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-rw-r--r--tracker-easy/point-extractor.cpp12
-rw-r--r--tracker-easy/point-extractor.h3
-rw-r--r--tracker-easy/tracker-easy.cpp315
-rw-r--r--tracker-easy/tracker-easy.h1
4 files changed, 173 insertions, 158 deletions
diff --git a/tracker-easy/point-extractor.cpp b/tracker-easy/point-extractor.cpp
index c1f525c9..cc58c70c 100644
--- a/tracker-easy/point-extractor.cpp
+++ b/tracker-easy/point-extractor.cpp
@@ -78,20 +78,20 @@ namespace EasyTracker
}
// Contours detection
- std::vector<std::vector<cv::Point> > contours;
- cv::findContours(iFrameGray, contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE);
+ iContours.clear();
+ cv::findContours(iFrameGray, iContours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE);
// Workout which countours are valid points
- for (size_t i = 0; i < contours.size(); i++)
+ for (size_t i = 0; i < iContours.size(); i++)
{
if (aPreview)
{
- cv::drawContours(*aPreview, contours, (int)i, CV_RGB(255, 0, 0), 2);
+ cv::drawContours(*aPreview, iContours, (int)i, CV_RGB(255, 0, 0), 2);
}
cv::Rect bBox;
- bBox = cv::boundingRect(contours[i]);
+ bBox = cv::boundingRect(iContours[i]);
// Make sure bounding box matches our criteria
if (bBox.width >= s.min_point_size
@@ -116,7 +116,7 @@ namespace EasyTracker
// Typically noise comming from zippers and metal parts on your clothing.
// With a cap tracker it also successfully discards noise from glasses.
// However it may not work as good with a clip user wearing glasses.
- while (aPoints.size() > 3) // Until we have no more than three points
+ while (aPoints.size() > KPointCount) // Until we have no more than three points
{
int maxY = 0;
size_t index = -1;
diff --git a/tracker-easy/point-extractor.h b/tracker-easy/point-extractor.h
index 7827bb30..3c65b193 100644
--- a/tracker-easy/point-extractor.h
+++ b/tracker-easy/point-extractor.h
@@ -34,6 +34,9 @@ namespace EasyTracker
cv::Mat iFrameChannelSizeOne;
// Our frame with a single 8 bits channel
cv::Mat iFrameGray;
+ //
+ std::vector<std::vector<cv::Point> > iContours;
+
};
}
diff --git a/tracker-easy/tracker-easy.cpp b/tracker-easy/tracker-easy.cpp
index 4afb928a..b15db44e 100644
--- a/tracker-easy/tracker-easy.cpp
+++ b/tracker-easy/tracker-easy.cpp
@@ -122,197 +122,208 @@ namespace EasyTracker
iDistCoeffsMatrix.at<double>(7, 0) = iCameraInfo.radialDistortionSixthOrder; // Radial sixth order
}
-
- void Tracker::run()
+ ///
+ ///
+ ///
+ void Tracker::ProcessFrame()
{
- maybe_reopen_camera();
+ // Create OpenCV matrix from our frame
+ // TODO: Assert channel size is one or two
+ iMatFrame = cv::Mat(iFrame.height, iFrame.width, CV_MAKETYPE((iFrame.channelSize == 2 ? CV_16U : CV_8U), iFrame.channels), iFrame.data, iFrame.stride);
+ iFrameCount++;
- iFpsTimer.start();
+ bool doPreview = check_is_visible();
+ if (doPreview)
+ {
+ iPreview = iMatFrame;
+ }
+
+ iPoints.clear();
+ iPointExtractor.ExtractPoints(iMatFrame, (doPreview ? &iPreview.iFrameRgb : nullptr), iPoints);
+
+ const bool success = iPoints.size() >= KPointCount;
+
+ int topPointIndex = -1;
- while (!isInterruptionRequested())
{
- iTimer.start();
+ QMutexLocker l(&center_lock);
- bool new_frame = false;
+ if (success)
{
- QMutexLocker l(&camera_mtx);
+ ever_success.store(true, std::memory_order_relaxed);
- if (camera)
+ // Solve P3P problem with OpenCV
+
+ //Bitmap origin is top left
