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-rw-r--r--ftnoir_tracker_pt/FTNoIR_PT_Controls.ui3090
-rw-r--r--ftnoir_tracker_pt/Resources/Logo_IR.pngbin10386 -> 10385 bytes
-rw-r--r--ftnoir_tracker_pt/Resources/cap_front.pngbin1164 -> 1163 bytes
-rw-r--r--ftnoir_tracker_pt/Resources/cap_side.pngbin1733 -> 1732 bytes
-rw-r--r--ftnoir_tracker_pt/Resources/clip_front.pngbin571 -> 570 bytes
-rw-r--r--ftnoir_tracker_pt/Resources/clip_side.pngbin2677 -> 2676 bytes
-rw-r--r--ftnoir_tracker_pt/camera.cpp692
-rw-r--r--ftnoir_tracker_pt/camera.h288
-rw-r--r--ftnoir_tracker_pt/doc/logo.pngbin10386 -> 10385 bytes
-rw-r--r--ftnoir_tracker_pt/doc/settings1.pngbin25013 -> 25012 bytes
-rw-r--r--ftnoir_tracker_pt/doc/settings2.pngbin26841 -> 26840 bytes
-rw-r--r--ftnoir_tracker_pt/doc/settings3.pngbin29547 -> 29546 bytes
-rw-r--r--ftnoir_tracker_pt/doc/style.css262
-rw-r--r--ftnoir_tracker_pt/frame_observer.cpp36
-rw-r--r--ftnoir_tracker_pt/frame_observer.h150
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.cpp528
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.h186
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp628
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h140
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp84
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h52
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h162
-rw-r--r--ftnoir_tracker_pt/point_extractor.cpp326
-rw-r--r--ftnoir_tracker_pt/point_extractor.h70
-rw-r--r--ftnoir_tracker_pt/point_tracker.cpp750
-rw-r--r--ftnoir_tracker_pt/point_tracker.h256
-rw-r--r--ftnoir_tracker_pt/pt_video_widget.cpp128
-rw-r--r--ftnoir_tracker_pt/pt_video_widget.h140
-rw-r--r--ftnoir_tracker_pt/trans_calib.cpp86
-rw-r--r--ftnoir_tracker_pt/trans_calib.h76
30 files changed, 4065 insertions, 4065 deletions
diff --git a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
index 44dfc060..a2d5c47c 100644
--- a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
+++ b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
@@ -1,1545 +1,1545 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>UICPTClientControls</class>
- <widget class="QWidget" name="UICPTClientControls">
- <property name="windowModality">
- <enum>Qt::NonModal</enum>
- </property>
- <property name="geometry">
- <rect>
- <x>0</x>
- <y>0</y>
- <width>459</width>
- <height>621</height>
- </rect>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="windowTitle">
- <string>PointTracker Settings</string>
- </property>
- <property name="windowIcon">
- <iconset resource="ftnoir_tracker_pt.qrc">
- <normaloff>:/Resources/Logo_IR.png</normaloff>:/Resources/Logo_IR.png</iconset>
- </property>
- <property name="layoutDirection">
- <enum>Qt::LeftToRight</enum>
- </property>
- <property name="autoFillBackground">
- <bool>false</bool>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout_2">
- <property name="sizeConstraint">
- <enum>QLayout::SetFixedSize</enum>
- </property>
- <item>
- <widget class="QTabWidget" name="tabWidget">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>0</height>
- </size>
- </property>
- <property name="locale">
- <locale language="English" country="UnitedStates"/>
- </property>
- <property name="currentIndex">
- <number>0</number>
- </property>
- <widget class="QWidget" name="tab">
- <attribute name="title">
- <string>General</string>
- </attribute>
- <layout class="QVBoxLayout" name="verticalLayout_3">
- <item>
- <widget class="QGroupBox" name="groupBox_6">
- <property name="title">
- <string>Tracker Thread</string>
- </property>
- <layout class="QGridLayout" name="gridLayout">
- <item row="0" column="0">
- <widget class="QLabel" name="label_43">
- <property name="text">
- <string>Auto-reset time</string>
- </property>
- <property name="buddy">
- <cstring>reset_spin</cstring>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QSpinBox" name="reset_spin">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Expanding" vsizetype="Minimum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="toolTip">
- <string>Time until automatic reset of tracker's internal state when no valid tracking result is found</string>
- </property>
- <property name="suffix">
- <string>ms</string>
- </property>
- <property name="maximum">
- <number>9999</number>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_17">
- <property name="text">
- <string>Dynamic Pose Resolution</string>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QCheckBox" name="dynpose_check">
- <property name="toolTip">
- <string/>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QPushButton" name="reset_button">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="toolTip">
- <string>Reset the tracker's internal state</string>
- </property>
- <property name="text">
- <string>Reset</string>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- </item>
- <item>
- <spacer name="verticalSpacer">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- </layout>
- </widget>
- <widget class="QWidget" name="tab_2">
- <attribute name="title">
- <string>Camera</string>
- </attribute>
- <layout class="QVBoxLayout" name="verticalLayout_7">
- <item>
- <widget class="QGroupBox" name="groupBox">
- <property name="toolTip">
- <string>The camera device used as input</string>
- </property>
- <property name="title">
- <string>Camera Settings</string>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout">
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_3">
- <item>
- <widget class="QLabel" name="label_2">
- <property name="minimumSize">
- <size>
- <width>55</width>
- <height>0</height>
- </size>
- </property>
- <property name="text">
- <string>Device</string>
- </property>
- <property name="buddy">
- <cstring>camdevice_combo</cstring>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QComboBox" name="camdevice_combo">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="toolTip">
- <string>Camera device used as input</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_8">
- <item>
- <layout class="QGridLayout" name="gridLayout_8">
- <item row="0" column="0">
- <widget class="QLabel" name="label_36">
- <property name="minimumSize">
- <size>
- <width>55</width>
- <height>0</height>
- </size>
- </property>
- <property name="text">
- <string>Resolution</string>
- </property>
- </widget>
- </item>
- <item row="0" column="5">
- <widget class="QLabel" name="label_37">
- <property name="text">
- <string>FPS</string>
- </property>
- <property name="buddy">
- <cstring>fps_spin</cstring>
- </property>
- </widget>
- </item>
- <item row="0" column="6">
- <widget class="QSpinBox" name="fps_spin">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="toolTip">
- <string>Desired capture framerate</string>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- </item>
- <item row="0" column="2">
- <widget class="QLabel" name="label_41">
- <property name="text">
- <string>x</string>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QSpinBox" name="res_x_spin">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="toolTip">
- <string>Desired capture width</string>
- </property>
- <property name="maximum">
- <number>2000</number>
- </property>
- <property name="singleStep">
- <number>10</number>
- </property>
- </widget>
- </item>
- <item row="0" column="3">
- <widget class="QSpinBox" name="res_y_spin">
- <property name="toolTip">
- <string>Desired capture height</string>
- </property>
- <property name="maximum">
- <number>2000</number>
- </property>
- <property name="singleStep">
- <number>10</number>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_34">
- <property name="text">
- <string>F/W</string>
- </property>
- <property name="buddy">
- <cstring>f_dspin</cstring>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QDoubleSpinBox" name="f_dspin">
- <property name="toolTip">
- <string>The camera's focal length devided by its sensor width</string>
- </property>
- <property name="decimals">
- <number>2</number>
- </property>
- <property name="singleStep">
- <double>0.100000000000000</double>
- </property>
- </widget>
- </item>
- <item row="0" column="4">
- <spacer name="horizontalSpacer_2">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item row="0" column="7">
- <spacer name="horizontalSpacer_9">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>0</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- </layout>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_7"/>
- </item>
- </layout>
- </widget>
- </item>
- <item>
- <widget class="QGroupBox" name="groupBox_4">
- <property name="title">
- <string>Camera Orientation</string>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout_8">
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_6">
- <item>
- <layout class="QGridLayout" name="gridLayout_3">
- <item row="1" column="0">
- <widget class="QLabel" name="label_4">
- <property name="text">
- <string>Pitch</string>
- </property>
- <property name="buddy">
- <cstring>campitch_spin</cstring>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QSpinBox" name="campitch_spin">
- <property name="contextMenuPolicy">
- <enum>Qt::DefaultContextMenu</enum>
- </property>
- <property name="toolTip">
- <string>The angle the camera is facing upwards</string>
- </property>
- <property name="minimum">
- <number>-99</number>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QLabel" name="label_20">
- <property name="text">
- <string>Yaw</string>
- </property>
- <property name="buddy">
- <cstring>camyaw_spin</cstring>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QSpinBox" name="camyaw_spin">
- <property name="contextMenuPolicy">
- <enum>Qt::DefaultContextMenu</enum>
- </property>
- <property name="toolTip">
- <string>The angle the camera is facing leftwards</string>
- </property>
- <property name="minimum">
- <number>-99</number>
- </property>
- </widget>
- </item>
- <item row="2" column="2">
- <widget class="QLabel" name="label_21">
- <property name="text">
- <string>deg (positve = leftwards)</string>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QComboBox" name="camroll_combo">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>0</height>
- </size>
- </property>
- <property name="toolTip">
- <string>Rotation of the camera image</string>
- </property>
- </widget>
- </item>
- <item row="1" column="2">
- <widget class="QLabel" name="label_5">
- <property name="text">
- <string>deg (positive = upwards)</string>
- </property>
- </widget>
- </item>
- <item row="0" column="2">
- <widget class="QLabel" name="label_19">
- <property name="text">
- <string>deg</string>
- </property>
- </widget>
- </item>
- <item row="0" column="0">
- <widget class="QLabel" name="label_18">
- <property name="text">
- <string>Roll</string>
- </property>
- <property name="buddy">
- <cstring>camroll_combo</cstring>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <spacer name="horizontalSpacer_10">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>0</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- </item>
- <item>
- <spacer name="verticalSpacer_2">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>0</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <widget class="QGroupBox" name="groupBox_2">
- <property name="title">
- <string>Point Extraction</string>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout_4">
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout">
- <item>
- <widget class="QLabel" name="label">
- <property name="text">
- <string>Threshold</string>
- </property>
- <property name="buddy">
- <cstring>threshold_slider</cstring>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QSlider" name="threshold_slider">
- <property name="toolTip">
- <string>Intensity threshold for point extraction</string>
- </property>
- <property name="maximum">
- <number>255</number>
- </property>
- <property name="value">
- <number>127</number>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_secondary">
- <item>
- <widget class="QLabel" name="label_secondary">
- <property name="text">
- <string>Hysteresis</string>
- </property>
- <property name="buddy">
- <cstring>threshold_secondary_slider</cstring>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QSlider" name="threshold_secondary_slider">
- <property name="toolTip">
- <string>Per pixel hysteresis width (leave left if there is little difference between dot and non-dot, move right for increased stability against pixel noise)</string>
- </property>
- <property name="maximum">
- <number>255</number>
- </property>
- <property name="pageStep">
- <number>1</number>
- </property>
- <property name="value">
- <number>100</number>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_2">
- <item>
- <widget class="QLabel" name="label_7">
- <property name="text">
- <string>Min Diameter</string>
- </property>
- <property name="buddy">
- <cstring>mindiam_spin</cstring>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QSpinBox" name="mindiam_spin">
- <property name="toolTip">
- <string>Minimum point diameter</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_12">
- <property name="text">
- <string>px</string>
- </property>
- </widget>
- </item>
- <item>
- <spacer name="horizontalSpacer">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <widget class="QLabel" name="label_8">
- <property name="text">
- <string>Max Diameter</string>
- </property>
- <property name="buddy">
- <cstring>maxdiam_spin</cstring>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QSpinBox" name="maxdiam_spin">
- <property name="toolTip">
- <string>Maximum point diameter</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_13">
- <property name="text">
- <string>px</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- </item>
- </layout>
- </widget>
- <widget class="QWidget" name="tab_4">
- <attribute name="title">
- <string>Model</string>
- </attribute>
- <layout class="QVBoxLayout" name="verticalLayout_16">
- <item>
- <widget class="QTabWidget" name="model_tabs">
- <property name="tabShape">
- <enum>QTabWidget::Rounded</enum>
- </property>
- <property name="currentIndex">
- <number>2</number>
- </property>
- <property name="usesScrollButtons">
- <bool>false</bool>
- </property>
- <property name="documentMode">
- <bool>false</bool>
- </property>
- <property name="tabsClosable">
- <bool>false</bool>
- </property>
- <widget class="QWidget" name="tab_5">
- <attribute name="title">
- <string>Clip</string>
- </attribute>
- <layout class="QVBoxLayout" name="verticalLayout_13">
- <item>
- <widget class="QGroupBox" name="groupBox_8">
- <property name="title">
- <string>Model Dimensions (mm)</string>
- </property>
- <layout class="QHBoxLayout" name="horizontalLayout_16">
- <item>
- <widget class="QWidget" name="widget_4" native="true">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>150</width>
- <height>160</height>
- </size>
- </property>
- <widget class="QLabel" name="label_44">
- <property name="geometry">
- <rect>
- <x>30</x>
- <y>30</y>
- <width>71</width>
- <height>111</height>
- </rect>
- </property>
- <property name="text">
- <string/>
- </property>
- <property name="pixmap">
- <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/clip_side.png</pixmap>
- </property>
- </widget>
- <widget class="QSpinBox" name="clip_theight_spin">
- <property name="geometry">
- <rect>
- <x>100</x>
- <y>50</y>
- <width>46</width>
- <height>22</height>
- </rect>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- <widget class="QSpinBox" name="clip_tlength_spin">
- <property name="geometry">
- <rect>
- <x>60</x>
- <y>10</y>
- <width>46</width>
- <height>22</height>
- </rect>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- <widget class="QSpinBox" name="clip_bheight_spin">
- <property name="geometry">
- <rect>
- <x>100</x>
- <y>90</y>
- <width>46</width>
- <height>22</height>
- </rect>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- <widget class="QLabel" name="label_50">
- <property name="geometry">
- <rect>
- <x>10</x>
- <y>10</y>
- <width>46</width>
- <height>13</height>
- </rect>
- </property>
- <property name="text">
- <string>Side</string>
- </property>
- </widget>
- <widget class="QSpinBox" name="clip_blength_spin">
- <property name="geometry">
- <rect>
- <x>40</x>
- <y>140</y>
- <width>46</width>
- <height>22</height>
- </rect>
- </property>
- <property name="maximum">
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- <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Location of the two remaining model points&lt;br/&gt;with respect to the reference point in default pose&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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- <string>M1:</string>
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- <widget class="QLabel" name="label_59">
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- <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Translation from head center to model reference point&lt;br/&gt; in default pose&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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- <string>z:</string>
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- <height>20</height>
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- <item>
- <widget class="QPushButton" name="tcalib_button">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="text">
- <string>Calibrate</string>
- </property>
- <property name="checkable">
- <bool>true</bool>
- </property>
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- <spacer name="horizontalSpacer_19">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
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- <height>20</height>
- </size>
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- <attribute name="title">
- <string>About</string>
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- <rect>
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- <width>161</width>
- <height>111</height>
- </rect>
- </property>
- <property name="text">
- <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FTNoIR PointTracker Plugin&lt;br/&gt;Version 1.1&lt;/span&gt;&lt;/p&gt;&lt;p&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;by Patrick Ruoff&lt;/span&gt;&lt;/p&gt;&lt;p&gt;&lt;a href=&quot;http://ftnoirpt.sourceforge.net/&quot;&gt;&lt;span style=&quot; font-weight:600; text-decoration: underline; color:#0000ff;&quot;&gt;Manual (external)&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
- </property>
- <property name="openExternalLinks">
- <bool>true</bool>
- </property>
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- <widget class="QLabel" name="label_35">
- <property name="geometry">
- <rect>
- <x>200</x>
- <y>30</y>
- <width>141</width>
- <height>141</height>
- </rect>
- </property>
- <property name="text">
- <string/>
- </property>
- <property name="pixmap">
- <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/Logo_IR.png</pixmap>
- </property>
- </widget>
- </widget>
- </widget>
- </item>
- <item>
- <widget class="QGroupBox" name="groupBox_5">
- <property name="title">
- <string>Status</string>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout_5">
- <item>
- <layout class="QFormLayout" name="formLayout">
- <property name="fieldGrowthPolicy">
- <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
- </property>
- <item row="0" column="0">
- <widget class="QLabel" name="label_38">
- <property name="text">
- <string>Camera Info:</string>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QLabel" name="caminfo_label">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
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- <width>120</width>
- <height>0</height>
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- <property name="text">
- <string/>
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- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_3">
- <property name="text">
- <string>Extracted Points:</string>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QLabel" name="pointinfo_label">
- <property name="minimumSize">
- <size>
- <width>50</width>
- <height>0</height>
- </size>
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- <property name="text">
- <string/>
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- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_4">
- <item>
- <widget class="QPushButton" name="btnApply">
- <property name="text">
- <string>Save</string>
- </property>
- </widget>
- </item>
- <item>
- <spacer name="horizontalSpacer_6">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
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- </spacer>
- </item>
- <item>
- <widget class="QPushButton" name="ok_button">
- <property name="locale">
- <locale language="English" country="UnitedStates"/>
- </property>
- <property name="text">
- <string>Ok</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="cancel_button">
- <property name="locale">
- <locale language="English" country="UnitedStates"/>
- </property>
- <property name="text">
- <string>Cancel</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- <tabstops>
- <tabstop>tabWidget</tabstop>
- <tabstop>reset_spin</tabstop>
- <tabstop>camdevice_combo</tabstop>
- <tabstop>res_x_spin</tabstop>
- <tabstop>res_y_spin</tabstop>
- <tabstop>fps_spin</tabstop>
- <tabstop>f_dspin</tabstop>
- <tabstop>camroll_combo</tabstop>
- <tabstop>campitch_spin</tabstop>
- <tabstop>camyaw_spin</tabstop>
- <tabstop>threshold_slider</tabstop>
- <tabstop>mindiam_spin</tabstop>
- <tabstop>maxdiam_spin</tabstop>
- <tabstop>model_tabs</tabstop>
- <tabstop>clip_tlength_spin</tabstop>
- <tabstop>clip_theight_spin</tabstop>
- <tabstop>clip_bheight_spin</tabstop>
- <tabstop>clip_blength_spin</tabstop>
- <tabstop>cap_length_spin</tabstop>
- <tabstop>cap_height_spin</tabstop>
- <tabstop>cap_width_spin</tabstop>
- <tabstop>m1x_spin</tabstop>
- <tabstop>m1y_spin</tabstop>
- <tabstop>m1z_spin</tabstop>
- <tabstop>m2x_spin</tabstop>
- <tabstop>m2y_spin</tabstop>
- <tabstop>m2z_spin</tabstop>
- <tabstop>tx_spin</tabstop>
- <tabstop>ty_spin</tabstop>
- <tabstop>tz_spin</tabstop>
- <tabstop>tcalib_button</tabstop>
- <tabstop>ok_button</tabstop>
- <tabstop>cancel_button</tabstop>
- </tabstops>
- <resources>
- <include location="ftnoir_tracker_pt.qrc"/>
- </resources>
- <connections>
- <connection>
- <sender>dynpose_check</sender>
- <signal>toggled(bool)</signal>
- <receiver>reset_spin</receiver>
- <slot>setEnabled(bool)</slot>
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- <hint type="sourcelabel">
- <x>172</x>
- <y>110</y>
- </hint>
- <hint type="destinationlabel">
- <x>351</x>
- <y>112</y>
- </hint>
- </hints>
- </connection>
- </connections>
- <slots>
- <slot>startEngineClicked()</slot>
- <slot>stopEngineClicked()</slot>
- <slot>cameraSettingsClicked()</slot>
- </slots>
-</ui>
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>UICPTClientControls</class>
+ <widget class="QWidget" name="UICPTClientControls">
+ <property name="windowModality">
+ <enum>Qt::NonModal</enum>
+ </property>
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>459</width>
+ <height>621</height>
+ </rect>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="windowTitle">
+ <string>PointTracker Settings</string>
+ </property>
+ <property name="windowIcon">
+ <iconset resource="ftnoir_tracker_pt.qrc">
+ <normaloff>:/Resources/Logo_IR.png</normaloff>:/Resources/Logo_IR.png</iconset>
+ </property>
+ <property name="layoutDirection">
+ <enum>Qt::LeftToRight</enum>
+ </property>
+ <property name="autoFillBackground">
+ <bool>false</bool>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout_2">
+ <property name="sizeConstraint">
+ <enum>QLayout::SetFixedSize</enum>
+ </property>
+ <item>
+ <widget class="QTabWidget" name="tabWidget">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="locale">
+ <locale language="English" country="UnitedStates"/>
+ </property>
+ <property name="currentIndex">
+ <number>0</number>
+ </property>
+ <widget class="QWidget" name="tab">
+ <attribute name="title">
+ <string>General</string>
+ </attribute>
+ <layout class="QVBoxLayout" name="verticalLayout_3">
+ <item>
+ <widget class="QGroupBox" name="groupBox_6">
+ <property name="title">
+ <string>Tracker Thread</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_43">
+ <property name="text">
+ <string>Auto-reset time</string>
+ </property>
+ <property name="buddy">
+ <cstring>reset_spin</cstring>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QSpinBox" name="reset_spin">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Minimum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="toolTip">
+ <string>Time until automatic reset of tracker's internal state when no valid tracking result is found</string>
+ </property>
+ <property name="suffix">
+ <string>ms</string>
+ </property>
+ <property name="maximum">
+ <number>9999</number>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_17">
+ <property name="text">
+ <string>Dynamic Pose Resolution</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QCheckBox" name="dynpose_check">
+ <property name="toolTip">
+ <string/>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QPushButton" name="reset_button">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="toolTip">
+ <string>Reset the tracker's internal state</string>
+ </property>
+ <property name="text">
+ <string>Reset</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item>
+ <spacer name="verticalSpacer">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QWidget" name="tab_2">
+ <attribute name="title">
+ <string>Camera</string>
+ </attribute>
+ <layout class="QVBoxLayout" name="verticalLayout_7">
+ <item>
+ <widget class="QGroupBox" name="groupBox">
+ <property name="toolTip">
+ <string>The camera device used as input</string>
+ </property>
+ <property name="title">
+ <string>Camera Settings</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_3">
+ <item>
+ <widget class="QLabel" name="label_2">
+ <property name="minimumSize">
+ <size>
+ <width>55</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>Device</string>
+ </property>
+ <property name="buddy">
+ <cstring>camdevice_combo</cstring>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="camdevice_combo">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="toolTip">
