leftPointIndex = i;
- minX = iPoints[i].x;
- }
+ leftPointIndex = i;
+ minX = iPoints[i].x;
}
+ }
- // Find center point, the last one
- for (int i = 0; i < iPoints.size(); i++)
+ // Find center point, the last one
+ for (int i = 0; i < iPoints.size(); i++)
+ {
+ // Excluding the three points we already have
+ if (i != topPointIndex && i != rightPointIndex && i != leftPointIndex)
{
- // Excluding the three points we already have
- if (i != topPointIndex && i != rightPointIndex && i != leftPointIndex)
- {
- centerPointIndex = i;
- }
+ centerPointIndex = i;
}
+ }
+
+ // Order matters
+ iTrackedPoints.push_back(iPoints[topPointIndex]);
+ iTrackedPoints.push_back(iPoints[rightPointIndex]);
+ iTrackedPoints.push_back(iPoints[leftPointIndex]);
+ if (iModel.size() > iTrackedPoints.size())
+ {
+ // We are tracking more than 3 points
+ iTrackedPoints.push_back(iPoints[centerPointIndex]);
+ }
+
- // Order matters
- iTrackedPoints.push_back(iPoints[topPointIndex]);
- iTrackedPoints.push_back(iPoints[rightPointIndex]);
- iTrackedPoints.push_back(iPoints[leftPointIndex]);
- if (iModel.size() > iTrackedPoints.size())
+ bool movedEnough = true;
+ // Check if we moved enough since last time we were here
+ // This is our deadzone management
+ if (iDeadzoneHalfEdge != 0 // Check if deazones are enabled
+ && iTrackedRects.size() == iTrackedPoints.size())
+ {
+ movedEnough = false;
+ for (size_t i = 0; i < iTrackedPoints.size(); i++)
{
- // We are tracking more than 3 points
- iTrackedPoints.push_back(iPoints[centerPointIndex]);
+ if (!iTrackedRects[i].contains(iTrackedPoints[i]))
+ {
+ movedEnough = true;
+ break;
+ }
}
-
+ }
- bool movedEnough = true;
- // Check if we moved enough since last time we were here
- // This is our deadzone management
- if (iSettings.DeadzoneRectHalfEdgeSize != 0 // Check if deazones are enabled
- && iTrackedRects.size() == iTrackedPoints.size())
+ if (!movedEnough)
+ {
+ // We are in a dead zone
+ // However we still have tracking so make sure we don't auto center
+ QMutexLocker lock(&iDataLock);
+ iBestTime.start();
+ }
+ else
+ {
+ // Build deadzone rectangles if needed
+ iTrackedRects.clear();
+ if (iDeadzoneHalfEdge != 0) // Check if deazones are enabled
{
- movedEnough = false;
- for (size_t i = 0; i < iTrackedPoints.size(); i++)
+ for (const cv::Point& pt : iTrackedPoints)
{
- if (!iTrackedRects[i].contains(iTrackedPoints[i]))
- {
- movedEnough = true;
- break;
- }
+ cv::Rect rect(pt - cv::Point(iDeadzoneHalfEdge, iDeadzoneHalfEdge), cv::Size(iDeadzoneEdge, iDeadzoneEdge));
+ iTrackedRects.push_back(rect);
}
}
- if (!movedEnough)
+ dbgout << "Object: " << iModel << "\n";
+ dbgout << "Points: " << iTrackedPoints << "\n";
+
+ iAngles.clear();
+ iBestSolutionIndex = -1;
+ // Solve P3P problem with OpenCV
+ int solutionCount = 0;
+ if (iModel.size() == 3)
{
- // We are in a dead zone
- // However we still have tracking so make sure we don't auto center
- QMutexLocker lock(&iDataLock);
- iBestTime.start();
+ solutionCount = cv::solveP3P(iModel, iTrackedPoints, iCameraMatrix, iDistCoeffsMatrix, iRotations, iTranslations, iSolver);
}
else
{
- // Build deadzone rectangles if needed
- iTrackedRects.clear();
- if (iSettings.DeadzoneRectHalfEdgeSize != 0) // Check if deazones are enabled
+ //Guess extrinsic boolean is only for ITERATIVE method, it will be set to false for all other method
+ cv::Mat rotation, translation;
+ // Init only needed for iterative, it's also useless as it is
+ rotation = cv::Mat::zeros(3, 1, CV_64FC1);
+ translation = cv::Mat::zeros(3, 1, CV_64FC1);
+ rotation.setTo(cv::Scalar(0));
+ translation.setTo(cv::Scalar(0));
+ /////
