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-rw-r--r--tracker-easy/camera.cpp151
-rw-r--r--tracker-easy/camera.h57
-rw-r--r--tracker-easy/frame.cpp10
-rw-r--r--tracker-easy/frame.hpp25
-rw-r--r--tracker-easy/lang/nl_NL.ts12
-rw-r--r--tracker-easy/lang/ru_RU.ts12
-rw-r--r--tracker-easy/lang/stub.ts12
-rw-r--r--tracker-easy/lang/zh_CN.ts12
-rw-r--r--tracker-easy/module.cpp15
-rw-r--r--tracker-easy/point_extractor.cpp5
-rw-r--r--tracker-easy/point_extractor.h2
-rw-r--r--tracker-easy/tracker-easy-api.cpp19
-rw-r--r--tracker-easy/tracker-easy-api.h66
-rw-r--r--tracker-easy/tracker-easy-dialog.cpp9
-rw-r--r--tracker-easy/tracker-easy.cpp56
-rw-r--r--tracker-easy/tracker-easy.h12
-rw-r--r--video/camera.hpp1
17 files changed, 54 insertions, 422 deletions
diff --git a/tracker-easy/camera.cpp b/tracker-easy/camera.cpp
deleted file mode 100644
index 25f1f8d5..00000000
--- a/tracker-easy/camera.cpp
+++ /dev/null
@@ -1,151 +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 "camera.h"
-#include "frame.hpp"
-
-#include "compat/math-imports.hpp"
-
-#include <opencv2/core.hpp>
-
-namespace pt_module {
-
-Camera::Camera(const QString& module_name) : s { module_name }
-{
-}
-
-QString Camera::get_desired_name() const
-{
- return cam_desired.name;
-}
-
-QString Camera::get_active_name() const
-{
- return cam_info.name;
-}
-
-void Camera::show_camera_settings()
-{
- if (cap)
- (void)cap->show_dialog();
-}
-
-Camera::result Camera::get_info() const
-{
- if (cam_info.res_x == 0 || cam_info.res_y == 0)
- return { false, pt_camera_info() };
- else
- return { true, cam_info };
-}
-
-Camera::result Camera::get_frame(pt_frame& frame_)
-{
- cv::Mat& frame = frame_.as<Frame>()->mat;
-
- const bool new_frame = get_frame_(frame);
-
- if (new_frame)
- {
- const f dt = (f)t.elapsed_seconds();
- t.start();
-
- // measure fps of valid frames
- constexpr f RC = f{1}/10; // seconds
- const f alpha = dt/(dt + RC);
-
- if (dt_mean < dt_eps)
- dt_mean = dt;
- else
- dt_mean = (1-alpha) * dt_mean + alpha * dt;
-
- cam_info.fps = dt_mean > dt_eps ? 1 / dt_mean : 0;
- cam_info.res_x = frame.cols;
- cam_info.res_y = frame.rows;
- cam_info.fov = fov;
-
- return { true, cam_info };
- }
- else
- return { false, {} };
-}
-
-bool Camera::start(const QString& name, int fps, int res_x, int res_y)
-{
- if (fps >= 0 && res_x >= 0 && res_y >= 0)
- {
- if (cam_desired.name != name ||
- (int)cam_desired.fps != fps ||
- cam_desired.res_x != res_x ||
- cam_desired.res_y != res_y ||
- !cap || !cap->is_open())
- {
- stop();
-
- cam_desired.name = name;
- cam_desired.fps = fps;
- cam_desired.res_x = res_x;
- cam_desired.res_y = res_y;
- cam_desired.fov = fov;
-
- cap = video::make_camera(name);
-
- if (!cap)
- goto fail;
-
- info.fps = fps;
- info.width = res_x;
- info.height = res_y;
-
- if (!cap->start(info))
- goto fail;
-
- cam_info = pt_camera_info();
- cam_info.name = name;
- dt_mean = 0;
-
- cv::Mat tmp;
-
- if (!get_frame_(tmp))
- goto fail;
-
- t.start();
- }
- }
-
- return true;
-
-fail:
- stop();
- return false;
-}
-
-void Camera::stop()
-{
- cap = nullptr;
- cam_info = {};
- cam_desired = {};
-}
-
-bool Camera::get_frame_(cv::Mat& img)
-{
- if (cap && cap->is_open())
- {
- auto [ frame, ret ] = cap->get_frame();