+ <string>Camera device used as input</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_8">
+ <item>
+ <layout class="QGridLayout" name="gridLayout_8">
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_36">
+ <property name="minimumSize">
+ <size>
+ <width>55</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>Resolution</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="5">
+ <widget class="QLabel" name="label_37">
+ <property name="text">
+ <string>FPS</string>
+ </property>
+ <property name="buddy">
+ <cstring>fps_spin</cstring>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="6">
+ <widget class="QSpinBox" name="fps_spin">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="toolTip">
+ <string>Desired capture framerate</string>
+ </property>
+ <property name="maximum">
+ <number>999</number>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="2">
+ <widget class="QLabel" name="label_41">
+ <property name="text">
+ <string>x</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QSpinBox" name="res_x_spin">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="toolTip">
+ <string>Desired capture width</string>
+ </property>
+ <property name="maximum">
+ <number>2000</number>
+ </property>
+ <property name="singleStep">
+ <number>10</number>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="3">
+ <widget class="QSpinBox" name="res_y_spin">
+ <property name="toolTip">
+ <string>Desired capture height</string>
+ </property>
+ <property name="maximum">
+ <number>2000</number>
+ </property>
+ <property name="singleStep">
+ <number>10</number>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_34">
+ <property name="text">
+ <string>F/W</string>
+ </property>
+ <property name="buddy">
+ <cstring>f_dspin</cstring>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QDoubleSpinBox" name="f_dspin">
+ <property name="toolTip">
+ <string>The camera's focal length devided by its sensor width</string>
+ </property>
+ <property name="decimals">
+ <number>2</number>
+ </property>
+ <property name="singleStep">
+ <double>0.100000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="4">
+ <spacer name="horizontalSpacer_2">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="0" column="7">
+ <spacer name="horizontalSpacer_9">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>0</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_7"/>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item>
+ <widget class="QGroupBox" name="groupBox_4">
+ <property name="title">
+ <string>Camera Orientation</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout_8">
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_6">
+ <item>
+ <layout class="QGridLayout" name="gridLayout_3">
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_4">
+ <property name="text">
+ <string>Pitch</string>
+ </property>
+ <property name="buddy">
+ <cstring>campitch_spin</cstring>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QSpinBox" name="campitch_spin">
+ <property name="contextMenuPolicy">
+ <enum>Qt::DefaultContextMenu</enum>
+ </property>
+ <property name="toolTip">
+ <string>The angle the camera is facing upwards</string>
+ </property>
+ <property name="minimum">
+ <number>-99</number>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_20">
+ <property name="text">
+ <string>Yaw</string>
+ </property>
+ <property name="buddy">
+ <cstring>camyaw_spin</cstring>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QSpinBox" name="camyaw_spin">
+ <property name="contextMenuPolicy">
+ <enum>Qt::DefaultContextMenu</enum>
+ </property>
+ <property name="toolTip">
+ <string>The angle the camera is facing leftwards</string>
+ </property>
+ <property name="minimum">
+ <number>-99</number>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="2">
+ <widget class="QLabel" name="label_21">
+ <property name="text">
+ <string>deg (positve = leftwards)</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QComboBox" name="camroll_combo">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="toolTip">
+ <string>Rotation of the camera image</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="2">
+ <widget class="QLabel" name="label_5">
+ <property name="text">
+ <string>deg (positive = upwards)</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="2">
+ <widget class="QLabel" name="label_19">
+ <property name="text">
+ <string>deg</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_18">
+ <property name="text">
+ <string>Roll</string>
+ </property>
+ <property name="buddy">
+ <cstring>camroll_combo</cstring>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer_10">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>0</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item>
+ <spacer name="verticalSpacer_2">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>0</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QGroupBox" name="groupBox_2">
+ <property name="title">
+ <string>Point Extraction</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout_4">
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <item>
+ <widget class="QLabel" name="label">
+ <property name="text">
+ <string>Threshold</string>
+ </property>
+ <property name="buddy">
+ <cstring>threshold_slider</cstring>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QSlider" name="threshold_slider">
+ <property name="toolTip">
+ <string>Intensity threshold for point extraction</string>
+ </property>
+ <property name="maximum">
+ <number>255</number>
+ </property>
+ <property name="value">
+ <number>127</number>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_secondary">
+ <item>
+ <widget class="QLabel" name="label_secondary">
+ <property name="text">
+ <string>Hysteresis</string>
+ </property>
+ <property name="buddy">
+ <cstring>threshold_secondary_slider</cstring>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QSlider" name="threshold_secondary_slider">
+ <property name="toolTip">
+ <string>Per pixel hysteresis width (leave left if there is little difference between dot and non-dot, move right for increased stability against pixel noise)</string>
+ </property>
+ <property name="maximum">
+ <number>255</number>
+ </property>
+ <property name="pageStep">
+ <number>1</number>
+ </property>
+ <property name="value">
+ <number>100</number>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_2">
+ <item>
+ <widget class="QLabel" name="label_7">
+ <property name="text">
+ <string>Min Diameter</string>
+ </property>
+ <property name="buddy">
+ <cstring>mindiam_spin</cstring>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QSpinBox" name="mindiam_spin">
+ <property name="toolTip">
+ <string>Minimum point diameter</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_12">
+ <property name="text">
+ <string>px</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_8">
+ <property name="text">
+ <string>Max Diameter</string>
+ </property>
+ <property name="buddy">
+ <cstring>maxdiam_spin</cstring>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QSpinBox" name="maxdiam_spin">
+ <property name="toolTip">
+ <string>Maximum point diameter</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_13">
+ <property name="text">
+ <string>px</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QWidget" name="tab_4">
+ <attribute name="title">
+ <string>Model</string>
+ </attribute>
+ <layout class="QVBoxLayout" name="verticalLayout_16">
+ <item>
+ <widget class="QTabWidget" name="model_tabs">
+ <property name="tabShape">
+ <enum>QTabWidget::Rounded</enum>
+ </property>
+ <property name="currentIndex">
+ <number>2</number>
+ </property>
+ <property name="usesScrollButtons">
+ <bool>false</bool>
+ </property>
+ <property name="documentMode">
+ <bool>false</bool>
+ </property>
+ <property name="tabsClosable">
+ <bool>false</bool>
+ </property>
+ <widget class="QWidget" name="tab_5">
+ <attribute name="title">
+ <string>Clip</string>
+ </attribute>
+ <layout class="QVBoxLayout" name="verticalLayout_13">
+ <item>
+ <widget class="QGroupBox" name="groupBox_8">
+ <property name="title">
+ <string>Model Dimensions (mm)</string>
+ </property>
+ <layout class="QHBoxLayout" name="horizontalLayout_16">
+ <item>
+ <widget class="QWidget" name="widget_4" native="true">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>150</width>
+ <height>160</height>
+ </size>
+ </property>
+ <widget class="QLabel" name="label_44">
+ <property name="geometry">
+ <rect>
+ <x>30</x>
+ <y>30</y>
+ <width>71</width>
+ <height>111</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ <property name="pixmap">
+ <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/clip_side.png</pixmap>
+ </property>
+ </widget>
+ <widget class="QSpinBox" name="clip_theight_spin">
+ <property name="geometry">
+ <rect>
+ <x>100</x>
+ <y>50</y>
+ <width>46</width>
+ <height>22</height>
+ </rect>
+ </property>
+ <property name="maximum">
+ <number>999</number>
+ </property>
+ </widget>
+ <widget class="QSpinBox" name="clip_tlength_spin">
+ <property name="geometry">
+ <rect>
+ <x>60</x>
+ <y>10</y>
+ <width>46</width>
+ <height>22</height>
+ </rect>
+ </property>
+ <property name="maximum">
+ <number>999</number>
+ </property>
+ </widget>
+ <widget class="QSpinBox" name="clip_bheight_spin">
+ <property name="geometry">
+ <rect>
+ <x>100</x>
+ <y>90</y>
+ <width>46</width>
+ <height>22</height>
+ </rect>
+ </property>
+ <property name="maximum">
+ <number>999</number>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_50">
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>10</y>
+ <width>46</width>
+ <height>13</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Side</string>
+ </property>
+ </widget>
+ <widget class="QSpinBox" name="clip_blength_spin">
+ <property name="geometry">
+ <rect>
+ <x>40</x>
+ <y>140</y>
+ <width>46</width>
+ <height>22</height>
+ </rect>
+ </property>
+ <property name="maximum">
+ <number>999</number>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_52">
+ <property name="geometry">
+ <rect>
+ <x>70</x>
+ <y>70</y>
+ <width>16</width>
+ <height>16</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>R</string>
+ </property>
+ </widget>
+ </widget>
+ </item>
+ <item>
+ <widget class="QWidget" name="widget_3" native="true">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>100</width>
+ <height>140</height>
+ </size>
+ </property>
+ <widget class="QLabel" name="label_51">
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>10</y>
+ <width>46</width>
+ <height>13</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Front</string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_45">
+ <property name="geometry">
+ <rect>
+ <x>40</x>
+ <y>30</y>
+ <width>21</width>
+ <height>111</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ <property name="pixmap">
+ <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/clip_front.png</pixmap>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_53">
+ <property name="geometry">
+ <rect>
+ <x>60</x>
+ <y>70</y>
+ <width>16</width>
+ <height>16</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>R</string>
+ </property>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QWidget" name="tab_6">
+ <attribute name="title">
+ <string>Cap</string>
+ </attribute>
+ <layout class="QVBoxLayout" name="verticalLayout_14">
+ <item>
+ <widget class="QGroupBox" name="groupBox_9">
+ <property name="title">
+ <string>Model Dimensions (mm)</string>
+ </property>
+ <layout class="QHBoxLayout" name="horizontalLayout_15">
+ <item>
+ <widget class="QWidget" name="widget" native="true">
+ <property name="minimumSize">
+ <size>
+ <width>140</width>
+ <height>130</height>
+ </size>
+ </property>
+ <widget class="QLabel" name="label_46">
+ <property name="geometry">
+ <rect>
+ <x>20</x>
+ <y>50</y>
+ <width>111</width>
+ <height>81</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ <property name="pixmap">
+ <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/cap_side.png</pixmap>
+ </property>
+ </widget>
+ <widget class="QSpinBox" name="cap_height_spin">
+ <property name="geometry">
+ <rect>
+ <x>30</x>
+ <y>80</y>
+ <width>46</width>
+ <height>22</height>
+ </rect>
+ </property>
+ <property name="maximum">
+ <number>999</number>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_54">
+ <property name="geometry">
+ <rect>
+ <x>130</x>
+ <y>50</y>
+ <width>16</width>
+ <height>16</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>R</string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_48">
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>10</y>
+ <width>46</width>
+ <height>13</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Side</string>
+ </property>
+ </widget>
+ <widget class="QSpinBox" name="cap_length_spin">
+ <property name="geometry">
+ <rect>
+ <x>50</x>
+ <y>40</y>
+ <width>46</width>
+ <height>22</height>
+ </rect>
+ </property>
+ <property name="maximum">
+ <number>999</number>
+ </property>
+ </widget>
+ </widget>
+ </item>
+ <item>
+ <widget class="QWidget" name="widget_2" native="true">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>100</width>
+ <height>130</height>
+ </size>
+ </property>
+ <widget class="QLabel" name="label_49">
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>10</y>
+ <width>46</width>
+ <height>13</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Front</string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_55">
+ <property name="geometry">
+ <rect>
+ <x>30</x>
+ <y>50</y>
+ <width>16</width>
+ <height>16</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>R</string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_47">
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>50</y>
+ <width>81</width>
+ <height>81</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ <property name="pixmap">
+ <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/cap_front.png</pixmap>
+ </property>
+ </widget>
+ <widget class="QSpinBox" name="cap_width_spin">
+ <property name="geometry">
+ <rect>
+ <x>50</x>
+ <y>30</y>
+ <width>46</width>
+ <height>22</height>
+ </rect>
+ </property>
+ <property name="maximum">
+ <number>999</number>
+ </property>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QWidget" name="tab_7">
+ <attribute name="title">
+ <string>Custom</string>
+ </attribute>
+ <layout class="QVBoxLayout" name="verticalLayout_15">
+ <item>
+ <widget class="QGroupBox" name="groupBox_7">
+ <property name="title">
+ <string>Model Dimensions (mm)</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout_12">
+ <item>
+ <widget class="QLabel" name="label_56">
+ <property name="text">
+ <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Location of the two remaining model points&lt;br/&gt;with respect to the reference point in default pose&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="verticalSpacer_4">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>0</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_14">
+ <item>
+ <spacer name="horizontalSpacer_14">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>10</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <layout class="QGridLayout" name="gridLayout_4">
+ <item row="3" column="2">
+ <widget class="QSpinBox" name="m1z_spin">
+ <property name="minimum">
+ <number>-999</number>
+ </property>
+ <property name="maximum">
+ <number>999</number>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QLabel" name="label_58">
+ <property name="text">
+ <string>y:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="2">
+ <widget class="QSpinBox" name="m1y_spin">
+ <property name="minimum">
+ <number>-999</number>
+ </property>
+ <property name="maximum">
+ <number>999</number>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1">
+ <widget class="QLabel" name="label_57">
+ <property name="text">
+ <string>z:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_60">
+ <property name="text">
+ <string>M1:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="2">
+ <widget class="QSpinBox" name="m1x_spin">
+ <property name="minimum">
+ <number>-999</number>
+ </property>
+ <property name="maximum">
+ <number>999</number>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLabel" name="label_63">
+ <property name="text">
+ <string>x:</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer_15">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <layout class="QGridLayout" name="gridLayout_5">
+ <item row="1" column="2">
+ <widget class="QSpinBox" name="m2x_spin">
+ <property name="minimum">
+ <number>-999</number>
+ </property>
+ <property name="maximum">
+ <number>999</number>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLabel" name="label_67">
+ <property name="text">
+ <string>x:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1">
+ <widget class="QLabel" name="label_69">
+ <property name="text">
+ <string>z:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="2">
+ <widget class="QSpinBox" name="m2y_spin">
+ <property name="minimum">
+ <number>-999</number>
+ </property>
+ <property name="maximum">
+ <number>999</number>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QLabel" name="label_70">
+ <property name="text">
+ <string>y:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_64">
+ <property name="text">
+ <string>M2:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="2">
+ <widget class="QSpinBox" name="m2z_spin">
+ <property name="suffix">
+ <string/>
+ </property>
+ <property name="minimum">
+ <number>-999</number>
+ </property>
+ <property name="maximum">
+ <number>999</number>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer_16">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>10</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <spacer name="verticalSpacer_3">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>0</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ </item>
+ <item>
+ <widget class="QGroupBox" name="groupBox_10">
+ <property name="title">
+ <string>Model Position (mm)</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout_11">
+ <item>
+ <widget class="QLabel" name="label_59">
+ <property name="text">
+ <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Translation from head center to model reference point&lt;br/&gt; in default pose&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_17">
+ <item>
+ <spacer name="horizontalSpacer_17">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>10</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <layout class="QGridLayout" name="gridLayout_6">
+ <item row="3" column="1">
+ <widget class="QSpinBox" name="tz_spin">
+ <property name="suffix">
+ <string/>
+ </property>
+ <property name="minimum">
+ <number>-999</number>
+ </property>
+ <property name="maximum">
+ <number>999</number>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_61">
+ <property name="text">
+ <string>x:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_62">
+ <property name="text">
+ <string>y:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QLabel" name="label_66">
+ <property name="text">
+ <string>z:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QSpinBox" name="ty_spin">
+ <property name="minimum">
+ <number>-999</number>
+ </property>
+ <property name="maximum">
+ <number>999</number>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QSpinBox" name="tx_spin">
+ <property name="minimum">
+ <number>-999</number>
+ </property>
+ <property name="maximum">
+ <number>999</number>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer_18">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QPushButton" name="tcalib_button">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="text">
+ <string>Calibrate</string>
+ </property>
+ <property name="checkable">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer_19">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>10</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QWidget" name="tab_3">
+ <attribute name="title">
+ <string>About</string>
+ </attribute>
+ <widget class="QLabel" name="label_10">
+ <property name="geometry">
+ <rect>
+ <x>30</x>
+ <y>30</y>
+ <width>161</width>
+ <height>111</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;FTNoIR PointTracker Plugin&lt;br/&gt;Version 1.1&lt;/span&gt;&lt;/p&gt;&lt;p&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;by Patrick Ruoff&lt;/span&gt;&lt;/p&gt;&lt;p&gt;&lt;a href=&quot;http://ftnoirpt.sourceforge.net/&quot;&gt;&lt;span style=&quot; font-weight:600; text-decoration: underline; color:#0000ff;&quot;&gt;Manual (external)&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+ </property>
+ <property name="openExternalLinks">
+ <bool>true</bool>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_35">
+ <property name="geometry">
+ <rect>
+ <x>200</x>
+ <y>30</y>
+ <width>141</width>
+ <height>141</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ <property name="pixmap">
+ <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/Logo_IR.png</pixmap>
+ </property>
+ </widget>
+ </widget>
+ </widget>
+ </item>
+ <item>
+ <widget class="QGroupBox" name="groupBox_5">
+ <property name="title">
+ <string>Status</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout_5">
+ <item>
+ <layout class="QFormLayout" name="formLayout">
+ <property name="fieldGrowthPolicy">
+ <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
+ </property>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_38">
+ <property name="text">
+ <string>Camera Info:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QLabel" name="caminfo_label">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>120</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_3">
+ <property name="text">
+ <string>Extracted Points:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLabel" name="pointinfo_label">
+ <property name="minimumSize">
+ <size>
+ <width>50</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_4">
+ <item>
+ <widget class="QPushButton" name="btnApply">
+ <property name="text">
+ <string>Save</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer_6">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QPushButton" name="ok_button">
+ <property name="locale">
+ <locale language="English" country="UnitedStates"/>
+ </property>
+ <property name="text">
+ <string>Ok</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="cancel_button">
+ <property name="locale">
+ <locale language="English" country="UnitedStates"/>
+ </property>
+ <property name="text">
+ <string>Cancel</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ <tabstops>
+ <tabstop>tabWidget</tabstop>
+ <tabstop>reset_spin</tabstop>
+ <tabstop>camdevice_combo</tabstop>
+ <tabstop>res_x_spin</tabstop>
+ <tabstop>res_y_spin</tabstop>
+ <tabstop>fps_spin</tabstop>
+ <tabstop>f_dspin</tabstop>
+ <tabstop>camroll_combo</tabstop>
+ <tabstop>campitch_spin</tabstop>
+ <tabstop>camyaw_spin</tabstop>
+ <tabstop>threshold_slider</tabstop>
+ <tabstop>mindiam_spin</tabstop>
+ <tabstop>maxdiam_spin</tabstop>
+ <tabstop>model_tabs</tabstop>
+ <tabstop>clip_tlength_spin</tabstop>
+ <tabstop>clip_theight_spin</tabstop>
+ <tabstop>clip_bheight_spin</tabstop>
+ <tabstop>clip_blength_spin</tabstop>
+ <tabstop>cap_length_spin</tabstop>
+ <tabstop>cap_height_spin</tabstop>
+ <tabstop>cap_width_spin</tabstop>
+ <tabstop>m1x_spin</tabstop>
+ <tabstop>m1y_spin</tabstop>
+ <tabstop>m1z_spin</tabstop>
+ <tabstop>m2x_spin</tabstop>
+ <tabstop>m2y_spin</tabstop>
+ <tabstop>m2z_spin</tabstop>
+ <tabstop>tx_spin</tabstop>
+ <tabstop>ty_spin</tabstop>
+ <tabstop>tz_spin</tabstop>
+ <tabstop>tcalib_button</tabstop>
+ <tabstop>ok_button</tabstop>
+ <tabstop>cancel_button</tabstop>
+ </tabstops>
+ <resources>
+ <include location="ftnoir_tracker_pt.qrc"/>
+ </resources>
+ <connections>
+ <connection>
+ <sender>dynpose_check</sender>
+ <signal>toggled(bool)</signal>
+ <receiver>reset_spin</receiver>
+ <slot>setEnabled(bool)</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>172</x>
+ <y>110</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>351</x>
+ <y>112</y>
+ </hint>
+ </hints>
+ </connection>
+ </connections>
+ <slots>
+ <slot>startEngineClicked()</slot>
+ <slot>stopEngineClicked()</slot>
+ <slot>cameraSettingsClicked()</slot>
+ </slots>
+</ui>
diff --git a/ftnoir_tracker_pt/Resources/Logo_IR.png b/ftnoir_tracker_pt/Resources/Logo_IR.png
index 95032a25..85590691 100644
--- a/ftnoir_tracker_pt/Resources/Logo_IR.png
+++ b/ftnoir_tracker_pt/Resources/Logo_IR.png
Binary files differ
diff --git a/ftnoir_tracker_pt/Resources/cap_front.png b/ftnoir_tracker_pt/Resources/cap_front.png
index 14207a67..cbee28c9 100644
--- a/ftnoir_tracker_pt/Resources/cap_front.png
+++ b/ftnoir_tracker_pt/Resources/cap_front.png
Binary files differ
diff --git a/ftnoir_tracker_pt/Resources/cap_side.png b/ftnoir_tracker_pt/Resources/cap_side.png
index 5ad4ee65..27c28341 100644
--- a/ftnoir_tracker_pt/Resources/cap_side.png
+++ b/ftnoir_tracker_pt/Resources/cap_side.png
Binary files differ
diff --git a/ftnoir_tracker_pt/Resources/clip_front.png b/ftnoir_tracker_pt/Resources/clip_front.png
index 04880138..63fd70eb 100644
--- a/ftnoir_tracker_pt/Resources/clip_front.png
+++ b/ftnoir_tracker_pt/Resources/clip_front.png
Binary files differ
diff --git a/ftnoir_tracker_pt/Resources/clip_side.png b/ftnoir_tracker_pt/Resources/clip_side.png
index 72667ac7..1c295506 100644
--- a/ftnoir_tracker_pt/Resources/clip_side.png
+++ b/ftnoir_tracker_pt/Resources/clip_side.png
Binary files differ
diff --git a/ftnoir_tracker_pt/camera.cpp b/ftnoir_tracker_pt/camera.cpp
index 33e0ef2a..686e1b9b 100644
--- a/ftnoir_tracker_pt/camera.cpp
+++ b/ftnoir_tracker_pt/camera.cpp
@@ -1,346 +1,346 @@
-/* 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.
- */
-
- #if defined(OPENTRACK_API) && defined(_WIN32)
-#include <windows.h>
-#include <dshow.h>
-#endif
-
-#include "camera.h"
-#include <string>
-#include <QDebug>
-
-using namespace cv;
-
-#if defined(OPENTRACK_API) && (defined(__unix) || defined(__linux) || defined(__APPLE__))
-#include <unistd.h>
-#endif
-
-#ifdef OPENTRACK_API
-void get_camera_device_names(std::vector<std::string>& device_names) {
-# if defined(_WIN32)
- // Create the System Device Enumerator.
