Easy Tracker: Auto center configurable from settings.easy-tracker-more-models

8 files changed, 213 insertions, 59 deletions

diff --git a/tracker-easy/lang/nl_NL.ts b/tracker-easy/lang/nl_NL.ts
index fe73b271..9c4e1843 100644
--- a/tracker-easy/lang/nl_NL.ts
+++ b/tracker-easy/lang/nl_NL.ts
@@ -206,5 +206,25 @@
         <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 1.0&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>Auto center</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Use P3P or AP3P for three and four points setup. Use EPNP or ITERATIVE for five points setup. Inconsistent configuration will result in undefined behavior.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto center timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If no valid pose can be determined after that much time the center pose will be used.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> ms</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 022acd68..6499415f 100644
--- a/tracker-easy/lang/ru_RU.ts
+++ b/tracker-easy/lang/ru_RU.ts
@@ -206,5 +206,25 @@
         <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 1.0&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>Auto center</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Use P3P or AP3P for three and four points setup. Use EPNP or ITERATIVE for five points setup. Inconsistent configuration will result in undefined behavior.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto center timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If no valid pose can be determined after that much time the center pose will be used.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> ms</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 </TS>
diff --git a/tracker-easy/lang/stub.ts b/tracker-easy/lang/stub.ts
index 60c84d35..7b6facec 100644
--- a/tracker-easy/lang/stub.ts
+++ b/tracker-easy/lang/stub.ts
@@ -206,5 +206,25 @@
         <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 1.0&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>Auto center</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Use P3P or AP3P for three and four points setup. Use EPNP or ITERATIVE for five points setup. Inconsistent configuration will result in undefined behavior.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto center timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If no valid pose can be determined after that much time the center pose will be used.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> ms</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 ee89b5b6..bbd8aff1 100644
--- a/tracker-easy/lang/zh_CN.ts
+++ b/tracker-easy/lang/zh_CN.ts
@@ -206,5 +206,25 @@
         <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 1.0&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>Auto center</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Use P3P or AP3P for three and four points setup. Use EPNP or ITERATIVE for five points setup. Inconsistent configuration will result in undefined behavior.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Auto center timeout</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>If no valid pose can be determined after that much time the center pose will be used.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> ms</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 </TS>
diff --git a/tracker-easy/settings.h b/tracker-easy/settings.h
index 5a4dff84..b0f14417 100644
--- a/tracker-easy/settings.h
+++ b/tracker-easy/settings.h
@@ -44,6 +44,8 @@ namespace EasyTracker {
         value<int> fov{ b, "camera-fov", 56 };
 
         value<bool> debug{ b, "debug", false };
+        value<bool> iAutoCenter{ b, "iAutoCenter", true };
+        value<int> iAutoCenterTimeout{ b, "iAutoCenterTimeout", 1000 };
 
 
         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 d1aafee1..8c8356d1 100644
--- a/tracker-easy/tracker-easy-dialog.cpp
+++ b/tracker-easy/tracker-easy-dialog.cpp
@@ -72,6 +72,9 @@ namespace EasyTracker
 
         tie_setting(s.debug, ui.debug);
 
+        tie_setting(s.iAutoCenter, ui.iCheckBoxAutoCenter);
+        tie_setting(s.iAutoCenterTimeout, ui.iSpinBoxAutoCenterTimeout);
+
 
         connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
         connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
diff --git a/tracker-easy/tracker-easy-settings.ui b/tracker-easy/tracker-easy-settings.ui
index c6c3fbd7..451b3e54 100644
--- a/tracker-easy/tracker-easy-settings.ui
+++ b/tracker-easy/tracker-easy-settings.ui
@@ -61,7 +61,7 @@
       <locale language="English" country="UnitedStates"/>
      </property>
      <property name="currentIndex">
-      <number>2</number>
+      <number>0</number>
      </property>
      <widget class="QWidget" name="tabTracker">
       <attribute name="title">
@@ -289,8 +289,21 @@
          <property name="title">
           <string>Settings</string>
          </property>
-         <layout class="QGridLayout" name="gridLayout_7">
-          <item row="2" column="0">
+         <layout class="QGridLayout" name="gridLayout">
+          <item row="1" column="0">
+           <widget class="QLabel" name="label_5">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="text">
+             <string>Debug (full size preview)</string>
+            </property>
+           </widget>
+          </item>
+          <item row="5" column="0">
            <widget class="QLabel" name="label_7">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
@@ -306,24 +319,24 @@
             </property>
            </widget>
           </item>
-          <item row="5" column="0">
-           <widget class="QLabel" name="labelDeadzone">
+          <item row="5" column="2">
+           <widget class="QSpinBox" name="mindiam_spin">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
             </property>
-            <property name="text">
-             <string>Deadzone</string>
+            <property name="toolTip">
+             <string>Minimum point diameter</string>
             </property>
-            <property name="buddy">
-             <cstring>maxdiam_spin</cstring>
+            <property name="suffix">
+             <string> px</string>
             </property>
            </widget>
           </item>
-          <item row="3" column="0">
-           <widget class="QLabel" name="label_8">
+          <item row="2" column="2">
+           <widget class="QCheckBox" name="iCheckBoxAutoCenter">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
               <horstretch>0</horstretch>
@@ -331,12 +344,25 @@
              </sizepolicy>
             </property>
             <property name="text">
-             <string>Max size</string>
+             <string/>
             </property>
            </widget>
           </item>
-          <item row="0" column="0">
-           <widget class="QLabel" name="label_5">
+          <item row="1" column="2">
+           <widget class="QCheckBox" name="debug">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="text">
+             <string/>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <widget class="QLabel" name="label_13">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
               <horstretch>0</horstretch>
@@ -344,12 +370,12 @@
              </sizepolicy>
             </property>
             <property name="text">
-             <string>Debug (full size preview)</string>
+             <string>Auto center</string>
             </property>
            </widget>
           </item>
-          <item row="0" column="1">
-           <widget class="QCheckBox" name="debug">
+          <item row="6" column="0">
+           <widget class="QLabel" name="label_8">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
               <horstretch>0</horstretch>
@@ -357,11 +383,27 @@
              </sizepolicy>
             </property>
             <property name="text">
-             <string/>
+             <string>Max size</string>
             </property>
            </widget>
           </item>
-          <item row="1" column="0">
+          <item row="7" column="2">
+           <widget class="QSpinBox" name="spinDeadzone">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="toolTip">
+             <string>Size in pixels of half the edge defining deadzone squares around tracked points</string>
+            </property>
+            <property name="suffix">
+             <string> px</string>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="0">
            <widget class="QLabel" name="label_12">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
@@ -369,12 +411,15 @@
               <verstretch>0</verstretch>
              </sizepolicy>
             </property>
+            <property name="toolTip">
+             <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Use P3P or AP3P for three and four points setup. Use EPNP or ITERATIVE for five points setup. Inconsistent configuration will result in undefined behavior.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+            </property>
             <property name="text">
              <string>Perspective-N-Point solver</string>
             </property>
            </widget>
           </item>
-          <item row="1" column="1">
+          <item row="4" column="2">
            <widget class="QComboBox" name="comboBoxSolvers">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
@@ -420,23 +465,23 @@
             </item>
            </widget>
           </item>
-          <item row="5" column="1">
-           <widget class="QSpinBox" name="spinDeadzone">
+          <item row="7" column="0">
+           <widget class="QLabel" name="labelDeadzone">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
             </property>
-            <property name="toolTip">
-             <string>Size in pixels of half the edge defining deadzone squares around tracked points</string>
+            <property name="text">
+             <string>Deadzone</string>
             </property>
-            <property name="suffix">
-             <string> px</string>
+            <property name="buddy">
+             <cstring>maxdiam_spin</cstring>
             </property>
            </widget>
           </item>
-          <item row="3" column="1">
+          <item row="6" column="2">
            <widget class="QSpinBox" name="maxdiam_spin">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
@@ -452,8 +497,24 @@
             </property>
            </widget>
           </item>
-          <item row="2" column="1">
-           <widget class="QSpinBox" name="mindiam_spin">
+          <item row="3" column="0">
+           <widget class="QLabel" name="label_14">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="text">
+             <string>Auto center timeout</string>
+            </property>
+            <property name="buddy">
+             <cstring>mindiam_spin</cstring>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="2">
+           <widget class="QSpinBox" name="iSpinBoxAutoCenterTimeout">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
               <horstretch>0</horstretch>
@@ -461,10 +522,16 @@
              </sizepolicy>
             </property>
             <property name="toolTip">
-             <string>Minimum point diameter</string>
+             <string>If no valid pose can be determined after that much time the center pose will be used.</string>
             </property>
             <property name="suffix">
-             <string> px</string>
+             <string> ms</string>
+            </property>
+            <property name="maximum">
+             <number>3600000</number>
+            </property>
+            <property name="singleStep">
+             <number>500</number>
             </property>
            </widget>
           </item>
diff --git a/tracker-easy/tracker-easy.cpp b/tracker-easy/tracker-easy.cpp
index 1bb6b5e1..e13bdf37 100644
--- a/tracker-easy/tracker-easy.cpp
+++ b/tracker-easy/tracker-easy.cpp
@@ -118,33 +118,6 @@ namespace EasyTracker
     }
 