- if (ret)
- {
- int stride = frame.stride;
- if (stride == 0)
- stride = cv::Mat::AUTO_STEP;
- img = cv::Mat(frame.height, frame.width, CV_8UC(frame.channels), (void*)frame.data, stride);
- return true;
- }
- }
-
- return false;
-}
-
-} // ns pt_module
diff --git a/tracker-easy/camera.h b/tracker-easy/camera.h
deleted file mode 100644
index 5fec9a19..00000000
--- a/tracker-easy/camera.h
+++ /dev/null
@@ -1,57 +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 "tracker-easy-api.h"
-#include "compat/timer.hpp"
-#include "video/camera.hpp"
-
-#include <memory>
-
-#include <opencv2/core.hpp>
-
-#include <QString>
-
-namespace pt_module {
-
-struct Camera final : pt_camera
-{
- Camera(const QString& module_name);
-
- bool start(const QString& name, int fps, int res_x, int res_y) override;
- void stop() override;
-
- result get_frame(pt_frame& Frame) override;
- result get_info() const override;
-
- pt_camera_info get_desired() const override { return cam_desired; }
- QString get_desired_name() const override;
- QString get_active_name() const override;
-
- void set_fov(f value) override { fov = value; }
- void show_camera_settings() override;
-
-
-private:
- using camera = typename video::impl::camera;
-
- [[nodiscard]] bool get_frame_(cv::Mat& frame);
-
- f dt_mean = 0, fov = 30;
- Timer t;
- pt_camera_info cam_info;
- pt_camera_info cam_desired;
-
- std::unique_ptr<camera> cap;
-
- pt_settings s;
-
- static constexpr f dt_eps = f{1}/256;
-};
-
-} // ns pt_module
diff --git a/tracker-easy/frame.cpp b/tracker-easy/frame.cpp
index a045b783..b066e13b 100644
--- a/tracker-easy/frame.cpp
+++ b/tracker-easy/frame.cpp
@@ -4,11 +4,9 @@
#include <opencv2/imgproc.hpp>
-namespace pt_module {
-Preview& Preview::operator=(const pt_frame& frame_)
+Preview& Preview::operator=(const cv::Mat& frame)
{
- const cv::Mat& frame = frame_.as_const<const Frame>()->mat;
if (frame.channels() != 3)
{
@@ -52,9 +50,9 @@ QImage Preview::get_bitmap()
QImage::Format_ARGB32);
}
-void Preview::draw_head_center(f x, f y)
+void Preview::draw_head_center(pt_pixel_pos_mixin::f x, pt_pixel_pos_mixin::f y)
{
- auto [px_, py_] = to_pixel_pos(x, y, frame_copy.cols, frame_copy.rows);
+ auto [px_, py_] = pt_pixel_pos_mixin::to_pixel_pos(x, y, frame_copy.cols, frame_copy.rows);
int px = iround(px_), py = iround(py_);
@@ -76,5 +74,3 @@ void Preview::ensure_size(cv::Mat& frame, int w, int h, int type)
if (frame.cols != w || frame.rows != h)
frame = cv::Mat(h, w, type);
}
-
-} // ns pt_module
diff --git a/tracker-easy/frame.hpp b/tracker-easy/frame.hpp
index 678665fd..807f74d2 100644
--- a/tracker-easy/frame.hpp
+++ b/tracker-easy/frame.hpp
@@ -5,28 +5,15 @@
#include <opencv2/core.hpp>
#include <QImage>
-#ifdef __clang__
-# pragma clang diagnostic push
-# pragma clang diagnostic ignored "-Wweak-vtables"
-#endif
-namespace pt_module {
-struct Frame final : pt_frame
-{
- cv::Mat mat;
-
- operator const cv::Mat&() const& { return mat; }
- operator cv::Mat&() & { return mat; }
-};
-
-struct Preview final : pt_preview
+struct Preview
{
Preview(int w, int h);
- Preview& operator=(const pt_frame& frame) override;
- QImage get_bitmap() override;
- void draw_head_center(f x, f y) override;
+ Preview& operator=(const cv::Mat& frame);