- HRESULT hr;
- ICreateDevEnum *pSysDevEnum = NULL;
- hr = CoCreateInstance(CLSID_SystemDeviceEnum, NULL, CLSCTX_INPROC_SERVER, IID_ICreateDevEnum, (void **)&pSysDevEnum);
- if (FAILED(hr))
- {
- return;
- }
- // Obtain a class enumerator for the video compressor category.
- IEnumMoniker *pEnumCat = NULL;
- hr = pSysDevEnum->CreateClassEnumerator(CLSID_VideoInputDeviceCategory, &pEnumCat, 0);
-
- if (hr == S_OK) {
- // Enumerate the monikers.
- IMoniker *pMoniker = NULL;
- ULONG cFetched;
- while (pEnumCat->Next(1, &pMoniker, &cFetched) == S_OK) {
- IPropertyBag *pPropBag;
- hr = pMoniker->BindToStorage(0, 0, IID_IPropertyBag, (void **)&pPropBag);
- if (SUCCEEDED(hr)) {
- // To retrieve the filter's friendly name, do the following:
- VARIANT varName;
- VariantInit(&varName);
- hr = pPropBag->Read(L"FriendlyName", &varName, 0);
- if (SUCCEEDED(hr))
- {
- auto wstr = std::wstring(varName.bstrVal);
- auto str = std::string(wstr.begin(), wstr.end());
- device_names.push_back(str);
- }
- VariantClear(&varName);
-
- ////// To create an instance of the filter, do the following:
- ////IBaseFilter *pFilter;
- ////hr = pMoniker->BindToObject(NULL, NULL, IID_IBaseFilter,
- //// (void**)&pFilter);
- // Now add the filter to the graph.
- //Remember to release pFilter later.
- pPropBag->Release();
- }
- pMoniker->Release();
- }
- pEnumCat->Release();
- }
- pSysDevEnum->Release();
-# else
- for (int i = 0; i < 16; i++) {
- char buf[128];
- sprintf(buf, "/dev/video%d", i);
- if (access(buf, R_OK | W_OK) == 0) {
- device_names.push_back(std::string(buf));
- }
- }
-# endif
-}
-#else
-// ----------------------------------------------------------------------------
-void get_camera_device_names(std::vector<std::string>& device_names)
-{
- videoInput VI;
- VI.listDevices();
- std::string device_name;
- for(int index = 0; ; ++index) {
- device_name = VI.getDeviceName(index);
- if (device_name.empty()) break;
- device_names.push_back(device_name);
- }
-}
-#endif
-
-// ----------------------------------------------------------------------------
-void Camera::set_device_index(int index)
-{
- if (desired_index != index)
- {
- desired_index = index;
- _set_device_index();
-
- // reset fps
- dt_valid = 0;
- dt_mean = 0;
- active_index = index;
- }
-}
-
-void Camera::set_f(float f)
-{
- if (cam_desired.f != f)
- {
- cam_desired.f = f;
- _set_f();
- }
-}
-void Camera::set_fps(int fps)
-{
- if (cam_desired.fps != fps)
- {
- cam_desired.fps = fps;
- _set_fps();
- }
-}
-
-void Camera::set_res(int x_res, int y_res)
-{
- if (cam_desired.res_x != x_res || cam_desired.res_y != y_res)
- {
- cam_desired.res_x = x_res;
- cam_desired.res_y = y_res;
- _set_res();
- _set_fps();
- }
-}
-
-bool Camera::get_frame(float dt, cv::Mat* frame)
-{
- bool new_frame = _get_frame(frame);
- // measure fps of valid frames
- const float dt_smoothing_const = 0.9;
- dt_valid += dt;
- if (new_frame)
- {
- dt_mean = dt_smoothing_const * dt_mean + (1.0 - dt_smoothing_const) * dt_valid;
- cam_info.fps = 1.0 / dt_mean;
- dt_valid = 0;
- }
- return new_frame;
-}
-
-// ----------------------------------------------------------------------------
-#ifdef OPENTRACK_API
-void CVCamera::start()
-{
- cap = new VideoCapture(desired_index);
- // extract camera info
- if (cap->isOpened())
- {
- active = true;
- active_index = desired_index;
- cam_info.res_x = cap->get(CV_CAP_PROP_FRAME_WIDTH);
- cam_info.res_y = cap->get(CV_CAP_PROP_FRAME_HEIGHT);
- } else {
- delete cap;
- cap = nullptr;
- }
-}
-
-void CVCamera::stop()
-{
- if (cap)
- {
- cap->release();
- delete cap;
- }
- active = false;
-}
-
-bool CVCamera::_get_frame(Mat* frame)
-{
- if (cap && cap->isOpened())
- {
- Mat img;
- for (int i = 0; i < 100 && !cap->read(img); i++)
- ;;
-
- if (img.empty())
- return false;
-
- *frame = img;
- return true;
- }
- return false;
-}
-
-void CVCamera::_set_index()
-{
- if (active) restart();
-}
-
-void CVCamera::_set_f()
-{
- cam_info.f = cam_desired.f;
-}
-
-void CVCamera::_set_fps()
-{
- if (cap) cap->set(CV_CAP_PROP_FPS, cam_desired.fps);
-}
-
-void CVCamera::_set_res()
-{
- if (cap)
- {
- cap->set(CV_CAP_PROP_FRAME_WIDTH, cam_desired.res_x);
- cap->set(CV_CAP_PROP_FRAME_HEIGHT, cam_desired.res_y);
- cam_info.res_x = cap->get(CV_CAP_PROP_FRAME_WIDTH);
- cam_info.res_y = cap->get(CV_CAP_PROP_FRAME_HEIGHT);
- }
-}
-void CVCamera::_set_device_index()
-{
- if (cap)
- {
- cap->release();
- delete cap;
- }
- cap = new VideoCapture(desired_index);
-}
-
-#else
-// ----------------------------------------------------------------------------
-VICamera::VICamera() : frame_buffer(NULL)
-{
- VI.listDevices();
-}
-
-void VICamera::start()
-{
- if (desired_index >= 0)
- {
- if (cam_desired.res_x == 0 || cam_desired.res_y == 0)
- VI.setupDevice(desired_index);
- else
- VI.setupDevice(desired_index, cam_desired.res_x, cam_desired.res_y);
-
- active = true;
- active_index = desired_index;
-
- cam_info.res_x = VI.getWidth(active_index);
- cam_info.res_y = VI.getHeight(active_index);
- new_frame = cv::Mat(cam_info.res_y, cam_info.res_x, CV_8UC3);
- // If matrix is not continuous we have to copy manually via frame_buffer
- if (!new_frame.isContinuous()) {
- unsigned int size = VI.getSize(active_index);
- frame_buffer = new unsigned char[size];
- }
- }
-}
-
-void VICamera::stop()
-{
- if (active)
- {
- VI.stopDevice(active_index);
- }
- if (frame_buffer)
- {
- delete[] frame_buffer;
- frame_buffer = NULL;
- }
- active = false;
-}
-
-bool VICamera::_get_frame(Mat* frame)
-{
- if (active && VI.isFrameNew(active_index))
- {
- if (new_frame.isContinuous())
- {
- VI.getPixels(active_index, new_frame.data, false, true);
- }
- else
- {
- // If matrix is not continuous we have to copy manually via frame_buffer
- VI.getPixels(active_index, frame_buffer, false, true);
- new_frame = cv::Mat(cam_info.res_y, cam_info.res_x, CV_8UC3, frame_buffer).clone();
- }
- *frame = new_frame;
- return true;
- }
- return false;
-}
-
-void VICamera::_set_device_index()
-{
- if (active) restart();
-}
-
-void VICamera::_set_f()
-{
- cam_info.f = cam_desired.f;
-}
-
-void VICamera::_set_fps()
-{
- bool was_active = active;
- if (active) stop();
- VI.setIdealFramerate(desired_index, cam_desired.fps);
- if (was_active) start();
-}
-
-void VICamera::_set_res()
-{
- if (active) restart();
-}
-#endif
-
-// ----------------------------------------------------------------------------
-Mat FrameRotation::rotate_frame(Mat frame)
-{
- switch (rotation)
- {
- case CLOCKWISE:
- {
- Mat dst;
- transpose(frame, dst);
- flip(dst, dst, 1);
- return dst;
- }
-
- case COUNTER_CLOCKWISE:
- {
- Mat dst;
- transpose(frame, dst);
- flip(dst, dst, 0);
- return dst;
- }
-
- default:
- return frame;
- }
-}
+/* 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.
+ */
+
+ #if defined(OPENTRACK_API) && defined(_WIN32)
+#include <windows.h>
+#include <dshow.h>
+#endif
+
+#include "camera.h"
+#include <string>
+#include <QDebug>
+
+using namespace cv;
+
+#if defined(OPENTRACK_API) && (defined(__unix) || defined(__linux) || defined(__APPLE__))
+#include <unistd.h>
+#endif
+
+#ifdef OPENTRACK_API
+void get_camera_device_names(std::vector<std::string>& device_names) {
+# if defined(_WIN32)
+ // Create the System Device Enumerator.
+ HRESULT hr;
+ ICreateDevEnum *pSysDevEnum = NULL;
+ hr = CoCreateInstance(CLSID_SystemDeviceEnum, NULL, CLSCTX_INPROC_SERVER, IID_ICreateDevEnum, (void **)&pSysDevEnum);
+ if (FAILED(hr))
+ {
+ return;
+ }
+ // Obtain a class enumerator for the video compressor category.
+ IEnumMoniker *pEnumCat = NULL;
+ hr = pSysDevEnum->CreateClassEnumerator(CLSID_VideoInputDeviceCategory, &pEnumCat, 0);
+
+ if (hr == S_OK) {
+ // Enumerate the monikers.
+ IMoniker *pMoniker = NULL;
+ ULONG cFetched;
+ while (pEnumCat->Next(1, &pMoniker, &cFetched) == S_OK) {
+ IPropertyBag *pPropBag;
+ hr = pMoniker->BindToStorage(0, 0, IID_IPropertyBag, (void **)&pPropBag);
+ if (SUCCEEDED(hr)) {
+ // To retrieve the filter's friendly name, do the following:
+ VARIANT varName;
+ VariantInit(&varName);
+ hr = pPropBag->Read(L"FriendlyName", &varName, 0);
+ if (SUCCEEDED(hr))
+ {
+ auto wstr = std::wstring(varName.bstrVal);
+ auto str = std::string(wstr.begin(), wstr.end());
+ device_names.push_back(str);
+ }
+ VariantClear(&varName);
+
+ ////// To create an instance of the filter, do the following:
+ ////IBaseFilter *pFilter;
+ ////hr = pMoniker->BindToObject(NULL, NULL, IID_IBaseFilter,
+ //// (void**)&pFilter);
+ // Now add the filter to the graph.
+ //Remember to release pFilter later.
+ pPropBag->Release();
+ }
+ pMoniker->Release();
+ }
+ pEnumCat->Release();
+ }
+ pSysDevEnum->Release();
+# else
+ for (int i = 0; i < 16; i++) {
+ char buf[128];
+ sprintf(buf, "/dev/video%d", i);
+ if (access(buf, R_OK | W_OK) == 0) {
+ device_names.push_back(std::string(buf));
+ }
+ }
+# endif
+}
+#else
+// ----------------------------------------------------------------------------
+void get_camera_device_names(std::vector<std::string>& device_names)
+{
+ videoInput VI;
+ VI.listDevices();
+ std::string device_name;
+ for(int index = 0; ; ++index) {
+ device_name = VI.getDeviceName(index);
+ if (device_name.empty()) break;
+ device_names.push_back(device_name);
+ }
+}
+#endif
+
+// ----------------------------------------------------------------------------
+void Camera::set_device_index(int index)
+{
+ if (desired_index != index)
+ {
+ desired_index = index;
+ _set_device_index();
+
+ // reset fps
+ dt_valid = 0;
+ dt_mean = 0;
+ active_index = index;
+ }
+}
+
+void Camera::set_f(float f)
+{
+ if (cam_desired.f != f)
+ {
+ cam_desired.f = f;
+ _set_f();
+ }
+}
+void Camera::set_fps(int fps)
+{
+ if (cam_desired.fps != fps)
+ {
+ cam_desired.fps = fps;
+ _set_fps();
+ }
+}
+
+void Camera::set_res(int x_res, int y_res)
+{
+ if (cam_desired.res_x != x_res || cam_desired.res_y != y_res)
+ {
+ cam_desired.res_x = x_res;
+ cam_desired.res_y = y_res;
+ _set_res();
+ _set_fps();
+ }
+}
+
+bool Camera::get_frame(float dt, cv::Mat* frame)
+{
+ bool new_frame = _get_frame(frame);
+ // measure fps of valid frames
+ const float dt_smoothing_const = 0.9;
+ dt_valid += dt;
+ if (new_frame)
+ {
+ dt_mean = dt_smoothing_const * dt_mean + (1.0 - dt_smoothing_const) * dt_valid;
+ cam_info.fps = 1.0 / dt_mean;
+ dt_valid = 0;
+ }
+ return new_frame;
+}
+
+// ----------------------------------------------------------------------------
+#ifdef OPENTRACK_API
+void CVCamera::start()
+{
+ cap = new VideoCapture(desired_index);
+ // extract camera info
+ if (cap->isOpened())
+ {
+ active = true;
+ active_index = desired_index;
+ cam_info.res_x = cap->get(CV_CAP_PROP_FRAME_WIDTH);
+ cam_info.res_y = cap->get(CV_CAP_PROP_FRAME_HEIGHT);
+ } else {
+ delete cap;
+ cap = nullptr;
+ }
+}
+
+void CVCamera::stop()
+{
+ if (cap)
+ {
+ cap->release();
+ delete cap;
+ }
+ active = false;
+}
+
+bool CVCamera::_get_frame(Mat* frame)
+{
+ if (cap && cap->isOpened())
+ {
+ Mat img;
+ for (int i = 0; i < 100 && !cap->read(img); i++)
+ ;;
+
+ if (img.empty())
+ return false;
+
+ *frame = img;
+ return true;
+ }
+ return false;
+}
+
+void CVCamera::_set_index()
+{
+ if (active) restart();
+}
+
+void CVCamera::_set_f()
+{
+ cam_info.f = cam_desired.f;
+}
+
+void CVCamera::_set_fps()
+{
+ if (cap) cap->set(CV_CAP_PROP_FPS, cam_desired.fps);
+}
+
+void CVCamera::_set_res()
+{
+ if (cap)
+ {
+ cap->set(CV_CAP_PROP_FRAME_WIDTH, cam_desired.res_x);
+ cap->set(CV_CAP_PROP_FRAME_HEIGHT, cam_desired.res_y);
+ cam_info.res_x = cap->get(CV_CAP_PROP_FRAME_WIDTH);
+ cam_info.res_y = cap->get(CV_CAP_PROP_FRAME_HEIGHT);
+ }
+}
+void CVCamera::_set_device_index()
+{
+ if (cap)
+ {
+ cap->release();
+ delete cap;
+ }
+ cap = new VideoCapture(desired_index);
+}
+
+#else
+// ----------------------------------------------------------------------------
+VICamera::VICamera() : frame_buffer(NULL)
+{
+ VI.listDevices();
+}
+
+void VICamera::start()
+{
+ if (desired_index >= 0)
+ {
+ if (cam_desired.res_x == 0 || cam_desired.res_y == 0)
+ VI.setupDevice(desired_index);
+ else
+ VI.setupDevice(desired_index, cam_desired.res_x, cam_desired.res_y);
+
+ active = true;
+ active_index = desired_index;
+
+ cam_info.res_x = VI.getWidth(active_index);
+ cam_info.res_y = VI.getHeight(active_index);
+ new_frame = cv::Mat(cam_info.res_y, cam_info.res_x, CV_8UC3);
+ // If matrix is not continuous we have to copy manually via frame_buffer
+ if (!new_frame.isContinuous()) {
+ unsigned int size = VI.getSize(active_index);
+ frame_buffer = new unsigned char[size];
+ }
+ }
+}
+
+void VICamera::stop()
+{
+ if (active)
+ {
+ VI.stopDevice(active_index);
+ }
+ if (frame_buffer)
+ {
+ delete[] frame_buffer;
+ frame_buffer = NULL;
+ }
+ active = false;
+}
+
+bool VICamera::_get_frame(Mat* frame)
+{
+ if (active && VI.isFrameNew(active_index))
+ {
+ if (new_frame.isContinuous())
+ {
+ VI.getPixels(active_index, new_frame.data, false, true);
+ }
+ else
+ {
+ // If matrix is not continuous we have to copy manually via frame_buffer
+ VI.getPixels(active_index, frame_buffer, false, true);
+ new_frame = cv::Mat(cam_info.res_y, cam_info.res_x, CV_8UC3, frame_buffer).clone();
+ }
+ *frame = new_frame;
+ return true;
+ }
+ return false;
+}
+
+void VICamera::_set_device_index()
+{
+ if (active) restart();
+}
+
+void VICamera::_set_f()
+{
+ cam_info.f = cam_desired.f;
+}
+
+void VICamera::_set_fps()
+{
+ bool was_active = active;
+ if (active) stop();
+ VI.setIdealFramerate(desired_index, cam_desired.fps);
+ if (was_active) start();
+}
+
+void VICamera::_set_res()
+{
+ if (active) restart();
+}
+#endif
+
+// ----------------------------------------------------------------------------
+Mat FrameRotation::rotate_frame(Mat frame)
+{
+ switch (rotation)
+ {
+ case CLOCKWISE:
+ {
+ Mat dst;
+ transpose(frame, dst);
+ flip(dst, dst, 1);
+ return dst;
+ }
+
+ case COUNTER_CLOCKWISE:
+ {
+ Mat dst;
+ transpose(frame, dst);
+ flip(dst, dst, 0);
+ return dst;
+ }
+
+ default:
+ return frame;
+ }
+}
diff --git a/ftnoir_tracker_pt/camera.h b/ftnoir_tracker_pt/camera.h
index a9f60841..733cc61f 100644
--- a/ftnoir_tracker_pt/camera.h
+++ b/ftnoir_tracker_pt/camera.h
@@ -1,145 +1,145 @@
-/* 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.
- */
-
-#ifndef CAMERA_H
-#define CAMERA_H
-
-#include <opencv2/opencv.hpp>
-#ifndef OPENTRACK_API
-# include <boost/shared_ptr.hpp>
-#else
+/* 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.