     ///
-    /// Create our model from settings specifications
-    ///
-    void Tracker::UpdateModel()
-    {
-        infout << "Update model";
-
-        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();
-        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.iCustomModelFive)
-        {
-            iModel.push_back(cv::Point3f(iSettings.iVertexTopRightX / 10.0, iSettings.iVertexTopRightY / 10.0, iSettings.iVertexTopRightZ / 10.0)); // Top Right
-            iModel.push_back(cv::Point3f(iSettings.iVertexTopLeftX / 10.0, iSettings.iVertexTopLeftY / 10.0, iSettings.iVertexTopLeftZ / 10.0)); // Top Left
-        }
-    }
-
-    ///
     void Tracker::CreateCameraIntrinsicsMatrices()
     {
         // Create our camera matrix                
@@ -700,6 +673,34 @@ namespace EasyTracker
         iKf.Init(18, 6, 0, dt);
     }
 
+
+    ///
+    /// Create our model from settings specifications
+    ///
+    void Tracker::UpdateModel()
+    {
+        infout << "Update model";
+
+        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();
+        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.iCustomModelFive)
+        {
+            iModel.push_back(cv::Point3f(iSettings.iVertexTopRightX / 10.0, iSettings.iVertexTopRightY / 10.0, iSettings.iVertexTopRightZ / 10.0)); // Top Right
+            iModel.push_back(cv::Point3f(iSettings.iVertexTopLeftX / 10.0, iSettings.iVertexTopLeftY / 10.0, iSettings.iVertexTopLeftZ / 10.0)); // Top Left
+        }
+    }
+
     ///
     /// Take a copy of the settings needed by our thread to avoid deadlocks
     ///
@@ -715,6 +716,7 @@ namespace EasyTracker
         iDebug = iSettings.debug;
     }
 
+    ///
     module_status Tracker::start_tracker(QFrame* video_frame)
     {
         // Check that we support that solver
@@ -773,7 +775,7 @@ namespace EasyTracker
             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.
-            if (iBestTime.elapsed_seconds() > 1)
+            if (iSettings.iAutoCenter && iBestTime.elapsed_ms() > iSettings.iAutoCenterTimeout)
             {
                 // Reset to center until we get new data
                 FeedData(aData, iCenterAngles, iCenterTranslation);