+ QImage get_bitmap();
+ void draw_head_center(pt_pixel_pos_mixin::f x, pt_pixel_pos_mixin::f y);
operator cv::Mat&() { return frame_copy; }
operator cv::Mat const&() const { return frame_copy; }
@@ -37,8 +24,4 @@ private:
cv::Mat frame_copy, frame_out;
};
-} // ns pt_module
-#ifdef __clang__
-# pragma clang diagnostic pop
-#endif
diff --git a/tracker-easy/lang/nl_NL.ts b/tracker-easy/lang/nl_NL.ts
index d4569244..8f471ea0 100644
--- a/tracker-easy/lang/nl_NL.ts
+++ b/tracker-easy/lang/nl_NL.ts
@@ -264,18 +264,6 @@ Don&apos;t roll or change position.</source>
<translation type="unfinished"></translation>
</message>
<message>
- <source>%1x%2 @ %3 FPS</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
- <source>%1 OK!</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
- <source>%1 BAD!</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
<source>Tracker offline</source>
<translation type="unfinished"></translation>
</message>
diff --git a/tracker-easy/lang/ru_RU.ts b/tracker-easy/lang/ru_RU.ts
index 3fbde4a4..eb58cdc7 100644
--- a/tracker-easy/lang/ru_RU.ts
+++ b/tracker-easy/lang/ru_RU.ts
@@ -269,18 +269,6 @@ ROLL или X/Y-смещения.</translation>
<translation type="unfinished">Начать калибровку</translation>
</message>
<message>
- <source>%1x%2 @ %3 FPS</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
- <source>%1 OK!</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
- <source>%1 BAD!</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
<source>Tracker offline</source>
<translation type="unfinished">Отслеживание отключено</translation>
</message>
diff --git a/tracker-easy/lang/stub.ts b/tracker-easy/lang/stub.ts
index dd474b57..ced89412 100644
--- a/tracker-easy/lang/stub.ts
+++ b/tracker-easy/lang/stub.ts
@@ -264,18 +264,6 @@ Don&apos;t roll or change position.</source>
<translation type="unfinished"></translation>
</message>
<message>
- <source>%1x%2 @ %3 FPS</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
- <source>%1 OK!</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
- <source>%1 BAD!</source>
- <translation type="unfinished"></translation>
- </message>
- <message>
<source>Tracker offline</source>
<translation type="unfinished"></translation>
</message>
diff --git a/tracker-easy/lang/zh_CN.ts b/tracker-easy/lang/zh_CN.ts
index 34a811dd..ff272fdc 100644
--- a/tracker-easy/lang/zh_CN.ts
+++ b/tracker-easy/lang/zh_CN.ts
@@ -264,18 +264,6 @@ Don&apos;t roll or change position.</source>
<translation type="unfinished">开始校准</translation>
</message>
<message>
- <source>%1x%2 @ %3 FPS</source>
- <translation type="unfinished">%1x%2 @ %3 帧</translation>
- </message>
- <message>
- <source>%1 OK!</source>
- <translation type="unfinished">%1 正常</translation>
- </message>
- <message>
- <source>%1 BAD!</source>
- <translation type="unfinished">%1 异常</translation>
- </message>
- <message>
<source>Tracker offline</source>
<translation type="unfinished">跟踪器脱机</translation>
</message>
diff --git a/tracker-easy/module.cpp b/tracker-easy/module.cpp
index 10d25369..4f6df056 100644
--- a/tracker-easy/module.cpp
+++ b/tracker-easy/module.cpp
@@ -3,7 +3,6 @@
#include "tracker-easy-api.h"
#include "module.hpp"
-#include "camera.h"
#include "frame.hpp"
