diff options
| -rw-r--r-- | tracker-points/ftnoir_tracker_pt.cpp | 38 | ||||
| -rw-r--r-- | tracker-points/module/CMakeLists.txt | 2 | ||||
| -rw-r--r-- | tracker-points/module/camera.cpp | 1 | ||||
| -rw-r--r-- | tracker-points/module/camera.h | 2 | ||||
| -rw-r--r-- | tracker-points/pt-api.hpp | 3 |
5 files changed, 44 insertions, 2 deletions
diff --git a/tracker-points/ftnoir_tracker_pt.cpp b/tracker-points/ftnoir_tracker_pt.cpp index ca228a24..e455a9ed 100644 --- a/tracker-points/ftnoir_tracker_pt.cpp +++ b/tracker-points/ftnoir_tracker_pt.cpp @@ -18,6 +18,8 @@ #include <QFile> #include <QCoreApplication> +#include <opencv2\calib3d.hpp> + using namespace options; namespace pt_impl { @@ -93,6 +95,42 @@ void Tracker_PT::run() info, dynamic_pose_ms); ever_success.store(true, std::memory_order_relaxed); + + // TODO: Solve with OpenCV + + std::vector<cv::Point3f> objectPoints; + //TODO: Stuff object points in that vector + std::vector<cv::Point2f> trackedPoints; + //TODO: Stuff bitmap point in there making sure they match the order of the object point + + // Create our camera matrix + // TODO: Just do that once, use data memeber instead + // Double or Float? + cv::Mat cameraMatrix; + cameraMatrix.create(3, 3, CV_64FC1); + cameraMatrix.setTo(cv::Scalar(0)); + cameraMatrix.at<double>(0, 0) = camera->info.focalLengthX; + cameraMatrix.at<double>(1, 1) = camera->info.focalLengthX; + cameraMatrix.at<double>(0, 2) = camera->info.principalPointX; + cameraMatrix.at<double>(1, 2) = camera->info.principalPointY; + cameraMatrix.at<double>(2, 2) = 1; + + // Create distortion cooefficients + cv::Mat distCoeffs = cv::Mat::zeros(4, 1, CV_64FC1); + for (int i = 0; i < 3; i++) + { + // Put in proper values + distCoeffs.at<double>(i, 0) = 0; + } + + std::vector<cv::Mat> rvecs, tvecs; + + // TODO: try SOLVEPNP_AP3P too + int num_of_solutions = cv::solveP3P(objectPoints, trackedPoints, cameraMatrix, distCoeffs, rvecs, tvecs, cv::SOLVEPNP_P3P); + + + + } QMutexLocker l2(&data_lock); diff --git a/tracker-points/module/CMakeLists.txt b/tracker-points/module/CMakeLists.txt index 1eec9616..33410f9b 100644 --- a/tracker-points/module/CMakeLists.txt +++ b/tracker-points/module/CMakeLists.txt @@ -2,5 +2,5 @@ find_package(OpenCV QUIET) if(OpenCV_FOUND) otr_module(tracker-points) target_link_libraries(${self} opentrack-tracker-points-base) - target_include_directories(${self} PUBLIC "${CMAKE_SOURCE_DIR}/tracker-pt") + target_include_directories(${self} PUBLIC "${CMAKE_SOURCE_DIR}/tracker-points") endif() diff --git a/tracker-points/module/camera.cpp b/tracker-points/module/camera.cpp index a70698de..25f1f8d5 100644 --- a/tracker-points/module/camera.cpp +++ b/tracker-points/module/camera.cpp @@ -96,7 +96,6 @@ bool Camera::start(const QString& name, int fps, int res_x, int res_y) if (!cap) goto fail; - camera::info info {}; info.fps = fps; info.width = res_x; info.height = res_y; diff --git a/tracker-points/module/camera.h b/tracker-points/module/camera.h index 02e2fe4d..65b0e552 100644 --- a/tracker-points/module/camera.h +++ b/tracker-points/module/camera.h @@ -35,6 +35,7 @@ struct Camera final : pt_camera void set_fov(f value) override { fov = value; } void show_camera_settings() override; + private: using camera = typename video::impl::camera; @@ -47,6 +48,7 @@ private: pt_camera_info cam_desired; std::unique_ptr<camera> cap; + pt_settings s; static constexpr f dt_eps = f{1}/256; diff --git a/tracker-points/pt-api.hpp b/tracker-points/pt-api.hpp index 741576a1..a27c7e38 100644 --- a/tracker-points/pt-api.hpp +++ b/tracker-points/pt-api.hpp @@ -4,6 +4,7 @@ #include "cv/numeric.hpp" #include "options/options.hpp" +#include "video/camera.hpp" #include <tuple> #include <type_traits> @@ -87,6 +88,8 @@ struct pt_camera virtual void set_fov(f value) = 0; virtual void show_camera_settings() = 0; + + video::impl::camera::info info; }; struct pt_point_extractor : pt_pixel_pos_mixin |