diff options
| -rw-r--r-- | tracker-easy/tracker-easy.cpp | 151 | ||||
| -rw-r--r-- | tracker-easy/tracker-easy.h | 17 |
2 files changed, 74 insertions, 94 deletions
diff --git a/tracker-easy/tracker-easy.cpp b/tracker-easy/tracker-easy.cpp index d5bccc6b..8bae883a 100644 --- a/tracker-easy/tracker-easy.cpp +++ b/tracker-easy/tracker-easy.cpp @@ -45,6 +45,8 @@ namespace EasyTracker connect(&s.fov, value_::value_changed<int>(), this, &Tracker::set_fov, Qt::DirectConnection); set_fov(s.fov); + + CreateModelFromSettings(); } Tracker::~Tracker() @@ -60,33 +62,7 @@ namespace EasyTracker } - // Compute Euler angles from ratation matrix - cv::Vec3f EulerAngles(cv::Mat &R) - { - - float sy = sqrt(R.at<double>(0, 0) * R.at<double>(0, 0) + R.at<double>(1, 0) * R.at<double>(1, 0)); - - bool singular = sy < 1e-6; // If - - float x, y, z; - if (!singular) - { - x = atan2(R.at<double>(2, 1), R.at<double>(2, 2)); - y = atan2(-R.at<double>(2, 0), sy); - z = atan2(R.at<double>(1, 0), R.at<double>(0, 0)); - } - else - { - x = atan2(-R.at<double>(1, 2), R.at<double>(1, 1)); - y = atan2(-R.at<double>(2, 0), sy); - z = 0; - } - - // Convert to degrees - return cv::Vec3f(x * 180 / CV_PI, y * 180 / CV_PI, z * 180 / CV_PI); - } - - + // Compute Euler angles from rotation matrix void getEulerAngles(cv::Mat &rotCamerMatrix, cv::Vec3d &eulerAngles) { @@ -106,6 +82,44 @@ namespace EasyTracker eulerAngles); } + /// + void Tracker::CreateModelFromSettings() + { + // 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. + // s.active_model_panel != PointModel::Clip + iModel.clear(); + iModel.push_back(cv::Point3f(s.cap_x / 10.0, s.cap_z / 10.0, -s.cap_y / 10.0)); // Right + iModel.push_back(cv::Point3f(-s.cap_x / 10.0, s.cap_z / 10.0, -s.cap_y / 10.0)); // Left + iModel.push_back(cv::Point3f(0, 0, 0)); // Top + } + + /// + void Tracker::CreateCameraIntrinsicsMatrices() + { + // Create our camera matrix + iCameraMatrix.create(3, 3, CV_64FC1); + iCameraMatrix.setTo(cv::Scalar(0)); + iCameraMatrix.at<double>(0, 0) = iCameraInfo.focalLengthX; + iCameraMatrix.at<double>(1, 1) = iCameraInfo.focalLengthY; + iCameraMatrix.at<double>(0, 2) = iCameraInfo.principalPointX; + iCameraMatrix.at<double>(1, 2) = iCameraInfo.principalPointY; + iCameraMatrix.at<double>(2, 2) = 1; + + // Create distortion cooefficients + iDistCoeffsMatrix = cv::Mat::zeros(8, 1, CV_64FC1); + // As per OpenCV docs they should be thus: k1, k2, p1, p2, k3, k4, k5, k6 + iDistCoeffsMatrix.at<double>(0, 0) = 0; // Radial first order + iDistCoeffsMatrix.at<double>(1, 0) = iCameraInfo.radialDistortionSecondOrder; // Radial second order + iDistCoeffsMatrix.at<double>(2, 0) = 0; // Tangential first order + iDistCoeffsMatrix.at<double>(3, 0) = 0; // Tangential second order + iDistCoeffsMatrix.at<double>(4, 0) = 0; // Radial third order + iDistCoeffsMatrix.at<double>(5, 0) = iCameraInfo.radialDistortionFourthOrder; // Radial fourth order + iDistCoeffsMatrix.at<double>(6, 0) = 0; // Radial fith order + iDistCoeffsMatrix.at<double>(7, 0) = iCameraInfo.radialDistortionSixthOrder; // Radial sixth order + } + void Tracker::run() { @@ -139,8 +153,7 @@ namespace EasyTracker } iPoints.clear(); - iPointExtractor.ExtractPoints(iMatFrame, (preview_visible ? &iPreview.iFrameRgb : nullptr), iPoints); - point_count.store(iPoints.size(), std::memory_order_relaxed); + iPointExtractor.ExtractPoints(iMatFrame, (preview_visible ? &iPreview.iFrameRgb : nullptr), iPoints); const bool success = iPoints.size() >= KPointCount; @@ -154,22 +167,11 @@ namespace EasyTracker ever_success.store(true, std::memory_order_relaxed); // Solve P3P problem with OpenCV - - // 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. - // s.active_model_panel != PointModel::Clip - - std::vector<cv::Point3f> objectPoints; - objectPoints.push_back(cv::Point3f(s.cap_x / 10.0, s.cap_z / 10.0, -s.cap_y / 10.0)); // Right - objectPoints.push_back(cv::Point3f(-s.cap_x / 10.0, s.cap_z / 10.0, -s.cap_y / 10.0)); // Left - objectPoints.push_back(cv::Point3f(0, 0, 0)); // Top - + //Bitmap origin is top left - std::vector<cv::Point2f> trackedPoints; - // Stuff bitmap point in there making sure they match the order of the object point + 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 < 3; i++) { @@ -207,52 +209,24 @@ namespace EasyTracker } // - trackedPoints.push_back(iPoints[rightPointIndex]); - trackedPoints.push_back(iPoints[leftPointIndex]); - trackedPoints.push_back(iPoints[topPointIndex]); - - dbgout << "Object: " << objectPoints << "\n"; - dbgout << "Points: " << trackedPoints << "\n"; - - - // Create our camera matrix - // TODO: Just do that once, use data member instead - // Double or Float? - cv::Mat cameraMatrix; - cameraMatrix.create(3, 3, CV_64FC1); - cameraMatrix.setTo(cv::Scalar(0)); - cameraMatrix.at<double>(0, 0) = iCameraInfo.focalLengthX; - cameraMatrix.at<double>(1, 1) = iCameraInfo.focalLengthY; - cameraMatrix.at<double>(0, 2) = iCameraInfo.principalPointX; - cameraMatrix.at<double>(1, 2) = iCameraInfo.principalPointY; - cameraMatrix.at<double>(2, 2) = 1; - - // Create distortion cooefficients - cv::Mat distCoeffs = cv::Mat::zeros(8, 1, CV_64FC1); - // As per OpenCV docs they should be thus: k1, k2, p1, p2, k3, k4, k5, k6 - distCoeffs.at<double>(0, 0) = 0; // Radial first order - distCoeffs.at<double>(1, 0) = iCameraInfo.radialDistortionSecondOrder; // Radial second order - distCoeffs.at<double>(2, 0) = 0; // Tangential first order - distCoeffs.at<double>(3, 0) = 0; // Tangential second order - distCoeffs.at<double>(4, 0) = 0; // Radial third order - distCoeffs.at<double>(5, 0) = iCameraInfo.radialDistortionFourthOrder; // Radial fourth order - distCoeffs.at<double>(6, 0) = 0; // Radial fith order - distCoeffs.at<double>(7, 0) = iCameraInfo.radialDistortionSixthOrder; // Radial sixth order - - // Define our solution arrays - // They will receive up to 4 solutions for our P3P problem - - - // TODO: try SOLVEPNP_AP3P too + iTrackedPoints.push_back(iPoints[rightPointIndex]); + iTrackedPoints.push_back(iPoints[leftPointIndex]); + iTrackedPoints.push_back(iPoints[topPointIndex]); + + dbgout << "Object: " << iModel << "\n"; + dbgout << "Points: " << iTrackedPoints << "\n"; + + + // TODO: try SOLVEPNP_AP3P too, make it a settings option? iAngles.clear(); iBestSolutionIndex = -1; - int solutionCount = cv::solveP3P(objectPoints, trackedPoints, cameraMatrix, distCoeffs, iRotations, iTranslations, cv::SOLVEPNP_P3P); + int solutionCount = cv::solveP3P(iModel, iTrackedPoints, iCameraMatrix, iDistCoeffsMatrix, iRotations, iTranslations, cv::SOLVEPNP_P3P); if (solutionCount > 0) { dbgout << "Solution count: " << solutionCount << "\n"; int minPitch = std::numeric_limits<int>::max(); - // Find the solution we want + // Find the solution we want amongst all possible ones for (int i = 0; i < solutionCount; i++) { dbgout << "Translation:\n"; @@ -270,19 +244,17 @@ namespace EasyTracker 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; } - //cv::Vec3f angles=EulerAngles(quaternion); dbgout << angles; dbgout << "\n"; } dbgout << "\n"; - } - } // Send solution data back to main thread @@ -347,7 +319,10 @@ namespace EasyTracker iCameraInfo.width = s.cam_res_x; iCameraInfo.height = s.cam_res_y; - return camera->start(iCameraInfo); + bool res = camera->start(iCameraInfo); + // We got new our camera intrinsics, create corresponding matrices + CreateCameraIntrinsicsMatrices(); + return res; } void Tracker::set_fov(int value) @@ -398,9 +373,5 @@ namespace EasyTracker return false; } - int Tracker::get_n_points() - { - return (int)point_count.load(std::memory_order_relaxed); - } } diff --git a/tracker-easy/tracker-easy.h b/tracker-easy/tracker-easy.h index 8b771c67..00e24811 100644 --- a/tracker-easy/tracker-easy.h +++ b/tracker-easy/tracker-easy.h @@ -37,6 +37,7 @@ namespace EasyTracker struct Tracker : QThread, ITracker { + public: friend class Dialog; explicit Tracker(); @@ -44,10 +45,11 @@ namespace EasyTracker module_status start_tracker(QFrame* parent_window) override; void data(double* data) override; bool center() override; - - int get_n_points(); - + private: + void CreateModelFromSettings(); + void CreateCameraIntrinsicsMatrices(); + void run() override; bool maybe_reopen_camera(); @@ -73,10 +75,17 @@ namespace EasyTracker cv::Mat iMatFrame; Preview iPreview; - std::atomic<unsigned> point_count{ 0 }; std::atomic<bool> ever_success = false; mutable QMutex center_lock, data_lock; + // Vertices defining the model we are tracking + std::vector<cv::Point3f> iModel; + // Bitmap points corresponding to model vertices + std::vector<cv::Point2f> iTrackedPoints; + // Intrinsics camera matrix + cv::Mat iCameraMatrix; + // Intrinsics distortion coefficients as a matrix + cv::Mat iDistCoeffsMatrix; // Translation solutions std::vector<cv::Mat> iTranslations; // Rotation solutions |