+ 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++)
{
- std::tie(iFrame, new_frame) = camera->get_frame();
+ if (iPoints[i].y < minY)
+ {
+ minY = iPoints[i].y;
+ topPointIndex = i;
+ }
}
-
- }
- if (new_frame)
- {
- // Create OpenCV matrix from our frame
- // TODO: Assert channel size is one or two
- iMatFrame = cv::Mat(iFrame.height, iFrame.width, CV_MAKETYPE((iFrame.channelSize == 2 ? CV_16U : CV_8U), iFrame.channels), iFrame.data, iFrame.stride);
- iFrameCount++;
+ int rightPointIndex = -1;
+ int maxX = 0;
+
+ // Find right most point
+ for (int i = 0; i < 3; i++)
+ {
+ // Excluding top most point
+ if (i != topPointIndex && iPoints[i].x > maxX)
+ {
+ maxX = iPoints[i].x;
+ rightPointIndex = i;
+ }
+ }
- const bool preview_visible = check_is_visible();
- if (preview_visible)
+ // Find left most point
+ int leftPointIndex = -1;
+ for (int i = 0; i < 3; i++)
{
- iPreview = iMatFrame;
+ // Excluding top most point
+ if (i != topPointIndex && i != rightPointIndex)
+ {
+ leftPointIndex = i;
+ break;
+ }
}
- iPoints.clear();
- iPointExtractor.ExtractPoints(iMatFrame, (preview_visible ? &iPreview.iFrameRgb : nullptr), iPoints);
+ //
+ iTrackedPoints.push_back(iPoints[rightPointIndex]);
+ iTrackedPoints.push_back(iPoints[leftPointIndex]);
+ iTrackedPoints.push_back(iPoints[topPointIndex]);
- const bool success = iPoints.size() >= KPointCount;
+ dbgout << "Object: " << iModel << "\n";
+ dbgout << "Points: " << iTrackedPoints << "\n";
- int topPointIndex = -1;
- {
- QMutexLocker l(&center_lock);
+ // 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);
- if (success)
+ if (solutionCount > 0)
+ {
+ dbgout << "Solution count: " << solutionCount << "\n";
+ int minPitch = std::numeric_limits<int>::max();
+ // Find the solution we want amongst all possible ones
+ for (int i = 0; i < solutionCount; i++)
{
- 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.
- // 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++)
+ dbgout << "Translation:\n";
+ dbgout << iTranslations.at(i);
+ dbgout << "\n";
+ dbgout << "Rotation:\n";
+ //dbgout << rvecs.at(i);
+ cv::Mat rotationCameraMatrix;
+ cv::Rodrigues(iRotations[i], rotationCameraMatrix);
+ cv::Vec3d angles;
+ getEulerAngles(rotationCameraMatrix, angles);
+ iAngles.push_back(angles);
+
+ // Check if pitch is closest to zero
+ int absolutePitch = std::abs(angles[0]);
+ if (minPitch > absolutePitch)
{
- if (iPoints[i].y < minY)
- {
- minY = iPoints[i].y;
- topPointIndex = i;
- }
+ // The solution with pitch closest to zero is the one we want
+ minPitch = absolutePitch;
+ iBestSolutionIndex = i;
}
- int rightPointIndex = -1;
- int maxX = 0;
+ dbgout << angles;
+ dbgout << "\n";
+ }
- // Find right most point
- for (int i = 0; i < 3; i++)
- {
- // Excluding top most point
- if (i != topPointIndex && iPoints[i].x > maxX)
- {
- maxX = iPoints[i].x;
- rightPointIndex = i;
- }
- }
+ dbgout << "\n";
+ }
+ }
- // Find left most point
- int leftPointIndex = -1;
- for (int i = 0; i < 3; i++)
- {
- // Excluding top most point
- if (i != topPointIndex && i != rightPointIndex)
- {
- leftPointIndex = i;
- break;
- }
- }
+ // Send solution data back to main thread
+ QMutexLocker l2(&data_lock);
+ if (iBestSolutionIndex != -1)
+ {
+ iBestAngles = iAngles[iBestSolutionIndex];
+ iBestTranslation = iTranslations[iBestSolutionIndex];
+ }
+
+ }
- //
- iTrackedPoints.push_back(iPoints[rightPointIndex]);
- iTrackedPoints.push_back(iPoints[leftPointIndex]);