#include "point_extractor.h"
@@ -20,11 +19,6 @@ namespace pt_module {
struct pt_module_traits final : pt_runtime_traits
{
- pointer<pt_camera> make_camera() const override
- {
- return pointer<pt_camera>(new Camera(module_name));
- }
-
pointer<pt_point_extractor> make_point_extractor() const override
{
return pointer<pt_point_extractor>(new PointExtractor(module_name));
@@ -35,15 +29,6 @@ struct pt_module_traits final : pt_runtime_traits
return module_name;
}
- pointer<pt_frame> make_frame() const override
- {
- return pointer<pt_frame>(new Frame);
- }
-
- pointer<pt_preview> make_preview(int w, int h) const override
- {
- return pointer<pt_preview>(new Preview(w, h));
- }
};
struct tracker_pt : Tracker_PT
diff --git a/tracker-easy/point_extractor.cpp b/tracker-easy/point_extractor.cpp
index 0d54a66b..54803d52 100644
--- a/tracker-easy/point_extractor.cpp
+++ b/tracker-easy/point_extractor.cpp
@@ -238,9 +238,8 @@ static void draw_blobs(cv::Mat& preview_frame, const blob* blobs, unsigned nblob
}
}
-void PointExtractor::extract_points(const pt_frame& frame_, pt_preview& preview_frame_, std::vector<vec2>& points, std::vector<vec2>& imagePoints)
+void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame_, std::vector<vec2>& points, std::vector<vec2>& imagePoints)
{
- const cv::Mat& frame = frame_.as_const<Frame>()->mat;
ensure_buffers(frame);
color_to_grayscale(frame, frame_gray_unmasked);
@@ -359,7 +358,7 @@ end:
}
// TODO: Do not do that if no preview. Delay blob drawing until we know where are the points?
- draw_blobs(preview_frame_.as<Frame>()->mat,
+ draw_blobs(preview_frame_,
blobs.data(), blobs.size(),
frame_gray.size());
diff --git a/tracker-easy/point_extractor.h b/tracker-easy/point_extractor.h
index fd0b8144..41f74493 100644
--- a/tracker-easy/point_extractor.h
+++ b/tracker-easy/point_extractor.h
@@ -33,7 +33,7 @@ class PointExtractor final : public pt_point_extractor
public:
// extracts points from frame and draws some processing info into frame, if draw_output is set
// dt: time since last call in seconds
- void extract_points(const pt_frame& frame, pt_preview& preview_frame, std::vector<vec2>& points, std::vector<vec2>& imagePoints) override;
+ void extract_points(const cv::Mat& frame, cv::Mat& preview_frame, std::vector<vec2>& points, std::vector<vec2>& imagePoints) override;
PointExtractor(const QString& module_name);
public:
diff --git a/tracker-easy/tracker-easy-api.cpp b/tracker-easy/tracker-easy-api.cpp
index 49e11759..32663a6a 100644
--- a/tracker-easy/tracker-easy-api.cpp
+++ b/tracker-easy/tracker-easy-api.cpp
@@ -3,24 +3,8 @@
using namespace numeric_types;
-pt_camera_info::pt_camera_info() = default;
-f pt_camera_info::get_focal_length(f fov, int res_x, int res_y)
-{
- const f diag_len = std::sqrt(f(res_x*res_x + res_y*res_y));
- const f aspect_x = res_x / diag_len;
- //const double aspect_y = res_y / diag_len;
- const f diag_fov = fov * pi/180;
- const f fov_x = 2*std::atan(std::tan(diag_fov*f{.5}) * aspect_x);
- //const double fov_y = 2*atan(tan(diag_fov*.5) * aspect_y);
- const f fx = f{.5} / std::tan(fov_x * f{.5});
- return fx;
- //fy = .5 / tan(fov_y * .5);
- //static bool once = false; if (!once) { once = true; qDebug() << "f" << ret << "fov" << (fov * 180/M_PI); }
