cv: move calibrator and video widget to cv module

Adjust usages in PT and Aruco trackers.

7 files changed, 6 insertions, 193 deletions

diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index 49159ac8..429a0305 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -89,7 +89,7 @@ void Tracker_PT::run()
 
     while((commands & ABORT) == 0)
     {
-        const double dt = time.elapsed() * 1e-9;
+        const double dt = time.elapsed_seconds();
         time.start();
         bool new_frame;
 
@@ -204,7 +204,7 @@ void Tracker_PT::start_tracker(QFrame *parent_window)
     video_frame = parent_window;
     video_frame->setAttribute(Qt::WA_NativeWindow);
     video_frame->show();
-    video_widget = new PTVideoWidget(video_frame);
+    video_widget = new cv_video_widget(video_frame);
     QHBoxLayout* video_layout = new QHBoxLayout(parent_window);
     video_layout->setContentsMargins(0, 0, 0, 0);
     video_layout->addWidget(video_widget);
diff --git a/tracker-pt/ftnoir_tracker_pt.h b/tracker-pt/ftnoir_tracker_pt.h
index 393f8e76..f515715e 100644
--- a/tracker-pt/ftnoir_tracker_pt.h
+++ b/tracker-pt/ftnoir_tracker_pt.h
@@ -14,9 +14,9 @@
 #include "camera.h"
 #include "point_extractor.h"
 #include "point_tracker.h"
-#include "pt_video_widget.h"
 #include "opentrack-compat/timer.hpp"
 #include "cv/camera-dialog.hpp"
+#include "cv/video-widget.hpp"
 #include "opentrack-compat/pi-constant.hpp"
 
 #include <QThread>
@@ -68,7 +68,7 @@ private:
     PointExtractor point_extractor;
     PointTracker   point_tracker;
 
-    PTVideoWidget* video_widget;
+    cv_video_widget* video_widget;
     QFrame*      video_frame;
 
     settings_pt s;
diff --git a/tracker-pt/ftnoir_tracker_pt_dialog.h b/tracker-pt/ftnoir_tracker_pt_dialog.h
index 87501b28..d2647a94 100644
--- a/tracker-pt/ftnoir_tracker_pt_dialog.h
+++ b/tracker-pt/ftnoir_tracker_pt_dialog.h
@@ -11,10 +11,10 @@
 #include "opentrack/plugin-api.hpp"
 #include "ftnoir_tracker_pt_settings.h"
 #include "ftnoir_tracker_pt.h"
-#include "trans_calib.h"
-#include "pt_video_widget.h"
 #include "ui_FTNoIR_PT_Controls.h"
 #include "cv/camera-dialog.hpp"
+#include "cv/translation-calibrator.hpp"
+#include "cv/video-widget.hpp"
 