+ */
+
+#ifndef CAMERA_H
+#define CAMERA_H
+
+#include <opencv2/opencv.hpp>
+#ifndef OPENTRACK_API
+# include <boost/shared_ptr.hpp>
+#else
# include <memory>
-# include <opencv2/highgui/highgui.hpp>
-# include <opencv2/highgui/highgui_c.h>
-#endif
-#include <string>
-
-// ----------------------------------------------------------------------------
-void get_camera_device_names(std::vector<std::string>& device_names);
-
-
-// ----------------------------------------------------------------------------
-struct CamInfo
-{
- CamInfo() : res_x(0), res_y(0), fps(0), f(1) {}
-
- int res_x;
- int res_y;
- int fps;
- float f; // (focal length) / (sensor width)
-};
-
-// ----------------------------------------------------------------------------
-// Base class for cameras, calculates the frame rate
-class Camera
-{
-public:
- Camera() : dt_valid(0), dt_mean(0), desired_index(0), active_index(-1), active(false) {}
- virtual ~Camera() {}
-
- // start/stop capturing
- virtual void start() = 0;
- virtual void stop() = 0;
- void restart() { stop(); start(); }
-
- // calls corresponding template methods and reinitializes frame rate calculation
- void set_device_index(int index);
- void set_f(float f);
- void set_fps(int fps);
- void set_res(int x_res, int y_res);
-
- // gets a frame from the camera, dt: time since last call in seconds
- bool get_frame(float dt, cv::Mat* frame);
-
- // WARNING: returned references are valid as long as object
- const CamInfo& get_info() const { return cam_info; }
- const CamInfo& get_desired() const { return cam_desired; }
-
-protected:
- // get a frame from the camera
- virtual bool _get_frame(cv::Mat* frame) = 0;
-
- // update the camera using cam_desired, write res and f to cam_info if successful
- virtual void _set_device_index() = 0;
- virtual void _set_f() = 0;
- virtual void _set_fps() = 0;
- virtual void _set_res() = 0;
-
- float dt_valid;
- float dt_mean;
- int desired_index;
- int active_index;
- bool active;
- CamInfo cam_info;
- CamInfo cam_desired;
-};
-
-
-// ----------------------------------------------------------------------------
-// camera based on OpenCV's videoCapture
-#ifdef OPENTRACK_API
-class CVCamera : public Camera
-{
-public:
- CVCamera() : cap(NULL) {}
- ~CVCamera() { stop(); }
-
- virtual void start();
- virtual void stop();
-
-protected:
- virtual bool _get_frame(cv::Mat* frame);
- virtual void _set_index();
- virtual void _set_f();
- virtual void _set_fps();
- virtual void _set_res();
- virtual void _set_device_index();
-
- cv::VideoCapture* cap;
-};
-#else
-// ----------------------------------------------------------------------------
-// Camera based on the videoInput library
-class VICamera : public Camera
-{
-public:
- VICamera();
- ~VICamera() { stop(); }
-
- virtual void start();
- virtual void stop();
-
-protected:
- virtual bool _get_frame(cv::Mat* frame);
- virtual void _set_device_index();
- virtual void _set_f();
- virtual void _set_fps();
- virtual void _set_res();
-
- videoInput VI;
- cv::Mat new_frame;
- unsigned char* frame_buffer;
-};
-#endif
-
-enum RotationType
-{
- CLOCKWISE = 0,
- ZERO = 1,
- COUNTER_CLOCKWISE = 2
-};
-
-// ----------------------------------------------------------------------------
-class FrameRotation
-{
-public:
- RotationType rotation;
-
- cv::Mat rotate_frame(cv::Mat frame);
-};
-
-#endif //CAMERA_H
+# include <opencv2/highgui/highgui.hpp>
+# include <opencv2/highgui/highgui_c.h>
+#endif
+#include <string>
+
+// ----------------------------------------------------------------------------
+void get_camera_device_names(std::vector<std::string>& device_names);
+
+
+// ----------------------------------------------------------------------------
+struct CamInfo
+{
+ CamInfo() : res_x(0), res_y(0), fps(0), f(1) {}
+
+ int res_x;
+ int res_y;
+ int fps;
+ float f; // (focal length) / (sensor width)
+};
+
+// ----------------------------------------------------------------------------
+// Base class for cameras, calculates the frame rate
+class Camera
+{
+public:
+ Camera() : dt_valid(0), dt_mean(0), desired_index(0), active_index(-1), active(false) {}
+ virtual ~Camera() {}
+
+ // start/stop capturing
+ virtual void start() = 0;
+ virtual void stop() = 0;
+ void restart() { stop(); start(); }
+
+ // calls corresponding template methods and reinitializes frame rate calculation
+ void set_device_index(int index);
+ void set_f(float f);
+ void set_fps(int fps);
+ void set_res(int x_res, int y_res);
+
+ // gets a frame from the camera, dt: time since last call in seconds
+ bool get_frame(float dt, cv::Mat* frame);
+
+ // WARNING: returned references are valid as long as object
+ const CamInfo& get_info() const { return cam_info; }
+ const CamInfo& get_desired() const { return cam_desired; }
+
+protected:
+ // get a frame from the camera
+ virtual bool _get_frame(cv::Mat* frame) = 0;
+
+ // update the camera using cam_desired, write res and f to cam_info if successful
+ virtual void _set_device_index() = 0;
+ virtual void _set_f() = 0;
+ virtual void _set_fps() = 0;
+ virtual void _set_res() = 0;
+
+ float dt_valid;
+ float dt_mean;
+ int desired_index;
+ int active_index;
+ bool active;
+ CamInfo cam_info;
+ CamInfo cam_desired;
+};
+
+
+// ----------------------------------------------------------------------------
+// camera based on OpenCV's videoCapture
+#ifdef OPENTRACK_API
+class CVCamera : public Camera
+{
+public:
+ CVCamera() : cap(NULL) {}
+ ~CVCamera() { stop(); }
+
+ virtual void start();
+ virtual void stop();
+
+protected:
+ virtual bool _get_frame(cv::Mat* frame);
+ virtual void _set_index();
+ virtual void _set_f();
+ virtual void _set_fps();
+ virtual void _set_res();
+ virtual void _set_device_index();
+
+ cv::VideoCapture* cap;
+};
+#else
+// ----------------------------------------------------------------------------
+// Camera based on the videoInput library
+class VICamera : public Camera
+{
+public:
+ VICamera();
+ ~VICamera() { stop(); }
+
+ virtual void start();
+ virtual void stop();
+
+protected:
+ virtual bool _get_frame(cv::Mat* frame);
+ virtual void _set_device_index();
+ virtual void _set_f();
+ virtual void _set_fps();
+ virtual void _set_res();
+
+ videoInput VI;
+ cv::Mat new_frame;
+ unsigned char* frame_buffer;
+};
+#endif
+
+enum RotationType
+{
+ CLOCKWISE = 0,
+ ZERO = 1,
+ COUNTER_CLOCKWISE = 2
+};
+
+// ----------------------------------------------------------------------------
+class FrameRotation
+{
+public:
+ RotationType rotation;
+
+ cv::Mat rotate_frame(cv::Mat frame);
+};
+
+#endif //CAMERA_H
diff --git a/ftnoir_tracker_pt/doc/logo.png b/ftnoir_tracker_pt/doc/logo.png
index 95032a25..85590691 100644
--- a/ftnoir_tracker_pt/doc/logo.png
+++ b/ftnoir_tracker_pt/doc/logo.png
Binary files differ
diff --git a/ftnoir_tracker_pt/doc/settings1.png b/ftnoir_tracker_pt/doc/settings1.png
index 35b84c5c..0725f5f4 100644
--- a/ftnoir_tracker_pt/doc/settings1.png
+++ b/ftnoir_tracker_pt/doc/settings1.png
Binary files differ
diff --git a/ftnoir_tracker_pt/doc/settings2.png b/ftnoir_tracker_pt/doc/settings2.png
index c6cfd1f3..382ed13a 100644
--- a/ftnoir_tracker_pt/doc/settings2.png
+++ b/ftnoir_tracker_pt/doc/settings2.png
Binary files differ
diff --git a/ftnoir_tracker_pt/doc/settings3.png b/ftnoir_tracker_pt/doc/settings3.png
index 5922403d..821453d1 100644
--- a/ftnoir_tracker_pt/doc/settings3.png
+++ b/ftnoir_tracker_pt/doc/settings3.png
Binary files differ
diff --git a/ftnoir_tracker_pt/doc/style.css b/ftnoir_tracker_pt/doc/style.css
index a8d3e333..0c3d29a6 100644
--- a/ftnoir_tracker_pt/doc/style.css
+++ b/ftnoir_tracker_pt/doc/style.css
@@ -1,131 +1,131 @@
-body {
- width: 1000px;
- font-size: 13px;
- color: #000000;
- padding: 0;
- margin: 0 auto;
- background: #444444;
- font-family: verdana,arial;
-}
-
-table {
- border-width: 3px;
- border-color: #0000FF;
- border-style: ridge;
- margin-top: 5px;
- background-color: #E0E0FF;
-}
-
-table.blind {
- border: none;
- background-color: #E6E6E6;
-}
-
-fieldset.blind {
- border: none;
-}
-
-h1 { font-size: 160%; }
-h2 { font-size: 140%; }
-h3 { font-size: 115%; }
-
-.indent {
- margin-left: 25px;
-}
-
-p
-{
- margin-left: 10px;
-}
-
-li
-{
- margin: 10px;
-}
-
-
-dl
-{
- /*width: 80%;*/
- border-bottom: 1px solid #999;
-}
-
-dt
-{
- padding-top: 5px;
- font-weight: bold;
- border-top: 1px solid #999;
-}
-
-dd
-{
- padding: 5px;
-}
-
-
-hr {
- color: #688938;
-}
-
-a:link, a:visited {
- color: #0000BF;
-}
-a:hover {
- color: #0000FF;
-}
-
-a.nav {
- position: relative;
- top: -30px;
- display: block;
- visibility: hidden;
-}
-
-#navbar {
- width: 1000px;
- height: 30px;
- background-color:#1a1a1b;
- position: fixed;
- margin: 0 auto;
- padding: 0;
-}
-
-#navbar ul
-{
- list-style-type: none;
- margin: 0 auto;
- padding: 0;
- overflow: hidden;
-}
-
-#navbar li
-{
- margin: 0 auto;
- padding: 5px;
- float:left;
-}
-
-#navbar a:link,a:visited
-{
- display:block;
- width:150px;
- font-weight:bold;
- color:#e85d02;
- text-align:center;
- /*padding:4px;*/
- text-decoration:none;
- /*text-transform:uppercase;*/
-}
-
-#navbar a:hover,a:active
-{
- color:#ffffff;
-}
-
-#content {
- background-color:#ffffff;
- padding: 15px;
- padding-top: 40px;
- padding-right: 40px;
- margin: 0 auto;
-}
+body {
+ width: 1000px;
+ font-size: 13px;
+ color: #000000;
+ padding: 0;
+ margin: 0 auto;
+ background: #444444;
+ font-family: verdana,arial;
+}
+
+table {
+ border-width: 3px;
+ border-color: #0000FF;
+ border-style: ridge;
+ margin-top: 5px;
+ background-color: #E0E0FF;
+}
+
+table.blind {
+ border: none;
+ background-color: #E6E6E6;
+}
+
+fieldset.blind {
+ border: none;
+}
+
+h1 { font-size: 160%; }
+h2 { font-size: 140%; }
+h3 { font-size: 115%; }
+
+.indent {
+ margin-left: 25px;
+}
+
+p
+{
+ margin-left: 10px;
+}
+
+li
+{
+ margin: 10px;
+}
+
+
+dl
+{
+ /*width: 80%;*/
+ border-bottom: 1px solid #999;
+}
+
+dt
+{
+ padding-top: 5px;
+ font-weight: bold;
+ border-top: 1px solid #999;
+}
+
+dd
+{
+ padding: 5px;
+}
+
+
+hr {
+ color: #688938;
+}
+
+a:link, a:visited {
+ color: #0000BF;
+}
+a:hover {
+ color: #0000FF;
+}
+
+a.nav {
+ position: relative;
+ top: -30px;
+ display: block;
+ visibility: hidden;
+}
+
+#navbar {
+ width: 1000px;
+ height: 30px;
+ background-color:#1a1a1b;
+ position: fixed;
+ margin: 0 auto;
+ padding: 0;
+}
+
+#navbar ul
+{
+ list-style-type: none;
+ margin: 0 auto;
+ padding: 0;
+ overflow: hidden;
+}
+
+#navbar li
+{
+ margin: 0 auto;
+ padding: 5px;
+ float:left;
+}
+
+#navbar a:link,a:visited
+{
+ display:block;
+ width:150px;
+ font-weight:bold;
+ color:#e85d02;
+ text-align:center;
+ /*padding:4px;*/
+ text-decoration:none;
+ /*text-transform:uppercase;*/
+}
+
+#navbar a:hover,a:active
+{
+ color:#ffffff;
+}
+
+#content {
+ background-color:#ffffff;
+ padding: 15px;
+ padding-top: 40px;
+ padding-right: 40px;
+ margin: 0 auto;
+}
diff --git a/ftnoir_tracker_pt/frame_observer.cpp b/ftnoir_tracker_pt/frame_observer.cpp
index 281f3d57..76dee351 100644
--- a/ftnoir_tracker_pt/frame_observer.cpp
+++ b/ftnoir_tracker_pt/frame_observer.cpp
@@ -1,18 +1,18 @@
-/* Copyright (c) 2013 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 "frame_observer.h"
-
-//-----------------------------------------------------------------------------
-FrameProvider::~FrameProvider()
-{
- QMutexLocker lock(&observer_mutex);
- for (std::set<FrameObserver*>::iterator iter=frame_observers.begin(); iter!=frame_observers.end(); ++iter)
- {
- (*iter)->on_frame_provider_destroy();
- }
-}
+/* Copyright (c) 2013 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 "frame_observer.h"
+
+//-----------------------------------------------------------------------------
+FrameProvider::~FrameProvider()
+{
+ QMutexLocker lock(&observer_mutex);
+ for (std::set<FrameObserver*>::iterator iter=frame_observers.begin(); iter!=frame_observers.end(); ++iter)
+ {
+ (*iter)->on_frame_provider_destroy();
+ }
+}
diff --git a/ftnoir_tracker_pt/frame_observer.h b/ftnoir_tracker_pt/frame_observer.h
index c3c20259..ca8ffb46 100644
--- a/ftnoir_tracker_pt/frame_observer.h
+++ b/ftnoir_tracker_pt/frame_observer.h
@@ -1,76 +1,76 @@
-/* Copyright (c) 2013 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.
- */
-
-#ifndef FRAME_OBSERVER_H
-#define FRAME_OBSERVER_H
-
-#include <QMutex>
-#include <opencv2/opencv.hpp>
-#ifndef OPENTRACK_API
-# include <boost/shared_ptr.hpp>
-#else
+/* Copyright (c) 2013 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.
+ */
+
+#ifndef FRAME_OBSERVER_H
+#define FRAME_OBSERVER_H
+
+#include <QMutex>
+#include <opencv2/opencv.hpp>
+#ifndef OPENTRACK_API
+# include <boost/shared_ptr.hpp>
+#else
# include <memory>
-#endif
-#include <set>
-
-//-----------------------------------------------------------------------------
-// Forward declarations
-class FrameObserver;
-
-//-----------------------------------------------------------------------------
-// Provides means to copy frame and point information if it has observers
-// Instantiate a FrameObserver to get the information
-class FrameProvider
-{
- friend class FrameObserver;
-public:
- ~FrameProvider();
-
-protected:
- virtual bool get_frame_and_points(cv::Mat& frame, std::shared_ptr< std::vector<cv::Vec2f> >& points) = 0;
-
- bool has_observers() const { QMutexLocker lock(&observer_mutex); return !frame_observers.empty(); }
-
-private:
- mutable QMutex observer_mutex;
- void add_observer(FrameObserver* obs) { QMutexLocker lock(&observer_mutex); frame_observers.insert(obs); }
- void remove_observer(FrameObserver* obs) { QMutexLocker lock(&observer_mutex); frame_observers.erase(obs); }
- std::set<FrameObserver*> frame_observers;
-};
-
-//-----------------------------------------------------------------------------
-// Used to get frame and point information from MutexedFrameProvider
-// Destroy instance if not interested anymore since a living
-// FrameObserver instance causes MutexedFrameProvider to provide the information,
-// potentially reducing its performance
-class FrameObserver
-{
-public:
- FrameObserver(FrameProvider* provider) : provider(provider) {
- provider->add_observer(this);
- }
-
- ~FrameObserver() {
- if (provider) provider->remove_observer(this);
- }
-
- bool get_frame_and_points(cv::Mat& frame, std::shared_ptr< std::vector<cv::Vec2f> >& points) {
- return provider ? provider->get_frame_and_points(frame, points) : false;
- }
-
- void on_frame_provider_destroy() {
- provider = NULL;
- }
-
-protected:
- FrameProvider* provider;
-
-private:
- FrameObserver(const FrameObserver&);
-};
-
-#endif //FRAME_OBSERVER_H
+#endif
+#include <set>
+
+//-----------------------------------------------------------------------------
+// Forward declarations
+class FrameObserver;
+
+//-----------------------------------------------------------------------------
+// Provides means to copy frame and point information if it has observers
+// Instantiate a FrameObserver to get the information
+class FrameProvider
+{
+ friend class FrameObserver;
+public:
+ ~FrameProvider();
+
+protected:
+ virtual bool get_frame_and_points(cv::Mat& frame, std::shared_ptr< std::vector<cv::Vec2f> >& points) = 0;
+
+ bool has_observers() const { QMutexLocker lock(&observer_mutex); return !frame_observers.empty(); }
+
+private:
+ mutable QMutex observer_mutex;
+ void add_observer(FrameObserver* obs) { QMutexLocker lock(&observer_mutex); frame_observers.insert(obs); }
+ void remove_observer(FrameObserver* obs) { QMutexLocker lock(&observer_mutex); frame_observers.erase(obs); }
+ std::set<FrameObserver*> frame_observers;
+};
+
+//-----------------------------------------------------------------------------
+// Used to get frame and point information from MutexedFrameProvider
+// Destroy instance if not interested anymore since a living
+// FrameObserver instance causes MutexedFrameProvider to provide the information,
+// potentially reducing its performance
+class FrameObserver
+{
+public:
+ FrameObserver(FrameProvider* provider) : provider(provider) {
+ provider->add_observer(this);
+ }
+
+ ~FrameObserver() {
+ if (provider) provider->remove_observer(this);
+ }
+
+ bool get_frame_and_points(cv::Mat& frame, std::shared_ptr< std::vector<cv::Vec2f> >& points) {
+ return provider ? provider->get_frame_and_points(frame, points) : false;
+ }
+
+ void on_frame_provider_destroy() {
+ provider = NULL;
+ }
+
+protected:
+ FrameProvider* provider;
+
+private:
+ FrameObserver(const FrameObserver&);
+};
+
+#endif //FRAME_OBSERVER_H
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 219c8990..3fa6910d 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -1,264 +1,264 @@
-/* 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 "ftnoir_tracker_pt.h"
-#include <QHBoxLayout>
-#include <cmath>
-#include <QDebug>
-#include <QFile>
-#include <QCoreApplication>
-
-using namespace std;
-using namespace cv;
-
-//#define PT_PERF_LOG //log performance
-
-const float rad2deg = 180.0/3.14159265;
-const float deg2rad = 1.0/rad2deg;
-
-//-----------------------------------------------------------------------------
-Tracker::Tracker()
- : mutex(QMutex::Recursive),
- commands(0),
- video_widget(NULL),
- video_frame(NULL),
- tracking_valid(false),
- new_settings(nullptr)
-
-{
- qDebug()<<"Tracker::Tracker";
-}
-
-Tracker::~Tracker()
-{
- qDebug()<<"Tracker::~Tracker";
- // terminate tracker thread
- set_command(ABORT);
- wait();
- s.video_widget = false;
- delete video_widget;
- video_widget = NULL;
- if (video_frame->layout()) delete video_frame->layout();
-}
-
-void Tracker::set_command(Command command)
-{
- //QMutexLocker lock(&mutex);
- commands |= command;
-}
-
-void Tracker::reset_command(Command command)
-{
- //QMutexLocker lock(&mutex);
- commands &= ~command;
-}
-
-void Tracker::run()
-{
- qDebug()<<"Tracker:: Thread started";
-
-#ifdef PT_PERF_LOG
- QFile log_file(QCoreApplication::applicationDirPath() + "/PointTrackerPerformance.txt");
- if (!log_file.open(QIODevice::WriteOnly | QIODevice::Text)) return;
- QTextStream log_stream(&log_file);
-#endif
-
- time.start();
- double dt;
- bool new_frame;
- forever
- {
- if (commands & ABORT) break;
- if (commands & PAUSE) continue;
- commands = 0;
- apply_inner();
- dt = time.start() / 1000000000.;
-
- new_frame = camera.get_frame(dt, &frame);
-
- if (new_frame && !frame.empty())
- {
- QMutexLocker lock(&mutex);
-
- frame = frame_rotation.rotate_frame(frame);
- const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, true);
- for (auto p : points)
- {
- auto p2 = cv::Point(p[0] * frame.cols + frame.cols/2, -p[1] * frame.cols + frame.rows/2);
- cv::Scalar color(0, 255, 0);
- cv::line(frame,
- cv::Point(p2.x - 20, p2.y),
- cv::Point(p2.x + 20, p2.y),
- color,
- 4);
- cv::line(frame,
- cv::Point(p2.x, p2.y - 20),
- cv::Point(p2.x, p2.y + 20),
- color,
- 4);
- }
- tracking_valid = point_tracker.track(points, camera.get_info().f, dt);
- video_widget->update_image(frame);
- }
-#ifdef PT_PERF_LOG
- log_stream<<"dt: "<<dt;
- if (!frame.empty()) log_stream<<" fps: "<<camera.get_info().fps;
- log_stream<<"\n";
-#endif
- }
-
- qDebug()<<"Tracker:: Thread stopping";
-}
-void Tracker::apply(settings& s)
-{
- // caller guarantees object lifetime
- new_settings = &s;
-}
-
-void Tracker::apply_inner()
-{
- settings* tmp = new_settings.exchange(nullptr);
- if (tmp == nullptr)
- return;
- auto& s = *tmp;
- qDebug()<<"Tracker:: Applying settings";
- camera.set_device_index(s.cam_index);
- camera.set_res(s.cam_res_x, s.cam_res_y);
- camera.set_fps(s.cam_fps);
- camera.set_f(s.cam_f);
- frame_rotation.rotation = static_cast<RotationType>(static_cast<int>(s.cam_roll));
- point_extractor.threshold_val = s.threshold;
- point_extractor.threshold_secondary_val = s.threshold_secondary;
- point_extractor.min_size = s.min_point_size;