-}
-pt_camera::pt_camera() = default;
-pt_camera::~pt_camera() = default;
pt_runtime_traits::pt_runtime_traits() = default;
pt_runtime_traits::~pt_runtime_traits() = default;
pt_point_extractor::pt_point_extractor() = default;
@@ -49,6 +33,3 @@ std::tuple<f, f> pt_pixel_pos_mixin::to_screen_pos(f px, f py, int w, int h)
return std::make_tuple((px - w/f{2})/w, -(py - h/f{2})/w);
}
-pt_frame::pt_frame() = default;
-
-pt_frame::~pt_frame() = default;
diff --git a/tracker-easy/tracker-easy-api.h b/tracker-easy/tracker-easy-api.h
index 81a52f7f..b42e4c73 100644
--- a/tracker-easy/tracker-easy-api.h
+++ b/tracker-easy/tracker-easy-api.h
@@ -22,20 +22,6 @@
const int KPointCount = 3;
-struct pt_camera_info final
-{
- using f = numeric_types::f;
-
- pt_camera_info();
- static f get_focal_length(f fov, int res_x, int res_y);
-
- f fov = 0;
- f fps = 0;
-
- int res_x = 0;
- int res_y = 0;
- QString name;
-};
struct pt_pixel_pos_mixin
{
@@ -45,54 +31,7 @@ struct pt_pixel_pos_mixin
static std::tuple<f, f> to_screen_pos(f px, f py, int w, int h);
};
-struct pt_frame : pt_pixel_pos_mixin
-{
- pt_frame();
- virtual ~pt_frame();
-
- template<typename t>
- t* as() &
- {
- return static_cast<t*>(this);
- }
-
- template<typename t>
- t const* as_const() const&
- {
- return static_cast<t const*>(this);
- }
-};
-
-struct pt_preview : pt_frame
-{
- virtual pt_preview& operator=(const pt_frame&) = 0;
- virtual QImage get_bitmap() = 0;
- virtual void draw_head_center(f x, f y) = 0;
-};
-
-struct pt_camera
-{
- using result = std::tuple<bool, pt_camera_info>;
- using f = numeric_types::f;
-
- pt_camera();
- virtual ~pt_camera();
- [[nodiscard]] virtual bool start(const QString& name, int fps, int res_x, int res_y) = 0;
- virtual void stop() = 0;
-
- virtual result get_frame(pt_frame& frame) = 0;
- virtual result get_info() const = 0;
- virtual pt_camera_info get_desired() const = 0;
-
- virtual QString get_desired_name() const = 0;
- virtual QString get_active_name() const = 0;
-
- 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
{
@@ -101,7 +40,7 @@ struct pt_point_extractor : pt_pixel_pos_mixin
pt_point_extractor();
virtual ~pt_point_extractor();
- virtual void extract_points(const pt_frame& image, pt_preview& preview_frame, std::vector<vec2>& points, std::vector<vec2>& imagePoints) = 0;
+ virtual void extract_points(const cv::Mat& image, cv::Mat& preview_frame, std::vector<vec2>& points, std::vector<vec2>& imagePoints) = 0;
static f threshold_radius_value(int w, int h, int threshold);
};
@@ -113,10 +52,7 @@ struct pt_runtime_traits
pt_runtime_traits();
virtual ~pt_runtime_traits();
- virtual pointer<pt_camera> make_camera() const = 0;
virtual pointer<pt_point_extractor> make_point_extractor() const = 0;
- virtual pointer<pt_frame> make_frame() const = 0;
- virtual pointer<pt_preview> make_preview(int w, int h) const = 0;
virtual QString get_module_name() const = 0;
};
diff --git a/tracker-easy/tracker-easy-dialog.cpp b/tracker-easy/tracker-easy-dialog.cpp
index 2a5654e3..b4a1dd30 100644
--- a/tracker-easy/tracker-easy-dialog.cpp
+++ b/tracker-easy/tracker-easy-dialog.cpp
@@ -123,7 +123,6 @@ QString EasyTrackerDialog::threshold_display_text(int threshold_value)