- iTrackedPoints.push_back(iPoints[topPointIndex]);
+ if (doPreview)
+ {
+ std::ostringstream ss;
+ ss << "FPS: " << iFps << "/" << iSkippedFps;
+ iPreview.DrawInfo(ss.str());
- dbgout << "Object: " << iModel << "\n";
- dbgout << "Points: " << iTrackedPoints << "\n";
+ //
+ if (topPointIndex != -1)
+ {
+ // Render a cross to indicate which point is the head
+ iPreview.DrawCross(iPoints[topPointIndex]);
+ }
+ // Show full size preview pop-up
+ if (iSettings.debug)
+ {
+ cv::imshow("Preview", iPreview.iFrameRgb);
+ cv::waitKey(1);
+ }
- // 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);
+ // Update preview widget
+ widget->update_image(iPreview.get_bitmap());
- if (solutionCount > 0)
- {
- dbgout << "Solution count: " << solutionCount << "\n";
- int minPitch = std::numeric_limits<int>::max();
- // Find the solution we want amongst all possible ones
- for (int i = 0; i < solutionCount; i++)
- {
- dbgout << "Translation:\n";
- dbgout << iTranslations.at(i);
- dbgout << "\n";
- dbgout << "Rotation:\n";
- //dbgout << rvecs.at(i);
- cv::Mat rotationCameraMatrix;
- cv::Rodrigues(iRotations[i], rotationCameraMatrix);
- cv::Vec3d angles;
- getEulerAngles(rotationCameraMatrix, angles);
- iAngles.push_back(angles);
-
- // Check if pitch is closest to zero
- 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;
- }
-
- dbgout << angles;
- dbgout << "\n";
- }
-
- dbgout << "\n";
- }
- }
+ 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;
+ iPreview = Preview(w, h);
+ }
+ }
+ else
+ {
+ // No preview, destroy preview pop-up
+ if (iSettings.debug)
+ {
+ cv::destroyWindow("Preview");
+ }
+ }
- // Send solution data back to main thread
- QMutexLocker l2(&data_lock);
- if (iBestSolutionIndex != -1)
- {
- iBestAngles = iAngles[iBestSolutionIndex];
- iBestTranslation = iTranslations[iBestSolutionIndex];
- }
+ dbgout << "Frame time:" << iTimer.elapsed_seconds() << "\n";
- }
+ }
- if (preview_visible)
- {
- std::ostringstream ss;
- ss << "FPS: " << iFps << "/" << iSkippedFps;
- iPreview.DrawInfo(ss.str());
+ ///
+ ///
+ ///
+ void Tracker::run()
+ {
+ maybe_reopen_camera();
- //
- if (topPointIndex != -1)
- {
- // Render a cross to indicate which point is the head
- iPreview.DrawCross(iPoints[topPointIndex]);
- }
+ iFpsTimer.start();
- // Show full size preview pop-up
- if (iSettings.debug)
- {
- cv::imshow("Preview", iPreview.iFrameRgb);
- cv::waitKey(1);
- }
+ while (!isInterruptionRequested())
+ {
+ iTimer.start();
- // Update preview widget
- widget->update_image(iPreview.get_bitmap());
+ bool new_frame = false;
+ {
+ QMutexLocker l(&camera_mtx);
- 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;
- iPreview = Preview(w, h);
- }
- }
- else
+ if (camera)
{
- // No preview, destroy preview pop-up
- if (iSettings.debug)
- {
- cv::destroyWindow("Preview");
- }
+ std::tie(iFrame, new_frame) = camera->get_frame();
}
+
+ }
- dbgout << "Frame time:" << iTimer.elapsed_seconds() << "\n";
+ if (new_frame)
+ {
+ ProcessFrame();
}
else
{
diff --git a/tracker-easy/tracker-easy.h b/tracker-easy/tracker-easy.h
index 06551533..a8c8e6be 100644
--- a/tracker-easy/tracker-easy.h
+++ b/tracker-easy/tracker-easy.h
@@ -56,6 +56,7 @@ namespace EasyTracker
private:
void CreateModelFromSettings();
void CreateCameraIntrinsicsMatrices();
+ void ProcessFrame();
// From QThread
void run() override;
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-07 13:18:34 +0000