diff options
| -rw-r--r-- | tracker-easy/lang/nl_NL.ts | 56 | ||||
| -rw-r--r-- | tracker-easy/lang/ru_RU.ts | 56 | ||||
| -rw-r--r-- | tracker-easy/lang/stub.ts | 56 | ||||
| -rw-r--r-- | tracker-easy/lang/zh_CN.ts | 36 | ||||
| -rw-r--r-- | tracker-easy/settings.h | 13 | ||||
| -rw-r--r-- | tracker-easy/tracker-easy-dialog.cpp | 14 | ||||
| -rw-r--r-- | tracker-easy/tracker-easy-settings.ui | 27 | ||||
| -rw-r--r-- | tracker-easy/tracker-easy.cpp | 39 | ||||
| -rw-r--r-- | tracker-easy/tracker-easy.h | 4 |
9 files changed, 174 insertions, 127 deletions
diff --git a/tracker-easy/lang/nl_NL.ts b/tracker-easy/lang/nl_NL.ts index f83e859a..21ea306e 100644 --- a/tracker-easy/lang/nl_NL.ts +++ b/tracker-easy/lang/nl_NL.ts @@ -138,26 +138,6 @@ <translation type="unfinished"></translation> </message> <message> - <source>Color channels used</source> - <translation type="unfinished"></translation> - </message> - <message> - <source>Average</source> - <translation type="unfinished"></translation> - </message> - <message> - <source>Natural</source> - <translation type="unfinished"></translation> - </message> - <message> - <source>Red only</source> - <translation type="unfinished"></translation> - </message> - <message> - <source>Blue only</source> - <translation type="unfinished"></translation> - </message> - <message> <source>Maximum point diameter</source> <translation type="unfinished"></translation> </message> @@ -255,10 +235,6 @@ Don't roll or change position.</source> <translation type="unfinished"></translation> </message> <message> - <source>Green only</source> - <translation type="unfinished"></translation> - </message> - <message> <source>Debug (full size preview)</source> <translation type="unfinished"></translation> </message> @@ -274,5 +250,37 @@ Don't roll or change position.</source> <source>Size in pixels of half the edge defining deadzone squares around tracked points</source> <translation type="unfinished"></translation> </message> + <message> + <source>Perspective-N-Point solver</source> + <translation type="unfinished"></translation> + </message> + <message> + <source>Make sure you pick a solver supporting the number of marker you are using. For three points detection use either P3P or AP3P.</source> + <translation type="unfinished"></translation> + </message> + <message> + <source>P3P</source> + <translation type="unfinished"></translation> + </message> + <message> + <source>ITERATIVE</source> + <translation type="unfinished"></translation> + </message> + <message> + <source>EPNP</source> + <translation type="unfinished"></translation> + </message> + <message> + <source>DLS</source> + <translation type="unfinished"></translation> + </message> + <message> + <source>UPNP</source> + <translation type="unfinished"></translation> + </message> + <message> + <source>AP3P</source> + <translation type="unfinished"></translation> + </message> </context> </TS> diff --git a/tracker-easy/lang/ru_RU.ts b/tracker-easy/lang/ru_RU.ts index 0dbc8323..bc725e23 100644 --- a/tracker-easy/lang/ru_RU.ts +++ b/tracker-easy/lang/ru_RU.ts @@ -138,26 +138,6 @@ <translation>Полузнок устанавливает размер точек</translation> </message> <message> - <source>Color channels used</source> - <translation type="unfinished"></translation> - </message> - <message> - <source>Average</source> - <translation type="unfinished"></translation> - </message> - <message> - <source>Natural</source> - <translation type="unfinished"></translation> - </message> - <message> - <source>Red only</source> - <translation type="unfinished"></translation> - </message> - <message> - <source>Blue only</source> - <translation type="unfinished"></translation> - </message> - <message> <source>Maximum point diameter</source> <translation></translation> </message> @@ -260,10 +240,6 @@ ROLL или X/Y-смещения.</translation> <translation>Параметры камеры:</translation> </message> <message> - <source>Green only</source> - <translation type="unfinished"></translation> - </message> - <message> <source>Debug (full size preview)</source> <translation type="unfinished"></translation> </message> @@ -279,5 +255,37 @@ ROLL или X/Y-смещения.</translation> <source>Size in pixels of half the edge defining deadzone squares around tracked points</source> <translation type="unfinished"></translation> </message> + <message> + <source>Perspective-N-Point solver</source> + <translation type="unfinished"></translation> + </message> + <message> + <source>Make sure you pick a solver supporting the number of marker you are using. For three points detection use either P3P or AP3P.