+ iRotations.clear();
+ iTranslations.clear();
+ bool solved = cv::solvePnP(iModel, iTrackedPoints, iCameraMatrix, iDistCoeffsMatrix, rotation, translation, true, iSolver );
+ if (solved)
{
- for (const cv::Point& pt : iTrackedPoints)
- {
- cv::Rect rect(pt - cv::Point(iDeadzoneHalfEdge, iDeadzoneHalfEdge), cv::Size(iDeadzoneEdge, iDeadzoneEdge));
- iTrackedRects.push_back(rect);
- }
+ solutionCount = 1;
+ iRotations.push_back(rotation);
+ iTranslations.push_back(translation);
}
+ }
- dbgout << "Object: " << iModel << "\n";
- dbgout << "Points: " << iTrackedPoints << "\n";
+ // Reset best solution index
+ iBestSolutionIndex = -1;
- iAngles.clear();
- iBestSolutionIndex = -1;
- // Solve P3P problem with OpenCV
- int solutionCount = 0;
- if (iModel.size() == 3)
- {
- solutionCount = cv::solveP3P(iModel, iTrackedPoints, iCameraMatrix, iDistCoeffsMatrix, iRotations, iTranslations, iSolver);
- }
- else
+ if (solutionCount > 0)
+ {
+ dbgout << "Solution count: " << solutionCount << "\n";
+ int minPitch = std::numeric_limits<int>::max();
+ // Find the solution we want amongst all possible ones
+ for (int i = 0; i < solutionCount; i++)
{
- //Guess extrinsic boolean is only for ITERATIVE method, it will be set to false for all other method
- cv::Mat rotation, translation;
- // Init only needed for iterative, it's also useless as it is
- rotation = cv::Mat::zeros(3, 1, CV_64FC1);
- translation = cv::Mat::zeros(3, 1, CV_64FC1);
- rotation.setTo(cv::Scalar(0));
- translation.setTo(cv::Scalar(0));
- /////
- iRotations.clear();
- iTranslations.clear();
- bool solved = cv::solvePnP(iModel, iTrackedPoints, iCameraMatrix, iDistCoeffsMatrix, rotation, translation, true, iSolver );
- if (solved)
+ dbgout << "Translation:\n";
+ dbgout << iTranslations.at(i);
+ dbgout << "\n";
+ dbgout << "Rotation:\n";
+ //dbgout << rvecs.at(i);
+ cv::Mat rotationCameraMatrix;
+ cv::Rodrigues(iRotations[i], rotationCameraMatrix);
+ cv::Vec3d angles;
+ getEulerAngles(rotationCameraMatrix, angles);
+ iAngles.push_back(angles);
+
+ // Check if pitch is closest to zero
+ int absolutePitch = std::abs(angles[0]);
+ if (minPitch > absolutePitch)
{
- solutionCount = 1;
- iRotations.push_back(rotation);
- iTranslations.push_back(translation);
+ // The solution with pitch closest to zero is the one we want
+ minPitch = absolutePitch;
+ iBestSolutionIndex = i;
}
+
+ dbgout << angles;
+ dbgout << "\n";
}
- // Reset best solution index
- iBestSolutionIndex = -1;
+ dbgout << "\n";
+ }
- if (solutionCount > 0)
- {
- dbgout << "Solution count: " << solutionCount << "\n";
- int minPitch = std::numeric_limits<int>::max();
- // Find the solution we want amongst all possible ones
- for (int i = 0; i < solutionCount; i++)
- {
- dbgout << "Translation:\n";
- dbgout << iTranslations.at(i);
- dbgout << "\n";
- dbgout << "Rotation:\n";
- //dbgout << rvecs.at(i);
- cv::Mat rotationCameraMatrix;
- cv::Rodrigues(iRotations[i], rotationCameraMatrix);
- cv::Vec3d angles;
- getEulerAngles(rotationCameraMatrix, angles);
- iAngles.push_back(angles);
-
- // Check if pitch is closest to zero
- int absolutePitch = std::abs(angles[0]);
- if (minPitch > absolutePitch)
- {
- // The solution with pitch closest to zero is the one we want
- minPitch = absolutePitch;
- iBestSolutionIndex = i;
- }
-
- dbgout << angles;
- dbgout << "\n";
- }
+ if (iBestSolutionIndex != -1)
+ {
+ // Best translation
+ cv::Vec3d translation = iTranslations[iBestSolutionIndex];
+ // Best angles
+ cv::Vec3d angles = iAngles[iBestSolutionIndex];
- dbgout << "\n";
- }
+ // Pass solution through our kalman filter
+ iKf.Update(translation[0], translation[1], translation[2], angles[2], angles[0], angles[1]);