- point_extractor.max_size = s.max_point_size;
- {
- cv::Vec3f M01(s.m01_x, s.m01_y, s.m01_z);
- cv::Vec3f M02(s.m02_x, s.m02_y, s.m02_z);
- point_tracker.point_model = std::shared_ptr<PointModel>(new PointModel(M01, M02));
- }
- point_tracker.dynamic_pose_resolution = s.dyn_pose_res;
- point_tracker.dt_reset = s.reset_time / 1000.0;
- t_MH = cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z);
- R_GC = Matx33f( cos(deg2rad*s.cam_yaw), 0, sin(deg2rad*s.cam_yaw),
- 0, 1, 0,
- -sin(deg2rad*s.cam_yaw), 0, cos(deg2rad*s.cam_yaw));
- R_GC = R_GC * Matx33f( 1, 0, 0,
- 0, cos(deg2rad*s.cam_pitch), sin(deg2rad*s.cam_pitch),
- 0, -sin(deg2rad*s.cam_pitch), cos(deg2rad*s.cam_pitch));
-
- FrameTrafo X_MH(Matx33f::eye(), t_MH);
- X_GH_0 = R_GC * X_MH;
-
- qDebug()<<"Tracker::apply ends";
-}
-
-void Tracker::reset()
-{
- QMutexLocker lock(&mutex);
- point_tracker.reset();
-}
-
-void Tracker::center()
-{
- point_tracker.reset(); // we also do a reset here since there is no reset shortkey yet
- QMutexLocker lock(&mutex);
- FrameTrafo X_CM_0 = point_tracker.get_pose();
- FrameTrafo X_MH(Matx33f::eye(), t_MH);
- X_GH_0 = R_GC * X_CM_0 * X_MH;
-}
-
-bool Tracker::get_frame_and_points(cv::Mat& frame_copy, std::shared_ptr< std::vector<Vec2f> >& points)
-{
- QMutexLocker lock(&mutex);
- if (frame.empty()) return false;
-
- // copy the frame and points from the tracker thread
- frame_copy = frame.clone();
- points = std::shared_ptr< vector<Vec2f> >(new vector<Vec2f>(point_extractor.get_points()));
- return true;
-}
-
-void Tracker::refreshVideo()
-{
- if (video_widget) video_widget->update_frame_and_points();
-}
-
-void Tracker::StartTracker(QFrame *parent_window)
-{
- this->video_frame = parent_window;
- video_frame->setAttribute(Qt::WA_NativeWindow);
- video_frame->show();
- video_widget = new PTVideoWidget(video_frame, this);
- QHBoxLayout* video_layout = new QHBoxLayout(parent_window);
- video_layout->setContentsMargins(0, 0, 0, 0);
- video_layout->addWidget(video_widget);
- video_frame->setLayout(video_layout);
- video_widget->resize(video_frame->width(), video_frame->height());
- camera.start();
- apply(s);
- start();
- reset_command(PAUSE);
-}
-
-#ifndef OPENTRACK_API
-void Tracker::StopTracker(bool exit)
-{
- set_command(PAUSE);
-}
-#endif
-
-#ifdef OPENTRACK_API
-#define THeadPoseData double
-#endif
-
-void Tracker::GetHeadPoseData(THeadPoseData *data)
-{
- {
- QMutexLocker lock(&mutex);
-
- if (!tracking_valid) return;
-
- FrameTrafo X_CM = point_tracker.get_pose();
- FrameTrafo X_MH(Matx33f::eye(), t_MH);
- FrameTrafo X_GH = R_GC * X_CM * X_MH;
- Matx33f R = X_GH.R * X_GH_0.R.t();
- Vec3f t = X_GH.t - X_GH_0.t;
-
- // get translation(s)
- data[TX] = t[0] / 10.0; // convert to cm
- data[TY] = t[1] / 10.0;
- data[TZ] = t[2] / 10.0;
-
- // translate rotation matrix from opengl (G) to roll-pitch-yaw (E) frame
- // -z -> x, y -> z, x -> -y
- Matx33f R_EG( 0, 0,-1,
- -1, 0, 0,
- 0, 1, 0);
- R = R_EG * R * R_EG.t();
-
- // extract rotation angles
- float alpha, beta, gamma;
- beta = atan2( -R(2,0), sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) );
- alpha = atan2( R(1,0), R(0,0));
- gamma = atan2( R(2,1), R(2,2));
-
- data[Yaw] = rad2deg * alpha;
- data[Pitch] = - rad2deg * beta; // FTNoIR expects a minus here
- data[Roll] = rad2deg * gamma;
- }
-}
-
-//-----------------------------------------------------------------------------
-#ifdef OPENTRACK_API
-extern "C" OPENTRACK_EXPORT ITracker* CALLING_CONVENTION GetConstructor()
-#else
-#pragma comment(linker, "/export:GetTracker=_GetTracker@0")
-OPENTRACK_EXPORT ITrackerPtr __stdcall GetTracker()
-#endif
-{
- return new Tracker;
-}
+/* 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 "ftnoir_tracker_pt.h"
+#include <QHBoxLayout>
+#include <cmath>
+#include <QDebug>
+#include <QFile>
+#include <QCoreApplication>
+
+using namespace std;
+using namespace cv;
+
+//#define PT_PERF_LOG //log performance
+
+const float rad2deg = 180.0/3.14159265;
+const float deg2rad = 1.0/rad2deg;
+
+//-----------------------------------------------------------------------------
+Tracker::Tracker()
+ : mutex(QMutex::Recursive),
+ commands(0),
+ video_widget(NULL),
+ video_frame(NULL),
+ tracking_valid(false),
+ new_settings(nullptr)
+
+{
+ qDebug()<<"Tracker::Tracker";
+}
+
+Tracker::~Tracker()
+{
+ qDebug()<<"Tracker::~Tracker";
+ // terminate tracker thread
+ set_command(ABORT);
+ wait();
+ s.video_widget = false;
+ delete video_widget;
+ video_widget = NULL;
+ if (video_frame->layout()) delete video_frame->layout();
+}
+
+void Tracker::set_command(Command command)
+{
+ //QMutexLocker lock(&mutex);
+ commands |= command;
+}
+
+void Tracker::reset_command(Command command)
+{
+ //QMutexLocker lock(&mutex);
+ commands &= ~command;
+}
+
+void Tracker::run()
+{
+ qDebug()<<"Tracker:: Thread started";
+
+#ifdef PT_PERF_LOG
+ QFile log_file(QCoreApplication::applicationDirPath() + "/PointTrackerPerformance.txt");
+ if (!log_file.open(QIODevice::WriteOnly | QIODevice::Text)) return;
+ QTextStream log_stream(&log_file);
+#endif
+
+ time.start();
+ double dt;
+ bool new_frame;
+ forever
+ {
+ if (commands & ABORT) break;
+ if (commands & PAUSE) continue;
+ commands = 0;
+ apply_inner();
+ dt = time.start() / 1000000000.;
+
+ new_frame = camera.get_frame(dt, &frame);
+
+ if (new_frame && !frame.empty())
+ {
+ QMutexLocker lock(&mutex);
+
+ frame = frame_rotation.rotate_frame(frame);
+ const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, true);
+ for (auto p : points)
+ {
+ auto p2 = cv::Point(p[0] * frame.cols + frame.cols/2, -p[1] * frame.cols + frame.rows/2);
+ cv::Scalar color(0, 255, 0);
+ cv::line(frame,
+ cv::Point(p2.x - 20, p2.y),
+ cv::Point(p2.x + 20, p2.y),
+ color,
+ 4);
+ cv::line(frame,
+ cv::Point(p2.x, p2.y - 20),
+ cv::Point(p2.x, p2.y + 20),
+ color,
+ 4);
+ }
+ tracking_valid = point_tracker.track(points, camera.get_info().f, dt);
+ video_widget->update_image(frame);
+ }
+#ifdef PT_PERF_LOG
+ log_stream<<"dt: "<<dt;
+ if (!frame.empty()) log_stream<<" fps: "<<camera.get_info().fps;
+ log_stream<<"\n";
+#endif
+ }
+
+ qDebug()<<"Tracker:: Thread stopping";
+}
+void Tracker::apply(settings& s)
+{
+ // caller guarantees object lifetime
+ new_settings = &s;
+}
+
+void Tracker::apply_inner()
+{
+ settings* tmp = new_settings.exchange(nullptr);
+ if (tmp == nullptr)
+ return;
+ auto& s = *tmp;
+ qDebug()<<"Tracker:: Applying settings";
+ camera.set_device_index(s.cam_index);
+ camera.set_res(s.cam_res_x, s.cam_res_y);
+ camera.set_fps(s.cam_fps);
+ camera.set_f(s.cam_f);
+ frame_rotation.rotation = static_cast<RotationType>(static_cast<int>(s.cam_roll));
+ point_extractor.threshold_val = s.threshold;
+ point_extractor.threshold_secondary_val = s.threshold_secondary;
+ point_extractor.min_size = s.min_point_size;
+ point_extractor.max_size = s.max_point_size;
+ {
+ cv::Vec3f M01(s.m01_x, s.m01_y, s.m01_z);
+ cv::Vec3f M02(s.m02_x, s.m02_y, s.m02_z);
+ point_tracker.point_model = std::shared_ptr<PointModel>(new PointModel(M01, M02));
+ }
+ point_tracker.dynamic_pose_resolution = s.dyn_pose_res;
+ point_tracker.dt_reset = s.reset_time / 1000.0;
+ t_MH = cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z);
+ R_GC = Matx33f( cos(deg2rad*s.cam_yaw), 0, sin(deg2rad*s.cam_yaw),
+ 0, 1, 0,
+ -sin(deg2rad*s.cam_yaw), 0, cos(deg2rad*s.cam_yaw));
+ R_GC = R_GC * Matx33f( 1, 0, 0,
+ 0, cos(deg2rad*s.cam_pitch), sin(deg2rad*s.cam_pitch),
+ 0, -sin(deg2rad*s.cam_pitch), cos(deg2rad*s.cam_pitch));
+
+ FrameTrafo X_MH(Matx33f::eye(), t_MH);
+ X_GH_0 = R_GC * X_MH;
+
+ qDebug()<<"Tracker::apply ends";
+}
+
+void Tracker::reset()
+{
+ QMutexLocker lock(&mutex);
+ point_tracker.reset();
+}
+
+void Tracker::center()
+{
+ point_tracker.reset(); // we also do a reset here since there is no reset shortkey yet
+ QMutexLocker lock(&mutex);
+ FrameTrafo X_CM_0 = point_tracker.get_pose();
+ FrameTrafo X_MH(Matx33f::eye(), t_MH);
+ X_GH_0 = R_GC * X_CM_0 * X_MH;
+}
+
+bool Tracker::get_frame_and_points(cv::Mat& frame_copy, std::shared_ptr< std::vector<Vec2f> >& points)
+{
+ QMutexLocker lock(&mutex);
+ if (frame.empty()) return false;
+
+ // copy the frame and points from the tracker thread
+ frame_copy = frame.clone();
+ points = std::shared_ptr< vector<Vec2f> >(new vector<Vec2f>(point_extractor.get_points()));
+ return true;
+}
+
+void Tracker::refreshVideo()
+{
+ if (video_widget) video_widget->update_frame_and_points();
+}
+
+void Tracker::StartTracker(QFrame *parent_window)
+{
+ this->video_frame = parent_window;
+ video_frame->setAttribute(Qt::WA_NativeWindow);
+ video_frame->show();
+ video_widget = new PTVideoWidget(video_frame, this);
+ QHBoxLayout* video_layout = new QHBoxLayout(parent_window);
+ video_layout->setContentsMargins(0, 0, 0, 0);
+ video_layout->addWidget(video_widget);
+ video_frame->setLayout(video_layout);
+ video_widget->resize(video_frame->width(), video_frame->height());
+ camera.start();
+ apply(s);
+ start();
+ reset_command(PAUSE);
+}
+
+#ifndef OPENTRACK_API
+void Tracker::StopTracker(bool exit)
+{
+ set_command(PAUSE);
+}
+#endif
+
+#ifdef OPENTRACK_API
+#define THeadPoseData double
+#endif
+
+void Tracker::GetHeadPoseData(THeadPoseData *data)
+{
+ {
+ QMutexLocker lock(&mutex);
+
+ if (!tracking_valid) return;
+
+ FrameTrafo X_CM = point_tracker.get_pose();
+ FrameTrafo X_MH(Matx33f::eye(), t_MH);
+ FrameTrafo X_GH = R_GC * X_CM * X_MH;
+ Matx33f R = X_GH.R * X_GH_0.R.t();
+ Vec3f t = X_GH.t - X_GH_0.t;
+
+ // get translation(s)
+ data[TX] = t[0] / 10.0; // convert to cm
+ data[TY] = t[1] / 10.0;
+ data[TZ] = t[2] / 10.0;
+
+ // translate rotation matrix from opengl (G) to roll-pitch-yaw (E) frame
+ // -z -> x, y -> z, x -> -y
+ Matx33f R_EG( 0, 0,-1,
+ -1, 0, 0,
+ 0, 1, 0);
+ R = R_EG * R * R_EG.t();
+
+ // extract rotation angles
+ float alpha, beta, gamma;
+ beta = atan2( -R(2,0), sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) );
+ alpha = atan2( R(1,0), R(0,0));
+ gamma = atan2( R(2,1), R(2,2));
+
+ data[Yaw] = rad2deg * alpha;
+ data[Pitch] = - rad2deg * beta; // FTNoIR expects a minus here
+ data[Roll] = rad2deg * gamma;
+ }
+}
+
+//-----------------------------------------------------------------------------
+#ifdef OPENTRACK_API
+extern "C" OPENTRACK_EXPORT ITracker* CALLING_CONVENTION GetConstructor()
+#else
+#pragma comment(linker, "/export:GetTracker=_GetTracker@0")
+OPENTRACK_EXPORT ITrackerPtr __stdcall GetTracker()
+#endif
+{
+ return new Tracker;
+}
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
index 63b8353e..3d9a83fd 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
@@ -1,94 +1,94 @@
-/* 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.
- */
-
-#ifndef FTNOIR_TRACKER_PT_H
-#define FTNOIR_TRACKER_PT_H
-
-#ifdef OPENTRACK_API
-# include "facetracknoir/plugin-api.hpp"
-#endif
-#include "ftnoir_tracker_pt_settings.h"
-#include "frame_observer.h"
-#include "camera.h"
-#include "point_extractor.h"
-#include "point_tracker.h"
-#include "pt_video_widget.h"
-#include "facetracknoir/timer.hpp"
-
-#include <QThread>
-#include <QMutex>
-#include <QMutexLocker>
-#include <QTime>
-#include <opencv2/opencv.hpp>
-#include <atomic>
-#ifndef OPENTRACK_API
-# include <boost/shared_ptr.hpp>
-#else
+/* 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.
+ */
+
+#ifndef FTNOIR_TRACKER_PT_H
+#define FTNOIR_TRACKER_PT_H
+
+#ifdef OPENTRACK_API
+# include "facetracknoir/plugin-api.hpp"
+#endif
+#include "ftnoir_tracker_pt_settings.h"
+#include "frame_observer.h"
+#include "camera.h"
+#include "point_extractor.h"
+#include "point_tracker.h"
+#include "pt_video_widget.h"
+#include "facetracknoir/timer.hpp"
+
+#include <QThread>
+#include <QMutex>
+#include <QMutexLocker>
+#include <QTime>
+#include <opencv2/opencv.hpp>
+#include <atomic>
+#ifndef OPENTRACK_API
+# include <boost/shared_ptr.hpp>
+#else
# include <memory>
-#endif
-#include <vector>
-
-//-----------------------------------------------------------------------------
-// Constantly processes the tracking chain in a separate thread
-class Tracker : public ITracker, QThread, public FrameProvider
-{
-public:
- Tracker();
- virtual ~Tracker();
- virtual void StartTracker(QFrame* parent_window);
- virtual void GetHeadPoseData(double* data);
- virtual void refreshVideo();
-
- void apply(settings& s);
- void apply_inner();
- void center();
- void reset(); // reset the trackers internal state variables
- void run();
-
- void get_pose(FrameTrafo* X_CM) { QMutexLocker lock(&mutex); *X_CM = point_tracker.get_pose(); }
- int get_n_points() { QMutexLocker lock(&mutex); return point_extractor.get_points().size(); }
- void get_cam_info(CamInfo* info) { QMutexLocker lock(&mutex); *info = camera.get_info(); }
-
-protected:
- // --- MutexedFrameProvider interface ---
- virtual bool get_frame_and_points(cv::Mat& frame, std::shared_ptr< std::vector<cv::Vec2f> >& points);
-
- // --- thread ---
- QMutex mutex;
- // thread commands
- enum Command {
- ABORT = 1<<0,
- PAUSE = 1<<1
- };
- void set_command(Command command);
- void reset_command(Command command);
- volatile int commands;
-
- CVCamera camera;
- FrameRotation frame_rotation;
- PointExtractor point_extractor;
- PointTracker point_tracker;
-
- FrameTrafo X_GH_0; // for centering
- cv::Vec3f t_MH; // translation from model frame to head frame
- cv::Matx33f R_GC; // rotation from opengl reference frame to camera frame
-
- // --- ui ---
- cv::Mat frame; // the output frame for display
-
- PTVideoWidget* video_widget;
- QFrame* video_frame;
- bool tracking_valid;
-
- settings s;
- std::atomic<settings*> new_settings;
- Timer time;
-};
-
-#undef VideoWidget
-
-#endif // FTNOIR_TRACKER_PT_H
+#endif
+#include <vector>
+
+//-----------------------------------------------------------------------------
+// Constantly processes the tracking chain in a separate thread
+class Tracker : public ITracker, QThread, public FrameProvider
+{
+public:
+ Tracker();
+ virtual ~Tracker();
+ virtual void StartTracker(QFrame* parent_window);
+ virtual void GetHeadPoseData(double* data);
+ virtual void refreshVideo();
+
+ void apply(settings& s);
+ void apply_inner();
+ void center();
+ void reset(); // reset the trackers internal state variables
+ void run();
+
+ void get_pose(FrameTrafo* X_CM) { QMutexLocker lock(&mutex); *X_CM = point_tracker.get_pose(); }
+ int get_n_points() { QMutexLocker lock(&mutex); return point_extractor.get_points().size(); }
+ void get_cam_info(CamInfo* info) { QMutexLocker lock(&mutex); *info = camera.get_info(); }
+
+protected:
+ // --- MutexedFrameProvider interface ---
+ virtual bool get_frame_and_points(cv::Mat& frame, std::shared_ptr< std::vector<cv::Vec2f> >& points);
+
+ // --- thread ---
+ QMutex mutex;
+ // thread commands
+ enum Command {
+ ABORT = 1<<0,
+ PAUSE = 1<<1
+ };
+ void set_command(Command command);
+ void reset_command(Command command);
+ volatile int commands;
+
+ CVCamera camera;
+ FrameRotation frame_rotation;
+ PointExtractor point_extractor;
+ PointTracker point_tracker;
+
+ FrameTrafo X_GH_0; // for centering
+ cv::Vec3f t_MH; // translation from model frame to head frame
+ cv::Matx33f R_GC; // rotation from opengl reference frame to camera frame
+
+ // --- ui ---
+ cv::Mat frame; // the output frame for display
+
+ PTVideoWidget* video_widget;
+ QFrame* video_frame;
+ bool tracking_valid;
+
+ settings s;
+ std::atomic<settings*> new_settings;
+ Timer time;
+};
+
+#undef VideoWidget
+
+#endif // FTNOIR_TRACKER_PT_H
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
index ae84ce8c..e037a099 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
@@ -1,314 +1,314 @@
-/* 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 "ftnoir_tracker_pt_dialog.h"
-
-#include <QMessageBox>
-#include <QDebug>
-#include <opencv2/opencv.hpp>
-#ifndef OPENTRACK_API
-# include <boost/shared_ptr.hpp>
-#else
-# include <memory>
-#endif
-#include <vector>
-
-using namespace std;
-
-//-----------------------------------------------------------------------------
-TrackerDialog::TrackerDialog()
- : tracker(NULL),
- video_widget_dialog(NULL),
- timer(this),
- trans_calib_running(false)
-{
- qDebug()<<"TrackerDialog::TrackerDialog";
- setAttribute(Qt::WA_DeleteOnClose, false);
-
- ui.setupUi( this );
-
- vector<string> device_names;
- get_camera_device_names(device_names);
- for (vector<string>::iterator iter = device_names.begin(); iter != device_names.end(); ++iter)
- {
- ui.camdevice_combo->addItem(iter->c_str());
- }
-
- ui.camroll_combo->addItem("-90");
- ui.camroll_combo->addItem("0");
- ui.camroll_combo->addItem("90");
-
- tie_setting(s.dyn_pose_res, ui.dynpose_check);
- tie_setting(s.reset_time, ui.reset_spin);
-
- tie_setting(s.cam_index, ui.camdevice_combo);
- tie_setting(s.cam_f, ui.f_dspin);
- tie_setting(s.cam_res_x, ui.res_x_spin);
- tie_setting(s.cam_res_y, ui.res_y_spin);
- tie_setting(s.cam_fps, ui.fps_spin);
- tie_setting(s.cam_roll, ui.camroll_combo);
- tie_setting(s.cam_pitch, ui.campitch_spin);
- tie_setting(s.cam_yaw, ui.camyaw_spin);
-
- tie_setting(s.threshold_secondary, ui.threshold_secondary_slider);
- tie_setting(s.threshold, ui.threshold_slider);
-
- tie_setting(s.min_point_size, ui.mindiam_spin);
- tie_setting(s.max_point_size, ui.maxdiam_spin);
-
- tie_setting(s.clip_by, ui.clip_bheight_spin);
- tie_setting(s.clip_bz, ui.clip_blength_spin);
- tie_setting(s.clip_ty, ui.clip_theight_spin);
- tie_setting(s.clip_tz, ui.clip_tlength_spin);
-
- tie_setting(s.cap_x, ui.cap_width_spin);
- tie_setting(s.cap_y, ui.cap_height_spin);
- tie_setting(s.cap_z, ui.cap_length_spin);
-
- tie_setting(s.m01_x, ui.m1x_spin);
- tie_setting(s.m01_y, ui.m1y_spin);
- tie_setting(s.m01_z, ui.m1z_spin);
-
- tie_setting(s.m02_x, ui.m2x_spin);
- tie_setting(s.m02_y, ui.m2y_spin);
- tie_setting(s.m02_z, ui.m2z_spin);
-
- tie_setting(s.t_MH_x, ui.tx_spin);
- tie_setting(s.t_MH_y, ui.ty_spin);
- tie_setting(s.t_MH_z, ui.tz_spin);
-
- connect( ui.tcalib_button,SIGNAL(toggled(bool)), this,SLOT(startstop_trans_calib(bool)) );
- connect(ui.reset_button, SIGNAL(clicked()), this, SLOT(doReset()));
-
- connect(ui.ok_button, SIGNAL(clicked()), this, SLOT(doOK()));
- connect(ui.cancel_button, SIGNAL(clicked()), this, SLOT(doCancel()));
- connect(ui.btnApply, SIGNAL(clicked()), this, SLOT(doApply()));
-
- ui.model_tabs->setCurrentIndex(s.active_model_panel);
-
- connect(ui.model_tabs, SIGNAL(currentChanged(int)), this, SLOT(set_model(int)));
- connect(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info()));
- timer.start(100);
-
- connect(s.b.get(), SIGNAL(bundleChanged()), this, SLOT(do_apply_without_saving()));
-}
-
-void TrackerDialog::set_model_clip()
-{
- s.m01_x = 0;
- s.m01_y = static_cast<double>(s.clip_ty);
- s.m01_z = -static_cast<double>(s.clip_tz);
- s.m02_x = 0;
- s.m02_y = -static_cast<double>(s.clip_by);
- s.m02_z = -static_cast<double>(s.clip_bz);
-
- settings_changed();
-}
-
-void TrackerDialog::set_model_cap()
-{
- s.m01_x = -static_cast<double>(s.cap_x);
- s.m01_y = -static_cast<double>(s.cap_y);
- s.m01_z = -static_cast<double>(s.cap_z);
- s.m02_x = static_cast<double>(s.cap_x);
- s.m02_y = -static_cast<double>(s.cap_y);
- s.m02_z = -static_cast<double>(s.cap_z);
-
- settings_changed();
-}
-
-void TrackerDialog::set_model_custom()
-{
- settings_changed();
-}
-
-void TrackerDialog::set_model(int val)
-{
- s.active_model_panel = val;
-}
-
-void TrackerDialog::startstop_trans_calib(bool start)
-{
- if (start)
- {
- qDebug()<<"TrackerDialog:: Starting translation calibration";
- trans_calib.reset();
- trans_calib_running = true;
- }
- else
- {
- qDebug()<<"TrackerDialog:: Stoppping translation calibration";
- trans_calib_running = false;
- {
- auto tmp = trans_calib.get_estimate();
- s.t_MH_x = tmp[0];
- s.t_MH_y = tmp[1];
- s.t_MH_z = tmp[2];
- }