return tr("Brightness %1/255").arg(threshold_value);
else
{
- pt_camera_info info;
int w = s.cam_res_x, h = s.cam_res_y;
if (w * h <= 0)
@@ -132,11 +131,14 @@ QString EasyTrackerDialog::threshold_display_text(int threshold_value)
h = 480;
}
+ //SL: sort this out
+ /*
if (tracker && tracker->get_cam_info(info) && info.res_x * info.res_y != 0)
{
w = info.res_x;
h = info.res_y;
}
+ */
double value = (double)pt_point_extractor::threshold_radius_value(w, h, threshold_value);
@@ -202,6 +204,8 @@ void EasyTrackerDialog::startstop_trans_calib(bool start)
void EasyTrackerDialog::poll_tracker_info_impl()
{
+ //SL: sort this out
+ /*
pt_camera_info info;
if (tracker && tracker->get_cam_info(info))
{
@@ -212,6 +216,7 @@ void EasyTrackerDialog::poll_tracker_info_impl()
ui.pointinfo_label->setText((n_points == 3 ? tr("%1 OK!") : tr("%1 BAD!")).arg(n_points));
}
else
+ */
{
ui.caminfo_label->setText(tr("Tracker offline"));
ui.pointinfo_label->setText(QString());
@@ -228,7 +233,7 @@ void EasyTrackerDialog::show_camera_settings()
if (tracker)
{
QMutexLocker l(&tracker->camera_mtx);
- tracker->camera->show_camera_settings();
+ tracker->camera->show_dialog();
}
else
(void)video::show_dialog(s.camera_name);
diff --git a/tracker-easy/tracker-easy.cpp b/tracker-easy/tracker-easy.cpp
index c30bb40f..1783ef51 100644
--- a/tracker-easy/tracker-easy.cpp
+++ b/tracker-easy/tracker-easy.cpp
@@ -31,9 +31,7 @@ EasyTracker::EasyTracker(pointer<pt_runtime_traits> const& traits) :
traits { traits },
s { traits->get_module_name() },
point_extractor { traits->make_point_extractor() },
- camera { traits->make_camera() },
- frame { traits->make_frame() },
- preview_frame { traits->make_preview(preview_width, preview_height) }
+ iPreview{ preview_width, preview_height }
{
cv::setBreakOnError(true);
cv::setNumThreads(1);
@@ -107,26 +105,31 @@ void EasyTracker::run()
maybe_reopen_camera();
while(!isInterruptionRequested())
- {
- pt_camera_info info;
+ {
bool new_frame = false;
{
QMutexLocker l(&camera_mtx);
if (camera)
- std::tie(new_frame, info) = camera->get_frame(*frame);
+ std::tie(iFrame, new_frame) = camera->get_frame();
}
if (new_frame)
{
+ //TODO: We should not assume channel size of 1 byte
+ iMatFrame = cv::Mat(iFrame.height, iFrame.width, CV_MAKETYPE(CV_8U,iFrame.channels), iFrame.data, iFrame.stride);
+
const bool preview_visible = check_is_visible();
if (preview_visible)
- *preview_frame = *frame;
+ {
+ iPreview = iMatFrame;
+ }
+
iImagePoints.clear();
- point_extractor->extract_points(*frame, *preview_frame, points, iImagePoints);
+ point_extractor->extract_points(iMatFrame, iPreview, points, iImagePoints);
point_count.store(points.size(), std::memory_order_relaxed);
const bool success = points.size() >= KPointCount;
@@ -208,23 +211,23 @@ void EasyTracker::run()
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.focalLengthY;
- cameraMatrix.at<double>(0, 2) = camera->info.principalPointX;
- cameraMatrix.at<double>(1, 2) = camera->info.principalPointY;
+ 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) = camera->info.radialDistortionSecondOrder; // Radial second 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) = camera->info.radialDistortionFourthOrder; // Radial fourth 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) = camera->info.radialDistortionSixthOrder; // Radial sixth 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