</source> + <translation type="unfinished"></translation> + </message> + <message> + <source>P3P</source> + <translation type="unfinished"></translation> + </message> + <message> + <source>ITERATIVE</source> + <translation type="unfinished"></translation> + </message> + <message> + <source>EPNP</source> + <translation type="unfinished"></translation> + </message> + <message> + <source>DLS</source> + <translation type="unfinished"></translation> + </message> + <message> + <source>UPNP</source> + <translation type="unfinished"></translation> + </message> + <message> + <source>AP3P</source> + <translation type="unfinished"></translation> + </message> </context> </TS> diff --git a/tracker-easy/lang/stub.ts b/tracker-easy/lang/stub.ts index 32b314e9..75e29070 100644 --- a/tracker-easy/lang/stub.ts +++ b/tracker-easy/lang/stub.ts @@ -138,26 +138,6 @@ <translation type="unfinished"></translation> </message> <message> - <source>Color channels used</source> - <translation type="unfinished"></translation> - </message> - <message> - <source>Average</source> - <translation type="unfinished"></translation> - </message> - <message> - <source>Natural</source> - <translation type="unfinished"></translation> - </message> - <message> - <source>Red only</source> - <translation type="unfinished"></translation> - </message> - <message> - <source>Blue only</source> - <translation type="unfinished"></translation> - </message> - <message> <source>Maximum point diameter</source> <translation type="unfinished"></translation> </message> @@ -255,10 +235,6 @@ Don't roll or change position.</source> <translation type="unfinished"></translation> </message> <message> - <source>Green only</source> - <translation type="unfinished"></translation> - </message> - <message> <source>Debug (full size preview)</source> <translation type="unfinished"></translation> </message> @@ -274,5 +250,37 @@ Don't roll or change position.</source> <source>Size in pixels of half the edge defining deadzone squares around tracked points</source> <translation type="unfinished"></translation> </message> + <message> + <source>Perspective-N-Point solver</source> + <translation type="unfinished"></translation> + </message> + <message> + <source>Make sure you pick a solver supporting the number of marker you are using. For three points detection use either P3P or AP3P.</source> + <translation type="unfinished"></translation> + </message> + <message> + <source>P3P</source> + <translation type="unfinished"></translation> + </message> + <message> + <source>ITERATIVE</source> + <translation type="unfinished"></translation> + </message> + <message> + <source>EPNP</source> + <translation type="unfinished"></translation> + </message> + <message> + <source>DLS</source> + <translation type="unfinished"></translation> + </message> + <message> + <source>UPNP</source> + <translation type="unfinished"></translation> + </message> + <message> + <source>AP3P</source> + <translation type="unfinished"></translation> + </message> </context> </TS> diff --git a/tracker-easy/lang/zh_CN.ts b/tracker-easy/lang/zh_CN.ts index f90e261f..68172059 100644 --- a/tracker-easy/lang/zh_CN.ts +++ b/tracker-easy/lang/zh_CN.ts @@ -226,52 +226,60 @@ <translation>设备信息：</translation> </message> <message> - <source>Color channels used</source> + <source>Value</source> <translation type="unfinished"></translation> </message> <message> - <source>Average</source> + <source>Use only yaw and pitch while calibrating. +Don't roll or change position.</source> + <translation>用pitch和yaw校准。不要roll或者变换位置</translation> + </message> + <message> + <source>Debug (full size preview)</source> <translation type="unfinished"></translation> </message> <message> - <source>Natural</source> + <source>Deadzone</source> <translation type="unfinished"></translation> </message> <message> - <source>Red only</source> + <source><html><head/><body><p><span style=" font-weight:600;">Easy Tracker<br/>Version 0.1</span></p><p><span style=" font-weight:600;">by Stéphane Lenclud</span></p><p>See <a href="https://github.com/opentrack/opentrack/wiki/Easy-Tracker"><span style=" font-weight:600; text-decoration: underline; color:#9999AA;">documentation on GitHub</span></a></p></body></html></source> <translation type="unfinished"></translation> </message> <message> - <source>Blue only</source> + <source>Size in pixels of half the edge defining deadzone squares around tracked points</source> <translation type="unfinished"></translation> </message> <message> - <source>Value</source> + <source>Perspective-N-Point solver</source> <translation type="unfinished"></translation> </message> <message> - <source>Use only yaw and pitch while calibrating. -Don't roll or change position.