- settings_changed();
- }
-}
-
-void TrackerDialog::trans_calib_step()
-{
- if (tracker)
- {
- FrameTrafo X_CM;
- tracker->get_pose(&X_CM);
- trans_calib.update(X_CM.R, X_CM.t);
- cv::Vec3f t_MH = trans_calib.get_estimate();
- s.t_MH_x = t_MH[0];
- s.t_MH_y = t_MH[1];
- s.t_MH_z = t_MH[2];
- }
-}
-
-void TrackerDialog::settings_changed()
-{
- if (tracker) tracker->apply(s);
-}
-
-void TrackerDialog::doCenter()
-{
- if (tracker) tracker->center();
-}
-
-void TrackerDialog::doReset()
-{
- if (tracker) tracker->reset();
-}
-
-void TrackerDialog::save()
-{
- do_apply_without_saving();
- s.b->save();
-}
-
-void TrackerDialog::doOK()
-{
- save();
- close();
-}
-
-void TrackerDialog::do_apply_without_saving()
-{
- switch (s.active_model_panel) {
- default:
- case 0:
- set_model_clip();
- break;
- case 1:
- set_model_cap();
- break;
- case 2:
- set_model_custom();
- break;
- }
- if (tracker) tracker->apply(s);
-}
-
-void TrackerDialog::doApply()
-{
- save();
-}
-
-void TrackerDialog::doCancel()
-{
- s.b->revert();
- close();
-}
-
-void TrackerDialog::widget_destroyed(QObject* obj)
-{
- if (obj == video_widget_dialog) {
- // widget was / will be already deleted by Qt
- destroy_video_widget(false);
- }
-}
-
-void TrackerDialog::create_video_widget()
-{
- // this should not happen but better be sure
- if (video_widget_dialog) destroy_video_widget();
- if (!tracker) return;
-
- video_widget_dialog = new VideoWidgetDialog(this, tracker);
- video_widget_dialog->setAttribute( Qt::WA_DeleteOnClose );
- connect( video_widget_dialog, SIGNAL(destroyed(QObject*)), this, SLOT(widget_destroyed(QObject*)) );
- video_widget_dialog->show();
-}
-
-void TrackerDialog::destroy_video_widget(bool do_delete /*= true*/)
-{
- if (video_widget_dialog) {
- if (do_delete) delete video_widget_dialog;
- video_widget_dialog = NULL;
- }
-}
-
-void TrackerDialog::poll_tracker_info()
-{
- if (tracker)
- {
- QString to_print;
-
- // display caminfo
- CamInfo info;
- tracker->get_cam_info(&info);
- to_print = QString::number(info.res_x)+"x"+QString::number(info.res_y)+" @ "+QString::number(info.fps)+" FPS";
- ui.caminfo_label->setText(to_print);
-
- // display pointinfo
- int n_points = tracker->get_n_points();
- to_print = QString::number(n_points);
- if (n_points == 3)
- to_print += " OK!";
- else
- to_print += " BAD!";
- ui.pointinfo_label->setText(to_print);
-
- // update calibration
- if (trans_calib_running) trans_calib_step();
-
- // update videowidget
- if (video_widget_dialog) {
- video_widget_dialog->get_video_widget()->update_frame_and_points();
- }
- }
- else
- {
- QString to_print = "Tracker offline";
- ui.caminfo_label->setText(to_print);
- ui.pointinfo_label->setText(to_print);
- }
-}
-
-void TrackerDialog::registerTracker(ITracker *t)
-{
- qDebug()<<"TrackerDialog:: Tracker registered";
- tracker = static_cast<Tracker*>(t);
- if (isVisible() & s.b->modifiedp())
- tracker->apply(s);
- ui.tcalib_button->setEnabled(true);
- //ui.center_button->setEnabled(true);
- ui.reset_button->setEnabled(true);
-}
-
-void TrackerDialog::unRegisterTracker()
-{
- qDebug()<<"TrackerDialog:: Tracker un-registered";
- tracker = NULL;
- destroy_video_widget();
- ui.tcalib_button->setEnabled(false);
- //ui.center_button->setEnabled(false);
- ui.reset_button->setEnabled(false);
-}
-
-extern "C" OPENTRACK_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( )
-{
- return new TrackerDialog;
-}
+/* 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 "ftnoir_tracker_pt_dialog.h"
+
+#include <QMessageBox>
+#include <QDebug>
+#include <opencv2/opencv.hpp>
+#ifndef OPENTRACK_API
+# include <boost/shared_ptr.hpp>
+#else
+# include <memory>
+#endif
+#include <vector>
+
+using namespace std;
+
+//-----------------------------------------------------------------------------
+TrackerDialog::TrackerDialog()
+ : tracker(NULL),
+ video_widget_dialog(NULL),
+ timer(this),
+ trans_calib_running(false)
+{
+ qDebug()<<"TrackerDialog::TrackerDialog";
+ setAttribute(Qt::WA_DeleteOnClose, false);
+
+ ui.setupUi( this );
+
+ vector<string> device_names;
+ get_camera_device_names(device_names);
+ for (vector<string>::iterator iter = device_names.begin(); iter != device_names.end(); ++iter)
+ {
+ ui.camdevice_combo->addItem(iter->c_str());
+ }
+
+ ui.camroll_combo->addItem("-90");
+ ui.camroll_combo->addItem("0");
+ ui.camroll_combo->addItem("90");
+
+ tie_setting(s.dyn_pose_res, ui.dynpose_check);
+ tie_setting(s.reset_time, ui.reset_spin);
+
+ tie_setting(s.cam_index, ui.camdevice_combo);
+ tie_setting(s.cam_f, ui.f_dspin);
+ tie_setting(s.cam_res_x, ui.res_x_spin);
+ tie_setting(s.cam_res_y, ui.res_y_spin);
+ tie_setting(s.cam_fps, ui.fps_spin);
+ tie_setting(s.cam_roll, ui.camroll_combo);
+ tie_setting(s.cam_pitch, ui.campitch_spin);
+ tie_setting(s.cam_yaw, ui.camyaw_spin);
+
+ tie_setting(s.threshold_secondary, ui.threshold_secondary_slider);
+ tie_setting(s.threshold, ui.threshold_slider);
+
+ tie_setting(s.min_point_size, ui.mindiam_spin);
+ tie_setting(s.max_point_size, ui.maxdiam_spin);
+
+ tie_setting(s.clip_by, ui.clip_bheight_spin);
+ tie_setting(s.clip_bz, ui.clip_blength_spin);
+ tie_setting(s.clip_ty, ui.clip_theight_spin);
+ tie_setting(s.clip_tz, ui.clip_tlength_spin);
+
+ tie_setting(s.cap_x, ui.cap_width_spin);
+ tie_setting(s.cap_y, ui.cap_height_spin);
+ tie_setting(s.cap_z, ui.cap_length_spin);
+
+ tie_setting(s.m01_x, ui.m1x_spin);
+ tie_setting(s.m01_y, ui.m1y_spin);
+ tie_setting(s.m01_z, ui.m1z_spin);
+
+ tie_setting(s.m02_x, ui.m2x_spin);
+ tie_setting(s.m02_y, ui.m2y_spin);
+ tie_setting(s.m02_z, ui.m2z_spin);
+
+ tie_setting(s.t_MH_x, ui.tx_spin);
+ tie_setting(s.t_MH_y, ui.ty_spin);
+ tie_setting(s.t_MH_z, ui.tz_spin);
+
+ connect( ui.tcalib_button,SIGNAL(toggled(bool)), this,SLOT(startstop_trans_calib(bool)) );
+ connect(ui.reset_button, SIGNAL(clicked()), this, SLOT(doReset()));
+
+ connect(ui.ok_button, SIGNAL(clicked()), this, SLOT(doOK()));
+ connect(ui.cancel_button, SIGNAL(clicked()), this, SLOT(doCancel()));
+ connect(ui.btnApply, SIGNAL(clicked()), this, SLOT(doApply()));
+
+ ui.model_tabs->setCurrentIndex(s.active_model_panel);
+
+ connect(ui.model_tabs, SIGNAL(currentChanged(int)), this, SLOT(set_model(int)));
+ connect(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info()));
+ timer.start(100);
+
+ connect(s.b.get(), SIGNAL(bundleChanged()), this, SLOT(do_apply_without_saving()));
+}
+
+void TrackerDialog::set_model_clip()
+{
+ s.m01_x = 0;
+ s.m01_y = static_cast<double>(s.clip_ty);
+ s.m01_z = -static_cast<double>(s.clip_tz);
+ s.m02_x = 0;
+ s.m02_y = -static_cast<double>(s.clip_by);
+ s.m02_z = -static_cast<double>(s.clip_bz);
+
+ settings_changed();
+}
+
+void TrackerDialog::set_model_cap()
+{
+ s.m01_x = -static_cast<double>(s.cap_x);
+ s.m01_y = -static_cast<double>(s.cap_y);
+ s.m01_z = -static_cast<double>(s.cap_z);
+ s.m02_x = static_cast<double>(s.cap_x);
+ s.m02_y = -static_cast<double>(s.cap_y);
+ s.m02_z = -static_cast<double>(s.cap_z);
+
+ settings_changed();
+}
+
+void TrackerDialog::set_model_custom()
+{
+ settings_changed();
+}
+
+void TrackerDialog::set_model(int val)
+{
+ s.active_model_panel = val;
+}
+
+void TrackerDialog::startstop_trans_calib(bool start)
+{
+ if (start)
+ {
+ qDebug()<<"TrackerDialog:: Starting translation calibration";
+ trans_calib.reset();
+ trans_calib_running = true;
+ }
+ else
+ {
+ qDebug()<<"TrackerDialog:: Stoppping translation calibration";
+ trans_calib_running = false;
+ {
+ auto tmp = trans_calib.get_estimate();
+ s.t_MH_x = tmp[0];
+ s.t_MH_y = tmp[1];
+ s.t_MH_z = tmp[2];
+ }
+ settings_changed();
+ }
+}
+
+void TrackerDialog::trans_calib_step()
+{
+ if (tracker)
+ {
+ FrameTrafo X_CM;
+ tracker->get_pose(&X_CM);
+ trans_calib.update(X_CM.R, X_CM.t);
+ cv::Vec3f t_MH = trans_calib.get_estimate();
+ s.t_MH_x = t_MH[0];
+ s.t_MH_y = t_MH[1];
+ s.t_MH_z = t_MH[2];
+ }
+}
+
+void TrackerDialog::settings_changed()
+{
+ if (tracker) tracker->apply(s);
+}
+
+void TrackerDialog::doCenter()
+{
+ if (tracker) tracker->center();
+}
+
+void TrackerDialog::doReset()
+{
+ if (tracker) tracker->reset();
+}
+
+void TrackerDialog::save()
+{
+ do_apply_without_saving();
+ s.b->save();
+}
+
+void TrackerDialog::doOK()
+{
+ save();
+ close();
+}
+
+void TrackerDialog::do_apply_without_saving()
+{
+ switch (s.active_model_panel) {
+ default:
+ case 0:
+ set_model_clip();
+ break;
+ case 1:
+ set_model_cap();
+ break;
+ case 2:
+ set_model_custom();
+ break;
+ }
+ if (tracker) tracker->apply(s);
+}
+
+void TrackerDialog::doApply()
+{
+ save();
+}
+
+void TrackerDialog::doCancel()
+{
+ s.b->revert();
+ close();
+}
+
+void TrackerDialog::widget_destroyed(QObject* obj)
+{
+ if (obj == video_widget_dialog) {
+ // widget was / will be already deleted by Qt
+ destroy_video_widget(false);
+ }
+}
+
+void TrackerDialog::create_video_widget()
+{
+ // this should not happen but better be sure
+ if (video_widget_dialog) destroy_video_widget();
+ if (!tracker) return;
+
+ video_widget_dialog = new VideoWidgetDialog(this, tracker);
+ video_widget_dialog->setAttribute( Qt::WA_DeleteOnClose );
+ connect( video_widget_dialog, SIGNAL(destroyed(QObject*)), this, SLOT(widget_destroyed(QObject*)) );
+ video_widget_dialog->show();
+}
+
+void TrackerDialog::destroy_video_widget(bool do_delete /*= true*/)
+{
+ if (video_widget_dialog) {
+ if (do_delete) delete video_widget_dialog;
+ video_widget_dialog = NULL;
+ }
+}
+
+void TrackerDialog::poll_tracker_info()
+{
+ if (tracker)
+ {
+ QString to_print;
+
+ // display caminfo
+ CamInfo info;
+ tracker->get_cam_info(&info);
+ to_print = QString::number(info.res_x)+"x"+QString::number(info.res_y)+" @ "+QString::number(info.fps)+" FPS";
+ ui.caminfo_label->setText(to_print);
+
+ // display pointinfo
+ int n_points = tracker->get_n_points();
+ to_print = QString::number(n_points);
+ if (n_points == 3)
+ to_print += " OK!";
+ else
+ to_print += " BAD!";
+ ui.pointinfo_label->setText(to_print);
+
+ // update calibration
+ if (trans_calib_running) trans_calib_step();
+
+ // update videowidget
+ if (video_widget_dialog) {
+ video_widget_dialog->get_video_widget()->update_frame_and_points();
+ }
+ }
+ else
+ {
+ QString to_print = "Tracker offline";
+ ui.caminfo_label->setText(to_print);
+ ui.pointinfo_label->setText(to_print);
+ }
+}
+
+void TrackerDialog::registerTracker(ITracker *t)
+{
+ qDebug()<<"TrackerDialog:: Tracker registered";
+ tracker = static_cast<Tracker*>(t);
+ if (isVisible() & s.b->modifiedp())
+ tracker->apply(s);
+ ui.tcalib_button->setEnabled(true);
+ //ui.center_button->setEnabled(true);
+ ui.reset_button->setEnabled(true);
+}
+
+void TrackerDialog::unRegisterTracker()
+{
+ qDebug()<<"TrackerDialog:: Tracker un-registered";
+ tracker = NULL;
+ destroy_video_widget();
+ ui.tcalib_button->setEnabled(false);
+ //ui.center_button->setEnabled(false);
+ ui.reset_button->setEnabled(false);
+}
+
+extern "C" OPENTRACK_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( )
+{
+ return new TrackerDialog;
+}
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h
index 5cb09130..a4d9c4b5 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h
@@ -1,70 +1,70 @@
-/* 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.
- */
-
-#ifndef FTNOIR_TRACKER_PT_DIALOG_H
-#define FTNOIR_TRACKER_PT_DIALOG_H
-
-#ifdef OPENTRACK_API
-# include "facetracknoir/plugin-api.hpp"
-#else
-#include "..\ftnoir_tracker_base\ftnoir_tracker_base.h"
-#endif
-#include "ftnoir_tracker_pt_settings.h"
-#include "ftnoir_tracker_pt.h"
-#include "trans_calib.h"
-#include "pt_video_widget.h"
-#include "ui_FTNoIR_PT_Controls.h"
-
-#include <QTimer>
-
-//-----------------------------------------------------------------------------
-// The dialog that shows up when the user presses "Settings"
-class TrackerDialog : public QWidget, Ui::UICPTClientControls, public ITrackerDialog
-{
- Q_OBJECT
-public:
- TrackerDialog();
- void registerTracker(ITracker *tracker);
- void unRegisterTracker();
- void save();
- void trans_calib_step();
-
-public slots:
- void doCenter();
- void doReset();
- void doOK();
- void doApply();
- void doCancel();
- void do_apply_without_saving();
-
- void startstop_trans_calib(bool start);
- void widget_destroyed(QObject* obj);
- void create_video_widget();
- void poll_tracker_info();
- void set_model(int idx);
-
-protected:
- void destroy_video_widget(bool do_delete = true);
-
- void set_model_clip();
- void set_model_cap();
- void set_model_custom();
-
- void settings_changed();
-
- settings s;
- Tracker* tracker;
- VideoWidgetDialog* video_widget_dialog;
- QTimer timer;
-
- TranslationCalibrator trans_calib;
- bool trans_calib_running;
-
- Ui::UICPTClientControls ui;
-};
-
-#endif //FTNOIR_TRACKER_PT_DIALOG_H
+/* 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.
+ */
+
+#ifndef FTNOIR_TRACKER_PT_DIALOG_H
+#define FTNOIR_TRACKER_PT_DIALOG_H
+
+#ifdef OPENTRACK_API
+# include "facetracknoir/plugin-api.hpp"
+#else
+#include "..\ftnoir_tracker_base\ftnoir_tracker_base.h"
+#endif
+#include "ftnoir_tracker_pt_settings.h"
+#include "ftnoir_tracker_pt.h"
+#include "trans_calib.h"
+#include "pt_video_widget.h"
+#include "ui_FTNoIR_PT_Controls.h"
+
+#include <QTimer>
+
+//-----------------------------------------------------------------------------
+// The dialog that shows up when the user presses "Settings"
+class TrackerDialog : public QWidget, Ui::UICPTClientControls, public ITrackerDialog
+{
+ Q_OBJECT
+public:
+ TrackerDialog();
+ void registerTracker(ITracker *tracker);
+ void unRegisterTracker();
+ void save();
+ void trans_calib_step();
+
+public slots:
+ void doCenter();
+ void doReset();
+ void doOK();
+ void doApply();
+ void doCancel();
+ void do_apply_without_saving();
+
+ void startstop_trans_calib(bool start);
+ void widget_destroyed(QObject* obj);
+ void create_video_widget();
+ void poll_tracker_info();
+ void set_model(int idx);
+
+protected:
+ void destroy_video_widget(bool do_delete = true);
+
+ void set_model_clip();
+ void set_model_cap();
+ void set_model_custom();
+
+ void settings_changed();
+
+ settings s;
+ Tracker* tracker;
+ VideoWidgetDialog* video_widget_dialog;
+ QTimer timer;
+
+ TranslationCalibrator trans_calib;
+ bool trans_calib_running;
+
+ Ui::UICPTClientControls ui;
+};
+
+#endif //FTNOIR_TRACKER_PT_DIALOG_H
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp
index dd7b08d6..07e1d9e7 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp
@@ -1,42 +1,42 @@
-/* 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 "ftnoir_tracker_pt_dll.h"
-#include <QIcon>
-
-//-----------------------------------------------------------------------------
-void TrackerDll::getFullName(QString *strToBeFilled)
-{
- *strToBeFilled = "PointTracker 1.1";
-}
-
-void TrackerDll::getShortName(QString *strToBeFilled)
-{
- *strToBeFilled = "PointTracker";
-}
-
-void TrackerDll::getDescription(QString *strToBeFilled)
-{
- *strToBeFilled = "Tracks a 3-point model with know geometry like Freetrack / TrackIR";
-}
-
-void TrackerDll::getIcon(QIcon *icon)
-{
- *icon = QIcon(":/Resources/Logo_IR.png");
-}
-
-
-#ifdef OPENTRACK_API
-# include "facetracknoir/plugin-support.h"
-extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata()
-#else
-# pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0")
-OPENTRACK_EXPORT ITrackerDllPtr __stdcall GetTrackerDll()
-#endif
-{
- return new TrackerDll;
-}
+/* 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 "ftnoir_tracker_pt_dll.h"
+#include <QIcon>
+
+//-----------------------------------------------------------------------------
+void TrackerDll::getFullName(QString *strToBeFilled)
+{
+ *strToBeFilled = "PointTracker 1.1";
+}
+
+void TrackerDll::getShortName(QString *strToBeFilled)
+{
+ *strToBeFilled = "PointTracker";
+}
+
+void TrackerDll::getDescription(QString *strToBeFilled)
+{
+ *strToBeFilled = "Tracks a 3-point model with know geometry like Freetrack / TrackIR";
+}
+
+void TrackerDll::getIcon(QIcon *icon)
+{
+ *icon = QIcon(":/Resources/Logo_IR.png");
+}
+
+
+#ifdef OPENTRACK_API
+# include "facetracknoir/plugin-support.h"
+extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata()
+#else
+# pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0")
+OPENTRACK_EXPORT ITrackerDllPtr __stdcall GetTrackerDll()
+#endif
+{
+ return new TrackerDll;
+}
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h
index fce7aec2..50f66a35 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h
@@ -1,26 +1,26 @@
-/* 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.
- */
-
-#if defined(OPENTRACK_API)
-# include "facetracknoir/plugin-api.hpp"
-#else
-# include "../ftnoir_tracker_base/ftnoir_tracker_base.h"
-#endif
-
-//-----------------------------------------------------------------------------
-class TrackerDll :
-#if defined(OPENTRACK_API)
- public Metadata
-#else
- public ITrackerDll
-#endif
-{
- void getFullName(QString *strToBeFilled);
- void getShortName(QString *strToBeFilled);
- void getDescription(QString *strToBeFilled);
- void getIcon(QIcon *icon);
-};
+/* 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.
+ */
+
+#if defined(OPENTRACK_API)
+# include "facetracknoir/plugin-api.hpp"
+#else
+# include "../ftnoir_tracker_base/ftnoir_tracker_base.h"
+#endif
+
+//-----------------------------------------------------------------------------
+class TrackerDll :
+#if defined(OPENTRACK_API)
+ public Metadata
+#else
+ public ITrackerDll
+#endif
+{
+ void getFullName(QString *strToBeFilled);
+ void getShortName(QString *strToBeFilled);
+ void getDescription(QString *strToBeFilled);
+ void getIcon(QIcon *icon);
+};
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
index 1eca1e35..e4cb9ad3 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
@@ -1,81 +1,81 @@
-/* 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.
- */
-
-#ifndef FTNOIR_TRACKER_PT_SETTINGS_H
-#define FTNOIR_TRACKER_PT_SETTINGS_H
-
-#include <opencv2/opencv.hpp>
-#include "point_tracker.h"
-
-#include "facetracknoir/options.h"
-using namespace options;
-
-struct settings
-{
- pbundle b;
- value<int> cam_index,
- cam_res_x,
- cam_res_y,
- cam_fps,
- cam_roll,
- cam_pitch,
- cam_yaw,
- threshold,
- threshold_secondary,
- min_point_size,
- max_point_size;
- value<double> cam_f;
-
- value<int> m01_x, m01_y, m01_z;
- value<int> m02_x, m02_y, m02_z;
- value<bool> dyn_pose_res, video_widget;
-
- value<int> t_MH_x, t_MH_y, t_MH_z;
-
- value<int> reset_time;
-
- value<int> clip_ty, clip_tz, clip_by, clip_bz;
- value<int> active_model_panel, cap_x, cap_y, cap_z;
-
- settings() :
- b(bundle("tracker-pt")),
- cam_index(b, "camera-index", 0),
- cam_res_x(b, "camera-res-width", 640),
- cam_res_y(b, "camera-res-height", 480),
- cam_fps(b, "camera-fps", 30),
- cam_roll(b, "camera-roll", 1),
- cam_pitch(b, "camera-pitch", 0),
- cam_yaw(b, "camera-yaw", 0),
- threshold(b, "threshold-primary", 128),
- threshold_secondary(b, "threshold-secondary", 128),
- min_point_size(b, "min-point-size", 10),
- max_point_size(b, "max-point-size", 50),
- cam_f(b, "camera-focal-length", 1),
- m01_x(b, "m_01-x", 0),
- m01_y(b, "m_01-y", 0),
- m01_z(b, "m_01-z", 0),
- m02_x(b, "m_02-x", 0),
- m02_y(b, "m_02-y", 0),
- m02_z(b, "m_02-z", 0),
- dyn_pose_res(b, "dynamic-pose-resolution", false),
- video_widget(b, "video-widget", true),
- t_MH_x(b, "model-centroid-x", 0),
- t_MH_y(b, "model-centroid-y", 0),
- t_MH_z(b, "model-centroid-z", 0),
- reset_time(b, "reset-time", 2000),
- clip_ty(b, "clip-ty", 0),
- clip_tz(b, "clip-tz", 0),
- clip_by(b, "clip-by", 0),
- clip_bz(b, "clip-bz", 0),
- active_model_panel(b, "active-model-panel", 0),
- cap_x(b, "cap-x", 0),
- cap_y(b, "cap-y", 0),
- cap_z(b, "cap-z", 0)
- {}
-};
-
-#endif //FTNOIR_TRACKER_PT_SETTINGS_H
+/* 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.