 #include <QTimer>
 
diff --git a/tracker-pt/pt_video_widget.cpp b/tracker-pt/pt_video_widget.cpp
deleted file mode 100644
index 54bc9acd..00000000
--- a/tracker-pt/pt_video_widget.cpp
+++ /dev/null
@@ -1,71 +0,0 @@
-/* Copyright (c) 2012 Patrick Ruoff
- * Copyright (c) 2014-2016 Stanislaw Halik <sthalik@misaki.pl>
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- */
-
-#include "pt_video_widget.h"
-#include <opencv2/imgproc.hpp>
-
-#include "opentrack/is-window-visible.hpp"
-
-PTVideoWidget::PTVideoWidget(QWidget* parent) :
-    QWidget(parent),
-    freshp(false),
-    visible(true)
-{
-    connect(&timer, SIGNAL(timeout()), this, SLOT(update_and_repaint()));
-    timer.start(50);
-}
-
-void PTVideoWidget::update_image(const cv::Mat& frame)
-{
-    QMutexLocker foo(&mtx);
-
-    if (!freshp)
-    {
-        if (_frame.cols != frame.cols || _frame.rows != frame.rows)
-        {
-            _frame = cv::Mat(frame.rows, frame.cols, CV_8U);
-            _frame2 = cv::Mat(frame.rows, frame.cols, CV_8U);
-        }
-        frame.copyTo(_frame);
-        freshp = true;
-    }
-}
-
-void PTVideoWidget::paintEvent(QPaintEvent*)
-{
-    QMutexLocker foo(&mtx);
-    QPainter painter(this);
-    painter.drawImage(rect(), texture);
-}
-
-void PTVideoWidget::update_and_repaint()
-{
-    QMutexLocker l(&mtx);
-
-    if (window_check_timer.elapsed_ms() > 250)
-    {
-        visible = is_window_visible(this);
-        window_check_timer.start();
-    }
-
-    if (visible)
-    {
-        if (_frame.empty() || !freshp)
-            return;
-        cv::cvtColor(_frame, _frame2, cv::COLOR_RGB2BGR);
-
-        if (_frame3.cols != width() || _frame3.rows != height())
-            _frame3 = cv::Mat(height(), width(), CV_8U);
-
-        cv::resize(_frame2, _frame3, cv::Size(width(), height()), 0, 0, cv::INTER_NEAREST);
-
-        texture = QImage((const unsigned char*) _frame3.data, _frame3.cols, _frame3.rows, QImage::Format_RGB888);
-        freshp = false;
-        update();
-    }
-}
diff --git a/tracker-pt/pt_video_widget.h b/tracker-pt/pt_video_widget.h
deleted file mode 100644
index 82de3eab..00000000
--- a/tracker-pt/pt_video_widget.h
+++ /dev/null
@@ -1,39 +0,0 @@
-/* Copyright (c) 2012 Patrick Ruoff
- * Copyright (c) 2014-2016 Stanislaw Halik <sthalik@misaki.pl>
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- */
-
-#pragma once
-
-#include "opentrack-compat/timer.hpp"
-#include <opencv2/core/core.hpp>
-#include <memory>
-#include <QObject>
-#include <QWidget>
-#include <QPainter>
-#include <QPaintEvent>
-#include <QTimer>
-#include <QMutex>
-#include <QMutexLocker>
-#include <QDebug>
-
-class PTVideoWidget final : public QWidget
-{
-    Q_OBJECT
-public:
-    PTVideoWidget(QWidget *parent);
-    void update_image(const cv::Mat &frame);
-protected slots:
-    void paintEvent(QPaintEvent*) override;
-    void update_and_repaint();
-private:
-    QMutex mtx;
-    QImage texture;
-    QTimer timer;
-    Timer window_check_timer;
-    cv::Mat _frame, _frame2, _frame3;
-    bool freshp, visible;
-};
diff --git a/tracker-pt/trans_calib.cpp b/tracker-pt/trans_calib.cpp
deleted file mode 100644
index a1a4b641..00000000
--- a/tracker-pt/trans_calib.cpp
+++ /dev/null
@@ -1,41 +0,0 @@
-/* Copyright (c) 2012 Patrick Ruoff
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- */
-
-#include "trans_calib.h"
-
-TranslationCalibrator::TranslationCalibrator()
-{
-	reset();
-}
-
-void TranslationCalibrator::reset()
-{
-    P = cv::Matx66f::zeros();
-    y = cv::Vec6f(0,0,0, 0,0,0);
-}
-
-void TranslationCalibrator::update(const cv::Matx33f& R_CM_k, const cv::Vec3f& t_CM_k)
-{
-    cv::Matx<float, 6,3> H_k_T = cv::Matx<float, 6,3>::zeros();
-	for (int i=0; i<3; ++i) {
-		for (int j=0; j<3; ++j) {
-			H_k_T(i,j) = R_CM_k(j,i);
-		}
-	}
-	for (int i=0; i<3; ++i)
-	{
-		H_k_T(3+i,i) = 1.0;
-	}
-	P += H_k_T * H_k_T.t();
-	y += H_k_T * t_CM_k;
-}
-
-cv::Vec3f TranslationCalibrator::get_estimate()
-{
-    cv::Vec6f x = P.inv() * y;
-    return cv::Vec3f(-x[0], -x[1], -x[2]);
-}
diff --git a/tracker-pt/trans_calib.h b/tracker-pt/trans_calib.h
deleted file mode 100644
index b697a7d4..00000000
--- a/tracker-pt/trans_calib.h
+++ /dev/null
@@ -1,36 +0,0 @@
-/* Copyright (c) 2012 Patrick Ruoff
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- */
-
-#pragma once
-
-#include <opencv2/core.hpp>
-
-//-----------------------------------------------------------------------------
-// Calibrates the translation from head to model = t_MH
-// by recursive least squares /
-// kalman filter in information form with identity noise covariance
-// measurement equation when head position = t_CH is fixed:
-// (R_CM_k , Id)*(-t_MH, t_CH) = t_CM_k
-
-class TranslationCalibrator final
-{
-public:
-    TranslationCalibrator();
-
-    // reset the calibration process
-    void reset();
-
-    // update the current estimate
-    void update(const cv::Matx33f& R_CM_k, const cv::Vec3f& t_CM_k);
-
-    // get the current estimate for t_MH
-    cv::Vec3f get_estimate();
-
-private:
-    cv::Matx66f P;      // normalized precision matrix = inverse covariance
-    cv::Vec6f y;        // P*(-t_MH, t_CH)
-};