</source> - <translation>用pitch和yaw校准。不要roll或者变换位置</translation> + <source>Make sure you pick a solver supporting the number of marker you are using. For three points detection use either P3P or AP3P.</source> + <translation type="unfinished"></translation> </message> <message> - <source>Green only</source> + <source>P3P</source> <translation type="unfinished"></translation> </message> <message> - <source>Debug (full size preview)</source> + <source>ITERATIVE</source> <translation type="unfinished"></translation> </message> <message> - <source>Deadzone</source> + <source>EPNP</source> <translation type="unfinished"></translation> </message> <message> - <source><html><head/><body><p><span style=" font-weight:600;">Easy Tracker<br/>Version 0.1</span></p><p><span style=" font-weight:600;">by Stéphane Lenclud</span></p><p>See <a href="https://github.com/opentrack/opentrack/wiki/Easy-Tracker"><span style=" font-weight:600; text-decoration: underline; color:#9999AA;">documentation on GitHub</span></a></p></body></html></source> + <source>DLS</source> <translation type="unfinished"></translation> </message> <message> - <source>Size in pixels of half the edge defining deadzone squares around tracked points</source> + <source>UPNP</source> + <translation type="unfinished"></translation> + </message> + <message> + <source>AP3P</source> <translation type="unfinished"></translation> </message> </context> diff --git a/tracker-easy/settings.h b/tracker-easy/settings.h index 53b80052..4d043e6a 100644 --- a/tracker-easy/settings.h +++ b/tracker-easy/settings.h @@ -1,19 +1,10 @@ #pragma once #include "options/options.hpp" +#include <opencv2/calib3d.hpp> #include <QString> -enum pt_color_type -{ - // explicit values, gotta preserve the numbering in .ini - // don't reuse when removing some of the modes - pt_color_natural = 2, - pt_color_red_only = 3, - pt_color_average = 5, - pt_color_blue_only = 6, - pt_color_green_only = 7, -}; namespace EasyTracker { @@ -58,7 +49,7 @@ namespace EasyTracker { value<bool> debug{ b, "debug", false }; value<bool> auto_threshold{ b, "automatic-threshold", true }; - value<pt_color_type> blob_color{ b, "blob-color", pt_color_natural }; + value<int> PnpSolver{ b, "pnp-solver", cv::SOLVEPNP_P3P }; value<slider_value> threshold_slider{ b, "threshold-slider", { 128, 0, 255 } }; diff --git a/tracker-easy/tracker-easy-dialog.cpp b/tracker-easy/tracker-easy-dialog.cpp index e3b72e38..36c5d99d 100644 --- a/tracker-easy/tracker-easy-dialog.cpp +++ b/tracker-easy/tracker-easy-dialog.cpp @@ -11,6 +11,7 @@ #include "video/camera.hpp" #include <opencv2/core.hpp> +#include <opencv2/calib3d.hpp> #include <QString> #include <QtGlobal> @@ -95,18 +96,11 @@ namespace EasyTracker connect(this, &Dialog::poll_tracker_info, this, &Dialog::poll_tracker_info_impl, Qt::DirectConnection); - constexpr pt_color_type color_types[] = { - pt_color_average, - pt_color_natural, - pt_color_red_only, - pt_color_green_only, - pt_color_blue_only, - }; - for (unsigned k = 0; k < std::size(color_types); k++) - ui.blob_color->setItemData(k, int(color_types[k])); + for (unsigned k = 0; k < cv::SOLVEPNP_MAX_COUNT; k++) + ui.comboBoxSolvers->setItemData(k, k); - tie_setting(s.blob_color, ui.blob_color); + tie_setting(s.PnpSolver, ui.comboBoxSolvers); tie_setting(s.threshold_slider, ui.threshold_value_display, [this](const slider_value& val) { return threshold_display_text(int(val)); diff --git a/tracker-easy/tracker-easy-settings.ui b/tracker-easy/tracker-easy-settings.ui index ffe6ebce..9ff929dc 100644 --- a/tracker-easy/tracker-easy-settings.ui +++ b/tracker-easy/tracker-easy-settings.ui @@ -198,7 +198,7 @@ </sizepolicy> </property> <property name="text"> - <string>Color channels used</string> + <string>Perspective-N-Point solver</string> </property> </widget> </item> @@ -242,36 +242,47 @@ </widget> </item> <item row="7" column="1"> - <widget class="QComboBox" name="blob_color"> + <widget class="QComboBox" name="comboBoxSolvers"> <property name="sizePolicy"> <sizepolicy hsizetype="Preferred" vsizetype="Maximum"> <horstretch>0</horstretch> <verstretch>0</verstretch> </sizepolicy> </property> + <property name="toolTip"> + <string>Make sure you pick a solver supporting the number of marker you are using. For three points detection use either P3P or AP3P.