+ */
+
+#ifndef FTNOIR_TRACKER_PT_SETTINGS_H
+#define FTNOIR_TRACKER_PT_SETTINGS_H
+
+#include <opencv2/opencv.hpp>
+#include "point_tracker.h"
+
+#include "facetracknoir/options.h"
+using namespace options;
+
+struct settings
+{
+ pbundle b;
+ value<int> cam_index,
+ cam_res_x,
+ cam_res_y,
+ cam_fps,
+ cam_roll,
+ cam_pitch,
+ cam_yaw,
+ threshold,
+ threshold_secondary,
+ min_point_size,
+ max_point_size;
+ value<double> cam_f;
+
+ value<int> m01_x, m01_y, m01_z;
+ value<int> m02_x, m02_y, m02_z;
+ value<bool> dyn_pose_res, video_widget;
+
+ value<int> t_MH_x, t_MH_y, t_MH_z;
+
+ value<int> reset_time;
+
+ value<int> clip_ty, clip_tz, clip_by, clip_bz;
+ value<int> active_model_panel, cap_x, cap_y, cap_z;
+
+ settings() :
+ b(bundle("tracker-pt")),
+ cam_index(b, "camera-index", 0),
+ cam_res_x(b, "camera-res-width", 640),
+ cam_res_y(b, "camera-res-height", 480),
+ cam_fps(b, "camera-fps", 30),
+ cam_roll(b, "camera-roll", 1),
+ cam_pitch(b, "camera-pitch", 0),
+ cam_yaw(b, "camera-yaw", 0),
+ threshold(b, "threshold-primary", 128),
+ threshold_secondary(b, "threshold-secondary", 128),
+ min_point_size(b, "min-point-size", 10),
+ max_point_size(b, "max-point-size", 50),
+ cam_f(b, "camera-focal-length", 1),
+ m01_x(b, "m_01-x", 0),
+ m01_y(b, "m_01-y", 0),
+ m01_z(b, "m_01-z", 0),
+ m02_x(b, "m_02-x", 0),
+ m02_y(b, "m_02-y", 0),
+ m02_z(b, "m_02-z", 0),
+ dyn_pose_res(b, "dynamic-pose-resolution", false),
+ video_widget(b, "video-widget", true),
+ t_MH_x(b, "model-centroid-x", 0),
+ t_MH_y(b, "model-centroid-y", 0),
+ t_MH_z(b, "model-centroid-z", 0),
+ reset_time(b, "reset-time", 2000),
+ clip_ty(b, "clip-ty", 0),
+ clip_tz(b, "clip-tz", 0),
+ clip_by(b, "clip-by", 0),
+ clip_bz(b, "clip-bz", 0),
+ active_model_panel(b, "active-model-panel", 0),
+ cap_x(b, "cap-x", 0),
+ cap_y(b, "cap-y", 0),
+ cap_z(b, "cap-z", 0)
+ {}
+};
+
+#endif //FTNOIR_TRACKER_PT_SETTINGS_H
diff --git a/ftnoir_tracker_pt/point_extractor.cpp b/ftnoir_tracker_pt/point_extractor.cpp
index 968fe23e..b0e29270 100644
--- a/ftnoir_tracker_pt/point_extractor.cpp
+++ b/ftnoir_tracker_pt/point_extractor.cpp
@@ -1,163 +1,163 @@
-/* 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 "point_extractor.h"
-#include <QDebug>
-
-
-using namespace cv;
-using namespace std;
-
-
-PointExtractor::PointExtractor(){
- //if (!AllocConsole()){}
- //else SetConsoleTitle("debug");
- //freopen("CON", "w", stdout);
- //freopen("CON", "w", stderr);
-}
-// ----------------------------------------------------------------------------
-const vector<Vec2f>& PointExtractor::extract_points(Mat frame, float /*dt*/, bool draw_output)
-{
- const int W = frame.cols;
- const int H = frame.rows;
-
- if (frame_last.cols != W || frame_last.rows != H)
- {
- frame_last = cv::Mat();
- }
-
- // clear old points
- points.clear();
-
- // convert to grayscale
- Mat frame_gray;
- cvtColor(frame, frame_gray, CV_RGB2GRAY);
-
- int secondary = threshold_secondary_val;
-
- // mask for everything that passes the threshold (or: the upper threshold of the hysteresis)
- Mat frame_bin;
- // only used if draw_output
- Mat frame_bin_copy;
- // mask for everything that passes
- Mat frame_bin_low;
- // mask for lower-threshold && combined result of last, needs to remain in scope until drawing, but is only used if secondary != 0
- Mat frame_last_and_low;
-
- if(secondary==0){
- threshold(frame_gray, frame_bin, threshold_val, 255, THRESH_BINARY);
- }else{
- // we recombine a number of buffers, this might be slower than a single loop of per-pixel logic
- // but it might as well be faster if openCV makes good use of SIMD
- float t = threshold_val;
- //float hyst = float(threshold_secondary_val)/512.;
- //threshold(frame_gray, frame_bin, (t + ((255.-t)*hyst)), 255, THRESH_BINARY);
- float hyst = float(threshold_secondary_val)/256.;
- threshold(frame_gray, frame_bin, t, 255, THRESH_BINARY);
- threshold(frame_gray, frame_bin_low,std::max(float(1), t - (t*hyst)), 255, THRESH_BINARY);
-
- if(draw_output) frame_bin.copyTo(frame_bin_copy);
- if(frame_last.empty()){
- frame_bin.copyTo(frame_last);
- }else{
- // keep pixels from last if they are above lower threshold
- bitwise_and(frame_last, frame_bin_low, frame_last_and_low);
- // union of pixels >= higher threshold and pixels >= lower threshold
- bitwise_or(frame_bin, frame_last_and_low, frame_last);
- frame_last.copyTo(frame_bin);
- }
- }
- unsigned int region_size_min = 3.14*min_size*min_size/4.0;
- unsigned int region_size_max = 3.14*max_size*max_size/4.0;
-
- int blob_index = 1;
- for (int y=0; y<H; y++)
- {
- if (blob_index >= 255) break;
- for (int x=0; x<W; x++)
- {
- if (blob_index >= 255) break;
-
- // find connected components with floodfill
- if (frame_bin.at<unsigned char>(y,x) != 255) continue;
- Rect rect;
-
- floodFill(frame_bin, Point(x,y), Scalar(blob_index), &rect, Scalar(0), Scalar(0), FLOODFILL_FIXED_RANGE);
- blob_index++;
-
- // calculate the size of the connected component
- unsigned int region_size = 0;
- for (int i=rect.y; i < (rect.y+rect.height); i++)
- {
- for (int j=rect.x; j < (rect.x+rect.width); j++)
- {
- if (frame_bin.at<unsigned char>(i,j) != blob_index-1) continue;
- region_size++;
- }
- }
-
- if (region_size < region_size_min || region_size > region_size_max) continue;
-
- // calculate the center of mass:
- // mx = (sum_ij j*f(frame_grey_ij)) / (sum_ij f(frame_grey_ij))
- // my = ...
- // f maps from [threshold,256] -> [0, 1], lower values are mapped to 0
- float m = 0;
- float mx = 0;
- float my = 0;
- for (int i=rect.y; i < (rect.y+rect.height); i++)
- {
- for (int j=rect.x; j < (rect.x+rect.width); j++)
- {
- if (frame_bin.at<unsigned char>(i,j) != blob_index-1) continue;
- float val;
-
- if(secondary==0){
- val = frame_gray.at<unsigned char>(i,j);
- val = float(val - threshold_val)/(256 - threshold_val);
- val = val*val; // makes it more stable (less emphasis on low values, more on the peak)
- }else{
- //hysteresis point detection gets stability from ignoring pixel noise so we decidedly leave the actual pixel values out of the picture
- val = frame_last.at<unsigned char>(i,j) / 256.;
- }
-
- m += val;
- mx += j * val;
- my += i * val;
- }
- }
-
- // convert to centered camera coordinate system with y axis upwards
- Vec2f c;
- c[0] = (mx/m - W/2)/W;
- c[1] = -(my/m - H/2)/W;
- //qDebug()<<blob_index<<" => "<<c[0]<<" "<<c[1];
- points.push_back(c);
- }
- }
-
- // draw output image
- if (draw_output) {
- vector<Mat> channels;
- if(secondary==0){
- frame_bin.setTo(170, frame_bin);
- channels.push_back(frame_gray + frame_bin);
- channels.push_back(frame_gray - frame_bin);
- channels.push_back(frame_gray - frame_bin);
- }else{
- frame_bin_copy.setTo(120, frame_bin_copy);
- frame_bin_low.setTo(90, frame_bin_low);
- channels.push_back(frame_gray + frame_bin_copy);
- channels.push_back(frame_gray + frame_last_and_low);
- channels.push_back(frame_gray + frame_bin_low);
- //channels.push_back(frame_gray + frame_bin);
- }
- merge(channels, frame);
- }
-
- return points;
-}
+/* 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 "point_extractor.h"
+#include <QDebug>
+
+
+using namespace cv;
+using namespace std;
+
+
+PointExtractor::PointExtractor(){
+ //if (!AllocConsole()){}
+ //else SetConsoleTitle("debug");
+ //freopen("CON", "w", stdout);
+ //freopen("CON", "w", stderr);
+}
+// ----------------------------------------------------------------------------
+const vector<Vec2f>& PointExtractor::extract_points(Mat frame, float /*dt*/, bool draw_output)
+{
+ const int W = frame.cols;
+ const int H = frame.rows;
+
+ if (frame_last.cols != W || frame_last.rows != H)
+ {
+ frame_last = cv::Mat();
+ }
+
+ // clear old points
+ points.clear();
+
+ // convert to grayscale
+ Mat frame_gray;
+ cvtColor(frame, frame_gray, CV_RGB2GRAY);
+
+ int secondary = threshold_secondary_val;
+
+ // mask for everything that passes the threshold (or: the upper threshold of the hysteresis)
+ Mat frame_bin;
+ // only used if draw_output
+ Mat frame_bin_copy;
+ // mask for everything that passes
+ Mat frame_bin_low;
+ // mask for lower-threshold && combined result of last, needs to remain in scope until drawing, but is only used if secondary != 0
+ Mat frame_last_and_low;
+
+ if(secondary==0){
+ threshold(frame_gray, frame_bin, threshold_val, 255, THRESH_BINARY);
+ }else{
+ // we recombine a number of buffers, this might be slower than a single loop of per-pixel logic
+ // but it might as well be faster if openCV makes good use of SIMD
+ float t = threshold_val;
+ //float hyst = float(threshold_secondary_val)/512.;
+ //threshold(frame_gray, frame_bin, (t + ((255.-t)*hyst)), 255, THRESH_BINARY);
+ float hyst = float(threshold_secondary_val)/256.;
+ threshold(frame_gray, frame_bin, t, 255, THRESH_BINARY);
+ threshold(frame_gray, frame_bin_low,std::max(float(1), t - (t*hyst)), 255, THRESH_BINARY);
+
+ if(draw_output) frame_bin.copyTo(frame_bin_copy);
+ if(frame_last.empty()){
+ frame_bin.copyTo(frame_last);
+ }else{
+ // keep pixels from last if they are above lower threshold
+ bitwise_and(frame_last, frame_bin_low, frame_last_and_low);
+ // union of pixels >= higher threshold and pixels >= lower threshold
+ bitwise_or(frame_bin, frame_last_and_low, frame_last);
+ frame_last.copyTo(frame_bin);
+ }
+ }
+ unsigned int region_size_min = 3.14*min_size*min_size/4.0;
+ unsigned int region_size_max = 3.14*max_size*max_size/4.0;
+
+ int blob_index = 1;
+ for (int y=0; y<H; y++)
+ {
+ if (blob_index >= 255) break;
+ for (int x=0; x<W; x++)
+ {
+ if (blob_index >= 255) break;
+
+ // find connected components with floodfill
+ if (frame_bin.at<unsigned char>(y,x) != 255) continue;
+ Rect rect;
+
+ floodFill(frame_bin, Point(x,y), Scalar(blob_index), &rect, Scalar(0), Scalar(0), FLOODFILL_FIXED_RANGE);
+ blob_index++;
+
+ // calculate the size of the connected component
+ unsigned int region_size = 0;
+ for (int i=rect.y; i < (rect.y+rect.height); i++)
+ {
+ for (int j=rect.x; j < (rect.x+rect.width); j++)
+ {
+ if (frame_bin.at<unsigned char>(i,j) != blob_index-1) continue;
+ region_size++;
+ }
+ }
+
+ if (region_size < region_size_min || region_size > region_size_max) continue;
+
+ // calculate the center of mass:
+ // mx = (sum_ij j*f(frame_grey_ij)) / (sum_ij f(frame_grey_ij))
+ // my = ...
+ // f maps from [threshold,256] -> [0, 1], lower values are mapped to 0
+ float m = 0;
+ float mx = 0;
+ float my = 0;
+ for (int i=rect.y; i < (rect.y+rect.height); i++)
+ {
+ for (int j=rect.x; j < (rect.x+rect.width); j++)
+ {
+ if (frame_bin.at<unsigned char>(i,j) != blob_index-1) continue;
+ float val;
+
+ if(secondary==0){
+ val = frame_gray.at<unsigned char>(i,j);
+ val = float(val - threshold_val)/(256 - threshold_val);
+ val = val*val; // makes it more stable (less emphasis on low values, more on the peak)
+ }else{
+ //hysteresis point detection gets stability from ignoring pixel noise so we decidedly leave the actual pixel values out of the picture
+ val = frame_last.at<unsigned char>(i,j) / 256.;
+ }
+
+ m += val;
+ mx += j * val;
+ my += i * val;
+ }
+ }
+
+ // convert to centered camera coordinate system with y axis upwards
+ Vec2f c;
+ c[0] = (mx/m - W/2)/W;
+ c[1] = -(my/m - H/2)/W;
+ //qDebug()<<blob_index<<" => "<<c[0]<<" "<<c[1];
+ points.push_back(c);
+ }
+ }
+
+ // draw output image
+ if (draw_output) {
+ vector<Mat> channels;
+ if(secondary==0){
+ frame_bin.setTo(170, frame_bin);
+ channels.push_back(frame_gray + frame_bin);
+ channels.push_back(frame_gray - frame_bin);
+ channels.push_back(frame_gray - frame_bin);
+ }else{
+ frame_bin_copy.setTo(120, frame_bin_copy);
+ frame_bin_low.setTo(90, frame_bin_low);
+ channels.push_back(frame_gray + frame_bin_copy);
+ channels.push_back(frame_gray + frame_last_and_low);
+ channels.push_back(frame_gray + frame_bin_low);
+ //channels.push_back(frame_gray + frame_bin);
+ }
+ merge(channels, frame);
+ }
+
+ return points;
+}
diff --git a/ftnoir_tracker_pt/point_extractor.h b/ftnoir_tracker_pt/point_extractor.h
index ff36f3ce..8a76747b 100644
--- a/ftnoir_tracker_pt/point_extractor.h
+++ b/ftnoir_tracker_pt/point_extractor.h
@@ -1,35 +1,35 @@
-/* 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.
- */
-
-#ifndef POINTEXTRACTOR_H
-#define POINTEXTRACTOR_H
-
-#include <opencv2/opencv.hpp>
-#include <opencv2/imgproc/imgproc_c.h>
-
-// ----------------------------------------------------------------------------
-// Extracts points from an opencv image
-class PointExtractor
-{
-public:
- // extracts points from frame and draws some processing info into frame, if draw_output is set
- // dt: time since last call in seconds
- // WARNING: returned reference is valid as long as object
- const std::vector<cv::Vec2f>& extract_points(cv::Mat frame, float dt, bool draw_output);
- const std::vector<cv::Vec2f>& get_points() { return points; }
- PointExtractor();
-
- int threshold_val;
- int threshold_secondary_val;
- int min_size, max_size;
-
-protected:
- std::vector<cv::Vec2f> points;
- cv::Mat frame_last;
-};
-
-#endif //POINTEXTRACTOR_H
+/* 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.
+ */
+
+#ifndef POINTEXTRACTOR_H
+#define POINTEXTRACTOR_H
+
+#include <opencv2/opencv.hpp>
+#include <opencv2/imgproc/imgproc_c.h>
+
+// ----------------------------------------------------------------------------
+// Extracts points from an opencv image
+class PointExtractor
+{
+public:
+ // extracts points from frame and draws some processing info into frame, if draw_output is set
+ // dt: time since last call in seconds
+ // WARNING: returned reference is valid as long as object
+ const std::vector<cv::Vec2f>& extract_points(cv::Mat frame, float dt, bool draw_output);
+ const std::vector<cv::Vec2f>& get_points() { return points; }
+ PointExtractor();
+
+ int threshold_val;
+ int threshold_secondary_val;
+ int min_size, max_size;
+
+protected:
+ std::vector<cv::Vec2f> points;
+ cv::Mat frame_last;
+};
+
+#endif //POINTEXTRACTOR_H
diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp
index f83ff437..e9892d67 100644
--- a/ftnoir_tracker_pt/point_tracker.cpp
+++ b/ftnoir_tracker_pt/point_tracker.cpp
@@ -1,375 +1,375 @@
-/* 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 "point_tracker.h"
-
-#include <vector>
-#include <algorithm>
-#include <cmath>
-
-#include <QDebug>
-
-using namespace cv;
-using namespace std;
-
-const float PI = 3.14159265358979323846f;
-
-// ----------------------------------------------------------------------------
-static void get_row(const Matx33f& m, int i, Vec3f& v)
-{
- v[0] = m(i,0);
- v[1] = m(i,1);
- v[2] = m(i,2);
-}
-
-static void set_row(Matx33f& m, int i, const Vec3f& v)
-{
- m(i,0) = v[0];
- m(i,1) = v[1];
- m(i,2) = v[2];
-}
-
-// ----------------------------------------------------------------------------
-PointModel::PointModel(Vec3f M01, Vec3f M02)
- : M01(M01),
- M02(M02)
-{
- // calculate u
- u = M01.cross(M02);
- u /= norm(u);
-
- // calculate projection matrix on M01,M02 plane
- float s11 = M01.dot(M01);
- float s12 = M01.dot(M02);
- float s22 = M02.dot(M02);
- P = 1.0/(s11*s22-s12*s12) * Matx22f(s22, -s12,
- -s12, s11);
-
- // calculate d and d_order for simple freetrack-like point correspondence
- vector<Vec2f> points;
- points.push_back(Vec2f(0,0));
- points.push_back(Vec2f(M01[0], M01[1]));
- points.push_back(Vec2f(M02[0], M02[1]));
- // fit line to orthographically projected points
- // ERROR: yields wrong results with colinear points?!
- /*
- Vec4f line;
- fitLine(points, line, CV_DIST_L2, 0, 0.01, 0.01);
- d[0] = line[0]; d[1] = line[1];
- */
- // TODO: fix this
- d = Vec2f(M01[0]-M02[0], M01[1]-M02[1]);
-
- // sort model points
- get_d_order(points, d_order);
-}
-
-#ifdef OPENTRACK_API
-static bool d_vals_sort(const pair<float,int> a, const pair<float,int> b)
-{
- return a.first < b.first;
-}
-#endif
-
-void PointModel::get_d_order(const std::vector<cv::Vec2f>& points, int d_order[]) const
-{
- // get sort indices with respect to d scalar product
- vector< pair<float,int> > d_vals;
- for (unsigned i = 0; i<points.size(); ++i)
- d_vals.push_back(pair<float, int>(d.dot(points[i]), i));
-
- std::sort(d_vals.begin(),
- d_vals.end(),
-#ifdef OPENTRACK_API
- d_vals_sort
-#else
- comp
-#endif
- );
-
- for (unsigned i = 0; i<points.size(); ++i)
- d_order[i] = d_vals[i].second;
-}
-
-
-// ----------------------------------------------------------------------------
-PointTracker::PointTracker() :
- dynamic_pose_resolution(true),
- dt_reset(1),
- init_phase(true),
- dt_valid(0),
- v_t(0,0,0),
- v_r(0,0,0)
-{
- X_CM.t[2] = 1000; // default position: 1 m away from cam;
-}
-
-void PointTracker::reset()
-{
- // enter init phase and reset velocities
- init_phase = true;
- dt_valid = 0;
- reset_velocities();
-}
-
-void PointTracker::reset_velocities()
-{
- v_t = Vec3f(0,0,0);
- v_r = Vec3f(0,0,0);
-}
-
-
-bool PointTracker::track(const vector<Vec2f>& points, float f, float dt)
-{
- if (!dynamic_pose_resolution) init_phase = true;
-
- dt_valid += dt;
- // if there was no valid tracking result for too long, do a reset
- if (dt_valid > dt_reset)
- {
- //qDebug()<<"dt_valid "<<dt_valid<<" > dt_reset "<<dt_reset;
- reset();
- }
-
- bool no_model =
-#ifdef OPENTRACK_API
- point_model.get() == NULL;
-#else
- !point_model;
-#endif
-
- // if there is a pointtracking problem, reset the velocities
- if (no_model || points.size() != PointModel::N_POINTS)
- {
- //qDebug()<<"Wrong number of points!";
- reset_velocities();
- return false;
- }
-
- X_CM_old = X_CM; // backup old transformation for velocity calculation
-
- if (!init_phase)
- predict(dt_valid);
-
- // if there is a point correspondence problem something has gone wrong, do a reset
- if (!find_correspondences(points, f))
- {
- //qDebug()<<"Error in finding point correspondences!";
- X_CM = X_CM_old; // undo prediction
- reset();
- return false;
- }
-
- (void) POSIT(f);
- //qDebug()<<"Number of POSIT iterations: "<<n_iter;
-
- if (!init_phase)
- update_velocities(dt_valid);
-
- // we have a valid tracking result, leave init phase and reset time since valid result
- init_phase = false;
- dt_valid = 0;
- return true;
-}
-
-void PointTracker::predict(float dt)
-{
- // predict with constant velocity
- Matx33f R;
- Rodrigues(dt*v_r, R);
- X_CM.R = R*X_CM.R;
- X_CM.t += dt * v_t;
-}
-
-void PointTracker::update_velocities(float dt)
-{
- // update velocities
- Rodrigues(X_CM.R*X_CM_old.R.t(), v_r);
- v_r /= dt;
- v_t = (X_CM.t - X_CM_old.t)/dt;
-}
-
-bool PointTracker::find_correspondences(const vector<Vec2f>& points, float f)
-{
- if (init_phase) {
- // We do a simple freetrack-like sorting in the init phase...