@@ -287,16 +290,17 @@ void EasyTracker::run()
if (topPointIndex != -1)
{
// Render a cross to indicate which point is the head
- preview_frame->draw_head_center(points[topPointIndex][0], points[topPointIndex][1]);
+ iPreview.draw_head_center(points[topPointIndex][0], points[topPointIndex][1]);
}
- widget->update_image(preview_frame->get_bitmap());
+ widget->update_image(iPreview.get_bitmap());
auto [ w, h ] = widget->preview_size();
if (w != preview_width || h != preview_height)
{
+ // Resize preivew if widget size has changed
preview_width = w; preview_height = h;
- preview_frame = traits->make_preview(w, h);
+ iPreview = Preview(w, h);
}
}
}
@@ -307,14 +311,13 @@ bool EasyTracker::maybe_reopen_camera()
{
QMutexLocker l(&camera_mtx);
- return camera->start(s.camera_name,
- s.cam_fps, s.cam_res_x, s.cam_res_y);
+ return camera->start(iCameraInfo);
}
void EasyTracker::set_fov(int value)
{
QMutexLocker l(&camera_mtx);
- camera->set_fov(value);
+
}
module_status EasyTracker::start_tracker(QFrame* video_frame)
@@ -329,6 +332,9 @@ module_status EasyTracker::start_tracker(QFrame* video_frame)
//video_widget->resize(video_frame->width(), video_frame->height());
video_frame->show();
+ // Create our camera
+ camera = video::make_camera(s.camera_name);
+
start(QThread::HighPriority);
return {};
@@ -361,14 +367,6 @@ int EasyTracker::get_n_points()
return (int)point_count.load(std::memory_order_relaxed);
}
-bool EasyTracker::get_cam_info(pt_camera_info& info)
-{
- QMutexLocker l(&camera_mtx);
- bool ret;
-
- std::tie(ret, info) = camera->get_info();
- return ret;
-}
} // ns pt_impl
diff --git a/tracker-easy/tracker-easy.h b/tracker-easy/tracker-easy.h
index fe99ba85..03e603bd 100644
--- a/tracker-easy/tracker-easy.h
+++ b/tracker-easy/tracker-easy.h
@@ -12,6 +12,8 @@
#include "tracker-easy-api.h"
#include "cv/numeric.hpp"
#include "video/video-widget.hpp"
+#include "video/camera.hpp"
+#include "frame.hpp"
#include <atomic>
#include <memory>
@@ -42,7 +44,6 @@ struct EasyTracker : QThread, ITracker
bool center() override;
int get_n_points();
- [[nodiscard]] bool get_cam_info(pt_camera_info& info);
private:
void run() override;
@@ -64,10 +65,13 @@ private:
int preview_width = 320, preview_height = 240;
pointer<pt_point_extractor> point_extractor;
- pointer<pt_camera> camera;
+ std::unique_ptr<video::impl::camera> camera;
+ video::impl::camera::info iCameraInfo;
pointer<video_widget> widget;
- pointer<pt_frame> frame;
- pointer<pt_preview> preview_frame;
+
+ video::frame iFrame;
+ cv::Mat iMatFrame;
+ Preview iPreview;
std::atomic<unsigned> point_count { 0 };
std::atomic<bool> ever_success = false;
diff --git a/video/camera.hpp b/video/camera.hpp
index be9ef711..c8eff3b9 100644
--- a/video/camera.hpp
+++ b/video/camera.hpp
@@ -23,6 +23,7 @@ struct frame final
// the `stride' member can have a special value of zero,
// signifying equal to width * element size
int width = 0, height = 0, stride = 0, channels = 0;
+ // TODO: Add channel size instead of assuming 1 byte
};
} // ns video
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-07 18:45:05 +0000