- if (iBestSolutionIndex != -1)
- {
- // Best translation
- cv::Vec3d translation = iTranslations[iBestSolutionIndex];
- // Best angles
- cv::Vec3d angles = iAngles[iBestSolutionIndex];
-
- // Pass solution through our kalman filter
- iKf.Update(translation[0], translation[1], translation[2], angles[2], angles[0], angles[1]);
-
- // We succeded in finding a solution to our PNP problem
- ever_success.store(true, std::memory_order_relaxed);
-
- // Send solution data back to main thread
- QMutexLocker l2(&iDataLock);
- iBestAngles = angles;
- iBestTranslation = translation;
- iBestTime.start();
- }
+ // We succeded in finding a solution to our PNP problem
+ ever_success.store(true, std::memory_order_relaxed);
+
+ // Send solution data back to main thread
+ QMutexLocker l2(&iDataLock);
+ iBestAngles = angles;
+ iBestTranslation = translation;
+ iBestTime.start();
}
- }
+ }
}
if (doPreview)
@@ -403,7 +434,7 @@ namespace EasyTracker
}
// Show full size preview pop-up
- if (iSettings.debug)
+ if (iDebug)
{
cv::imshow("Preview", iPreview.iFrameRgb);
cv::waitKey(1);
@@ -423,7 +454,7 @@ namespace EasyTracker
else
{
// No preview, destroy preview pop-up
- if (iSettings.debug)
+ if (iDebug)
{
cv::destroyWindow("Preview");
}
@@ -525,23 +556,21 @@ namespace EasyTracker
iKf.Init(18, 6, 0, dt);
}
- void Tracker::UpdateDeadzones(int aHalfEdgeSize)
+ ///
+ /// Take a copy of the settings needed by our thread to avoid deadlocks
+ ///
+ void Tracker::UpdateSettings()
{
+ infout << std::chrono::system_clock::now().time_since_epoch().count() << ": Update Setting\n";
QMutexLocker l(&iProcessLock);
- iDeadzoneHalfEdge = aHalfEdgeSize;
+ iPointExtractor.UpdateSettings();
+ iSolver = iSettings.PnpSolver;
+ iDeadzoneHalfEdge = iSettings.DeadzoneRectHalfEdgeSize;
iDeadzoneEdge = iDeadzoneHalfEdge * 2;
iTrackedRects.clear();
+ iDebug = iSettings.debug;
}
-
- void Tracker::UpdateSolver(int aSolver)
- {
- QMutexLocker l(&iProcessLock);
- iSolver = aSolver;
- }
-
-
-
module_status Tracker::start_tracker(QFrame* video_frame)
{
// Check that we support that solver
@@ -599,7 +628,7 @@ namespace EasyTracker
// Get data back from tracker thread
QMutexLocker l(&iDataLock);
// If there was no new data recently then we provide center data.
- // Basically if our user remove her hat we will go back to center position until she puts it back on.
+ // Basically, if our user remove her hat, we will go back to center position until she puts it back on.
if (iBestTime.elapsed_seconds() > 1)
{
// Reset to center until we get new data
diff --git a/tracker-easy/tracker-easy.h b/tracker-easy/tracker-easy.h
index 65b777bf..f36ea598 100644
--- a/tracker-easy/tracker-easy.h
+++ b/tracker-easy/tracker-easy.h
@@ -38,7 +38,7 @@ namespace EasyTracker
{
Clip,
Cap,
- FourPoints
+ Custom
};
static const QString KModuleName = "tracker-easy";
@@ -66,7 +66,7 @@ namespace EasyTracker
private:
- void CreateModelFromSettings();
+ void UpdateModel();
void CreateCameraIntrinsicsMatrices();
void ProcessFrame();
@@ -76,8 +76,7 @@ namespace EasyTracker
void set_fov(int value);
void SetFps(int aFps);
void DoSetFps(int aFps);
- void UpdateDeadzones(int aHalfEdgeSize);
- void UpdateSolver(int aSolver);
+ void UpdateSettings();
QMutex camera_mtx;
QThread iThread;
@@ -103,12 +102,14 @@ namespace EasyTracker
std::atomic<bool> ever_success = false;
mutable QMutex iProcessLock, iDataLock;
+ //// Copy the settings need by our thread to avoid dead locks
// Deadzone
int iDeadzoneEdge=0;
int iDeadzoneHalfEdge=0;
-
// Solver
int iSolver = cv::SOLVEPNP_P3P;
+ bool iDebug = false;
+ ////
// Statistics
Timer iTimer;