</string> + </property> + <property name="currentText"> + <string>P3P</string> + </property> + <item> + <property name="text"> + <string>ITERATIVE</string> + </property> + </item> <item> <property name="text"> - <string>Average</string> + <string>EPNP</string> </property> </item> <item> <property name="text"> - <string>Natural</string> + <string>P3P</string> </property> </item> <item> <property name="text"> - <string>Red only</string> + <string>DLS</string> </property> </item> <item> <property name="text"> - <string>Green only</string> + <string>UPNP</string> </property> </item> <item> <property name="text"> - <string>Blue only</string> + <string>AP3P</string> </property> </item> </widget> @@ -1393,7 +1404,7 @@ Don't roll or change position.</string> <tabstop>fov</tabstop> <tabstop>debug</tabstop> <tabstop>camera_settings</tabstop> - <tabstop>blob_color</tabstop> + <tabstop>comboBoxSolvers</tabstop> <tabstop>auto_threshold</tabstop> <tabstop>threshold_slider</tabstop> <tabstop>mindiam_spin</tabstop> diff --git a/tracker-easy/tracker-easy.cpp b/tracker-easy/tracker-easy.cpp index 199bf95a..ebc6e128 100644 --- a/tracker-easy/tracker-easy.cpp +++ b/tracker-easy/tracker-easy.cpp @@ -50,10 +50,13 @@ namespace EasyTracker // Make sure deadzones are updated whenever the settings are changed connect(&iSettings.DeadzoneRectHalfEdgeSize, value_::value_changed<int>(), this, &Tracker::UpdateDeadzones, Qt::DirectConnection); + UpdateDeadzones(iSettings.DeadzoneRectHalfEdgeSize); - CreateModelFromSettings(); + // Make sure solver is updated whenever the settings are changed + connect(&iSettings.PnpSolver, value_::value_changed<int>(), this, &Tracker::UpdateSolver, Qt::DirectConnection); + UpdateSolver(iSettings.PnpSolver); - UpdateDeadzones(iSettings.DeadzoneRectHalfEdgeSize); + CreateModelFromSettings(); } Tracker::~Tracker() @@ -62,9 +65,12 @@ namespace EasyTracker iThread.exit(); iThread.wait(); - - QMutexLocker l(&camera_mtx); - camera->stop(); + + if (camera) + { + QMutexLocker l(&camera_mtx); + camera->stop(); + } } @@ -156,8 +162,6 @@ namespace EasyTracker { ever_success.store(true, std::memory_order_relaxed); - // Solve P3P problem with OpenCV - //Bitmap origin is top left iTrackedPoints.clear(); // Tracked points must match the order of the object model points. @@ -233,15 +237,13 @@ namespace EasyTracker } } - dbgout << "Object: " << iModel << "\n"; dbgout << "Points: " << iTrackedPoints << "\n"; - - // TODO: try SOLVEPNP_AP3P too, make it a settings option? iAngles.clear(); iBestSolutionIndex = -1; - int solutionCount = cv::solveP3P(iModel, iTrackedPoints, iCameraMatrix, iDistCoeffsMatrix, iRotations, iTranslations, cv::SOLVEPNP_P3P); + // Solve P3P problem with OpenCV + int solutionCount = cv::solveP3P(iModel, iTrackedPoints, iCameraMatrix, iDistCoeffsMatrix, iRotations, iTranslations, iSolver); if (solutionCount > 0) { @@ -449,10 +451,23 @@ namespace EasyTracker } + void Tracker::UpdateSolver(int aSolver) + { + QMutexLocker l(¢er_lock); + iSolver = aSolver; + } + + + module_status Tracker::start_tracker(QFrame* video_frame) { - //video_frame->setAttribute(Qt::WA_NativeWindow); + // Check that we support that solver + if (iSolver!=cv::SOLVEPNP_P3P && iSolver != cv::SOLVEPNP_AP3P) + { + return module_status("Error: Solver not supported use either P3P or AP3P."); + } + //video_frame->setAttribute(Qt::WA_NativeWindow); widget = std::make_unique<video_widget>(video_frame); layout = std::make_unique<QHBoxLayout>(video_frame); layout->setContentsMargins(0, 0, 0, 0); diff --git a/tracker-easy/tracker-easy.h b/tracker-easy/tracker-easy.h index bbafcefa..41226d23 100644 --- a/tracker-easy/tracker-easy.h +++ b/tracker-easy/tracker-easy.h @@ -69,6 +69,7 @@ namespace EasyTracker void SetFps(int aFps); void DoSetFps(int aFps); void UpdateDeadzones(int aHalfEdgeSize); + void UpdateSolver(int aSolver); QMutex camera_mtx; QThread iThread; @@ -98,6 +99,9 @@ namespace EasyTracker int iDeadzoneEdge=0; int iDeadzoneHalfEdge=0; + // Solver + int iSolver = cv::SOLVEPNP_P3P; + // Statistics Timer iTimer; Timer iFpsTimer; |