- // sort points
- int point_d_order[PointModel::N_POINTS];
- point_model->get_d_order(points, point_d_order);
-
- // set correspondences
- for (int i=0; i<PointModel::N_POINTS; ++i)
- {
- p[point_model->d_order[i]] = points[point_d_order[i]];
- }
- }
- else {
- // ... otherwise we look at the distance to the projection of the expected model points
- // project model points under current pose
- p_exp[0] = project(Vec3f(0,0,0), f);
- p_exp[1] = project(point_model->M01, f);
- p_exp[2] = project(point_model->M02, f);
-
- // set correspondences by minimum distance to projected model point
- bool point_taken[PointModel::N_POINTS];
- for (int i=0; i<PointModel::N_POINTS; ++i)
- point_taken[i] = false;
-
- float min_sdist = 0;
- int min_idx = 0;
-
- for (int i=0; i<PointModel::N_POINTS; ++i)
- {
- // find closest point to projected model point i
- for (int j=0; j<PointModel::N_POINTS; ++j)
- {
- Vec2f d = p_exp[i]-points[j];
- float sdist = d.dot(d);
- if (sdist < min_sdist || j==0)
- {
- min_idx = j;
- min_sdist = sdist;
- }
- }
- // if one point is closest to more than one model point, abort
- if (point_taken[min_idx]) return false;
- point_taken[min_idx] = true;
- p[i] = points[min_idx];
- }
- }
- return true;
-}
-
-
-
-int PointTracker::POSIT(float f)
-{
- // POSIT algorithm for coplanar points as presented in
- // [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"]
- // we use the same notation as in the paper here
-
- // The expected rotation used for resolving the ambiguity in POSIT:
- // In every iteration step the rotation closer to R_expected is taken
- Matx33f R_expected;
- if (init_phase)
- R_expected = Matx33f::eye(); // in the init phase, we want to be close to the default pose = no rotation
- else
- R_expected = X_CM.R; // later we want to be close to the last (predicted) rotation
-
- // initial pose = last (predicted) pose
- Vec3f k;
- get_row(R_expected, 2, k);
- float Z0 = init_phase ? 1000 : X_CM.t[2];
-
- float old_epsilon_1 = 0;
- float old_epsilon_2 = 0;
- float epsilon_1 = 1;
- float epsilon_2 = 1;
-
- Vec3f I0, J0;
- Vec2f I0_coeff, J0_coeff;
-
- Vec3f I_1, J_1, I_2, J_2;
- Matx33f R_1, R_2;
- Matx33f* R_current;
-
- const int MAX_ITER = 100;
- const float EPS_THRESHOLD = 1e-4;
-
- int i=1;
- for (; i<MAX_ITER; ++i)
- {
- epsilon_1 = k.dot(point_model->M01)/Z0;
- epsilon_2 = k.dot(point_model->M02)/Z0;
-
- // vector of scalar products <I0, M0i> and <J0, M0i>
- Vec2f I0_M0i(p[1][0]*(1.0 + epsilon_1) - p[0][0],
- p[2][0]*(1.0 + epsilon_2) - p[0][0]);
- Vec2f J0_M0i(p[1][1]*(1.0 + epsilon_1) - p[0][1],
- p[2][1]*(1.0 + epsilon_2) - p[0][1]);
-
- // construct projection of I, J onto M0i plane: I0 and J0
- I0_coeff = point_model->P * I0_M0i;
- J0_coeff = point_model->P * J0_M0i;
- I0 = I0_coeff[0]*point_model->M01 + I0_coeff[1]*point_model->M02;
- J0 = J0_coeff[0]*point_model->M01 + J0_coeff[1]*point_model->M02;
-
- // calculate u component of I, J
- float II0 = I0.dot(I0);
- float IJ0 = I0.dot(J0);
- float JJ0 = J0.dot(J0);
- float rho, theta;
- if (JJ0 == II0) {
- rho = sqrt(abs(2*IJ0));
- theta = -PI/4;
- if (IJ0<0) theta *= -1;
- }
- else {
- rho = sqrt(sqrt( (JJ0-II0)*(JJ0-II0) + 4*IJ0*IJ0 ));
- theta = atan( -2*IJ0 / (JJ0-II0) );
- if (JJ0 - II0 < 0) theta += PI;
- theta /= 2;
- }
-
- // construct the two solutions
- I_1 = I0 + rho*cos(theta)*point_model->u;
- I_2 = I0 - rho*cos(theta)*point_model->u;
-
- J_1 = J0 + rho*sin(theta)*point_model->u;
- J_2 = J0 - rho*sin(theta)*point_model->u;
-
- float norm_const = 1.0/norm(I_1); // all have the same norm
-
- // create rotation matrices
- I_1 *= norm_const; J_1 *= norm_const;
- I_2 *= norm_const; J_2 *= norm_const;
-
- set_row(R_1, 0, I_1);
- set_row(R_1, 1, J_1);
- set_row(R_1, 2, I_1.cross(J_1));
-
- set_row(R_2, 0, I_2);
- set_row(R_2, 1, J_2);
- set_row(R_2, 2, I_2.cross(J_2));
-
- // the single translation solution
- Z0 = norm_const * f;
-
- // pick the rotation solution closer to the expected one
- // in simple metric d(A,B) = || I - A * B^T ||
- float R_1_deviation = norm(Matx33f::eye() - R_expected * R_1.t());
- float R_2_deviation = norm(Matx33f::eye() - R_expected * R_2.t());
-
- if (R_1_deviation < R_2_deviation)
- R_current = &R_1;
- else
- R_current = &R_2;
-
- get_row(*R_current, 2, k);
-
- // check for convergence condition
- if (abs(epsilon_1 - old_epsilon_1) + abs(epsilon_2 - old_epsilon_2) < EPS_THRESHOLD)
- break;
- old_epsilon_1 = epsilon_1;
- old_epsilon_2 = epsilon_2;
- }
-
- // apply results
- X_CM.R = *R_current;
- X_CM.t[0] = p[0][0] * Z0/f;
- X_CM.t[1] = p[0][1] * Z0/f;
- X_CM.t[2] = Z0;
-
- return i;
-
- //Rodrigues(X_CM.R, r);
- //qDebug()<<"iter: "<<i;
- //qDebug()<<"t: "<<X_CM.t[0]<<' '<<X_CM.t[1]<<' '<<X_CM.t[2];
- //Vec3f r;
- //
- //qDebug()<<"r: "<<r[0]<<' '<<r[1]<<' '<<r[2]<<'\n';
-}
+/* 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 "point_tracker.h"
+
+#include <vector>
+#include <algorithm>
+#include <cmath>
+
+#include <QDebug>
+
+using namespace cv;
+using namespace std;
+
+const float PI = 3.14159265358979323846f;
+
+// ----------------------------------------------------------------------------
+static void get_row(const Matx33f& m, int i, Vec3f& v)
+{
+ v[0] = m(i,0);
+ v[1] = m(i,1);
+ v[2] = m(i,2);
+}
+
+static void set_row(Matx33f& m, int i, const Vec3f& v)
+{
+ m(i,0) = v[0];
+ m(i,1) = v[1];
+ m(i,2) = v[2];
+}
+
+// ----------------------------------------------------------------------------
+PointModel::PointModel(Vec3f M01, Vec3f M02)
+ : M01(M01),
+ M02(M02)
+{
+ // calculate u
+ u = M01.cross(M02);
+ u /= norm(u);
+
+ // calculate projection matrix on M01,M02 plane
+ float s11 = M01.dot(M01);
+ float s12 = M01.dot(M02);
+ float s22 = M02.dot(M02);
+ P = 1.0/(s11*s22-s12*s12) * Matx22f(s22, -s12,
+ -s12, s11);
+
+ // calculate d and d_order for simple freetrack-like point correspondence
+ vector<Vec2f> points;
+ points.push_back(Vec2f(0,0));
+ points.push_back(Vec2f(M01[0], M01[1]));
+ points.push_back(Vec2f(M02[0], M02[1]));
+ // fit line to orthographically projected points
+ // ERROR: yields wrong results with colinear points?!
+ /*
+ Vec4f line;
+ fitLine(points, line, CV_DIST_L2, 0, 0.01, 0.01);
+ d[0] = line[0]; d[1] = line[1];
+ */
+ // TODO: fix this
+ d = Vec2f(M01[0]-M02[0], M01[1]-M02[1]);
+
+ // sort model points
+ get_d_order(points, d_order);
+}
+
+#ifdef OPENTRACK_API
+static bool d_vals_sort(const pair<float,int> a, const pair<float,int> b)
+{
+ return a.first < b.first;
+}
+#endif
+
+void PointModel::get_d_order(const std::vector<cv::Vec2f>& points, int d_order[]) const
+{
+ // get sort indices with respect to d scalar product
+ vector< pair<float,int> > d_vals;
+ for (unsigned i = 0; i<points.size(); ++i)
+ d_vals.push_back(pair<float, int>(d.dot(points[i]), i));
+
+ std::sort(d_vals.begin(),
+ d_vals.end(),
+#ifdef OPENTRACK_API
+ d_vals_sort
+#else
+ comp
+#endif
+ );
+
+ for (unsigned i = 0; i<points.size(); ++i)
+ d_order[i] = d_vals[i].second;
+}
+
+
+// ----------------------------------------------------------------------------
+PointTracker::PointTracker() :
+ dynamic_pose_resolution(true),
+ dt_reset(1),
+ init_phase(true),
+ dt_valid(0),
+ v_t(0,0,0),
+ v_r(0,0,0)
+{
+ X_CM.t[2] = 1000; // default position: 1 m away from cam;
+}
+
+void PointTracker::reset()
+{
+ // enter init phase and reset velocities
+ init_phase = true;
+ dt_valid = 0;
+ reset_velocities();
+}
+
+void PointTracker::reset_velocities()
+{
+ v_t = Vec3f(0,0,0);
+ v_r = Vec3f(0,0,0);
+}
+
+
+bool PointTracker::track(const vector<Vec2f>& points, float f, float dt)
+{
+ if (!dynamic_pose_resolution) init_phase = true;
+
+ dt_valid += dt;
+ // if there was no valid tracking result for too long, do a reset
+ if (dt_valid > dt_reset)
+ {
+ //qDebug()<<"dt_valid "<<dt_valid<<" > dt_reset "<<dt_reset;
+ reset();
+ }
+
+ bool no_model =
+#ifdef OPENTRACK_API
+ point_model.get() == NULL;
+#else
+ !point_model;
+#endif
+
+ // if there is a pointtracking problem, reset the velocities
+ if (no_model || points.size() != PointModel::N_POINTS)
+ {
+ //qDebug()<<"Wrong number of points!";
+ reset_velocities();
+ return false;
+ }
+
+ X_CM_old = X_CM; // backup old transformation for velocity calculation
+
+ if (!init_phase)
+ predict(dt_valid);
+
+ // if there is a point correspondence problem something has gone wrong, do a reset
+ if (!find_correspondences(points, f))
+ {
+ //qDebug()<<"Error in finding point correspondences!";
+ X_CM = X_CM_old; // undo prediction
+ reset();
+ return false;
+ }
+
+ (void) POSIT(f);
+ //qDebug()<<"Number of POSIT iterations: "<<n_iter;
+
+ if (!init_phase)
+ update_velocities(dt_valid);
+
+ // we have a valid tracking result, leave init phase and reset time since valid result
+ init_phase = false;
+ dt_valid = 0;
+ return true;
+}
+
+void PointTracker::predict(float dt)
+{
+ // predict with constant velocity
+ Matx33f R;
+ Rodrigues(dt*v_r, R);
+ X_CM.R = R*X_CM.R;
+ X_CM.t += dt * v_t;
+}
+
+void PointTracker::update_velocities(float dt)
+{
+ // update velocities
+ Rodrigues(X_CM.R*X_CM_old.R.t(), v_r);
+ v_r /= dt;
+ v_t = (X_CM.t - X_CM_old.t)/dt;
+}
+
+bool PointTracker::find_correspondences(const vector<Vec2f>& points, float f)
+{
+ if (init_phase) {
+ // We do a simple freetrack-like sorting in the init phase...
+ // sort points
+ int point_d_order[PointModel::N_POINTS];
+ point_model->get_d_order(points, point_d_order);
+
+ // set correspondences
+ for (int i=0; i<PointModel::N_POINTS; ++i)
+ {
+ p[point_model->d_order[i]] = points[point_d_order[i]];
+ }
+ }
+ else {
+ // ... otherwise we look at the distance to the projection of the expected model points
+ // project model points under current pose
+ p_exp[0] = project(Vec3f(0,0,0), f);
+ p_exp[1] = project(point_model->M01, f);
+ p_exp[2] = project(point_model->M02, f);
+
+ // set correspondences by minimum distance to projected model point
+ bool point_taken[PointModel::N_POINTS];
+ for (int i=0; i<PointModel::N_POINTS; ++i)
+ point_taken[i] = false;
+
+ float min_sdist = 0;
+ int min_idx = 0;
+
+ for (int i=0; i<PointModel::N_POINTS; ++i)
+ {
+ // find closest point to projected model point i
+ for (int j=0; j<PointModel::N_POINTS; ++j)
+ {
+ Vec2f d = p_exp[i]-points[j];
+ float sdist = d.dot(d);
+ if (sdist < min_sdist || j==0)
+ {
+ min_idx = j;
+ min_sdist = sdist;
+ }
+ }
+ // if one point is closest to more than one model point, abort
+ if (point_taken[min_idx]) return false;
+ point_taken[min_idx] = true;
+ p[i] = points[min_idx];
+ }
+ }
+ return true;
+}
+
+
+
+int PointTracker::POSIT(float f)
+{
+ // POSIT algorithm for coplanar points as presented in
+ // [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"]
+ // we use the same notation as in the paper here
+
+ // The expected rotation used for resolving the ambiguity in POSIT:
+ // In every iteration step the rotation closer to R_expected is taken
+ Matx33f R_expected;
+ if (init_phase)
+ R_expected = Matx33f::eye(); // in the init phase, we want to be close to the default pose = no rotation
+ else
+ R_expected = X_CM.R; // later we want to be close to the last (predicted) rotation
+
+ // initial pose = last (predicted) pose
+ Vec3f k;
+ get_row(R_expected, 2, k);
+ float Z0 = init_phase ? 1000 : X_CM.t[2];
+
+ float old_epsilon_1 = 0;
+ float old_epsilon_2 = 0;
+ float epsilon_1 = 1;
+ float epsilon_2 = 1;
+
+ Vec3f I0, J0;
+ Vec2f I0_coeff, J0_coeff;
+
+ Vec3f I_1, J_1, I_2, J_2;
+ Matx33f R_1, R_2;
+ Matx33f* R_current;
+
+ const int MAX_ITER = 100;
+ const float EPS_THRESHOLD = 1e-4;
+
+ int i=1;
+ for (; i<MAX_ITER; ++i)
+ {
+ epsilon_1 = k.dot(point_model->M01)/Z0;
+ epsilon_2 = k.dot(point_model->M02)/Z0;
+
+ // vector of scalar products <I0, M0i> and <J0, M0i>
+ Vec2f I0_M0i(p[1][0]*(1.0 + epsilon_1) - p[0][0],
+ p[2][0]*(1.0 + epsilon_2) - p[0][0]);
+ Vec2f J0_M0i(p[1][1]*(1.0 + epsilon_1) - p[0][1],
+ p[2][1]*(1.0 + epsilon_2) - p[0][1]);
+
+ // construct projection of I, J onto M0i plane: I0 and J0
+ I0_coeff = point_model->P * I0_M0i;
+ J0_coeff = point_model->P * J0_M0i;
+ I0 = I0_coeff[0]*point_model->M01 + I0_coeff[1]*point_model->M02;
+ J0 = J0_coeff[0]*point_model->M01 + J0_coeff[1]*point_model->M02;
+
+ // calculate u component of I, J
+ float II0 = I0.dot(I0);
+ float IJ0 = I0.dot(J0);
+ float JJ0 = J0.dot(J0);
+ float rho, theta;
+ if (JJ0 == II0) {
+ rho = sqrt(abs(2*IJ0));
+ theta = -PI/4;
+ if (IJ0<0) theta *= -1;
+ }
+ else {
+ rho = sqrt(sqrt( (JJ0-II0)*(JJ0-II0) + 4*IJ0*IJ0 ));
+ theta = atan( -2*IJ0 / (JJ0-II0) );
+ if (JJ0 - II0 < 0) theta += PI;
+ theta /= 2;
+ }
+
+ // construct the two solutions
+ I_1 = I0 + rho*cos(theta)*point_model->u;
+ I_2 = I0 - rho*cos(theta)*point_model->u;
+
+ J_1 = J0 + rho*sin(theta)*point_model->u;
+ J_2 = J0 - rho*sin(theta)*point_model->u;
+
+ float norm_const = 1.0/norm(I_1); // all have the same norm
+
+ // create rotation matrices
+ I_1 *= norm_const; J_1 *= norm_const;
+ I_2 *= norm_const; J_2 *= norm_const;
+
+ set_row(R_1, 0, I_1);
+ set_row(R_1, 1, J_1);
+ set_row(R_1, 2, I_1.cross(J_1));
+
+ set_row(R_2, 0, I_2);
+ set_row(R_2, 1, J_2);
+ set_row(R_2, 2, I_2.cross(J_2));
+
+ // the single translation solution
+ Z0 = norm_const * f;
+
+ // pick the rotation solution closer to the expected one
+ // in simple metric d(A,B) = || I - A * B^T ||
+ float R_1_deviation = norm(Matx33f::eye() - R_expected * R_1.t());
+ float R_2_deviation = norm(Matx33f::eye() - R_expected * R_2.t());
+
+ if (R_1_deviation < R_2_deviation)
+ R_current = &R_1;
+ else
+ R_current = &R_2;
+
+ get_row(*R_current, 2, k);
+
+ // check for convergence condition
+ if (abs(epsilon_1 - old_epsilon_1) + abs(epsilon_2 - old_epsilon_2) < EPS_THRESHOLD)
+ break;
+ old_epsilon_1 = epsilon_1;
+ old_epsilon_2 = epsilon_2;
+ }
+
+ // apply results
+ X_CM.R = *R_current;
+ X_CM.t[0] = p[0][0] * Z0/f;
+ X_CM.t[1] = p[0][1] * Z0/f;
+ X_CM.t[2] = Z0;
+
+ return i;
+
+ //Rodrigues(X_CM.R, r);
+ //qDebug()<<"iter: "<<i;
+ //qDebug()<<"t: "<<X_CM.t[0]<<' '<<X_CM.t[1]<<' '<<X_CM.t[2];
+ //Vec3f r;
+ //
+ //qDebug()<<"r: "<<r[0]<<' '<<r[1]<<' '<<r[2]<<'\n';
+}
diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h
index 3ff9c724..512681fc 100644
--- a/ftnoir_tracker_pt/point_tracker.h
+++ b/ftnoir_tracker_pt/point_tracker.h
@@ -1,129 +1,129 @@
-/* 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.
- */
-
-#ifndef POINTTRACKER_H
-#define POINTTRACKER_H
-
-#include <opencv2/opencv.hpp>
-#ifndef OPENTRACK_API
-# include <boost/shared_ptr.hpp>
-#else
+/* 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.
+ */
+
+#ifndef POINTTRACKER_H
+#define POINTTRACKER_H
+
+#include <opencv2/opencv.hpp>
+#ifndef OPENTRACK_API
+# include <boost/shared_ptr.hpp>
+#else
# include <memory>
-#endif
-#include <list>
-
-// ----------------------------------------------------------------------------
-// Affine frame trafo
-class FrameTrafo
-{
-public:
- FrameTrafo() : R(cv::Matx33f::eye()), t(0,0,0) {}
- FrameTrafo(const cv::Matx33f& R, const cv::Vec3f& t) : R(R),t(t) {}
-
- cv::Matx33f R;
- cv::Vec3f t;
-};
-
-inline FrameTrafo operator*(const FrameTrafo& X, const FrameTrafo& Y)
-{
- return FrameTrafo(X.R*Y.R, X.R*Y.t + X.t);
-}
-
-inline FrameTrafo operator*(const cv::Matx33f& X, const FrameTrafo& Y)
-{
- return FrameTrafo(X*Y.R, X*Y.t);
-}
-
-inline FrameTrafo operator*(const FrameTrafo& X, const cv::Matx33f& Y)
-{
- return FrameTrafo(X.R*Y, X.t);
-}
-
-inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3f& v)
-{
- return X.R*v + X.t;
-}
-
-
-// ----------------------------------------------------------------------------
-// Describes a 3-point model
-// nomenclature as in
-// [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"]
-class PointModel
-{
- friend class PointTracker;
-public:
- static const int N_POINTS = 3;
-
- PointModel(cv::Vec3f M01, cv::Vec3f M02);
-
- const cv::Vec3f& get_M01() const { return M01; };
- const cv::Vec3f& get_M02() const { return M02; };
-
-protected:
- cv::Vec3f M01; // M01 in model frame
- cv::Vec3f M02; // M02 in model frame
-
- cv::Vec3f u; // unit vector perpendicular to M01,M02-plane
-
- cv::Matx22f P;
-
- cv::Vec2f d; // discriminant vector for point correspondence
- int d_order[3]; // sorting of projected model points with respect to d scalar product
-
- void get_d_order(const std::vector<cv::Vec2f>& points, int d_order[]) const;
-};
-
-// ----------------------------------------------------------------------------
-// Tracks a 3-point model
-// implementing the POSIT algorithm for coplanar points as presented in
-// [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"]
-class PointTracker
-{
-public:
- PointTracker();
-
- // track the pose using the set of normalized point coordinates (x pos in range -0.5:0.5)
- // f : (focal length)/(sensor width)
- // dt : time since last call
- bool track(const std::vector<cv::Vec2f>& points, float f, float dt);
- std::shared_ptr<PointModel> point_model;
-
- bool dynamic_pose_resolution;
- float dt_reset;
-
- FrameTrafo get_pose() const { return X_CM; }
- void reset();
-
-protected:
- inline cv::Vec2f project(const cv::Vec3f& v_M, float f)
- {
- cv::Vec3f v_C = X_CM * v_M;
- return cv::Vec2f(f*v_C[0]/v_C[2], f*v_C[1]/v_C[2]);
- }
-
- bool find_correspondences(const std::vector<cv::Vec2f>& points, float f);
-
- cv::Vec2f p[PointModel::N_POINTS]; // the points in model order
- cv::Vec2f p_exp[PointModel::N_POINTS]; // the expected point positions
-
- void predict(float dt);
- void update_velocities(float dt);
- void reset_velocities();
-
-
- int POSIT(float f); // The POSIT algorithm, returns the number of iterations
-
- bool init_phase;
- float dt_valid; // time since last valid tracking result
- cv::Vec3f v_t; // velocities
- cv::Vec3f v_r;
- FrameTrafo X_CM; // trafo from model to camera
- FrameTrafo X_CM_old;
-};
-
-#endif //POINTTRACKER_H
+#endif
+#include <list>
+
+// ----------------------------------------------------------------------------
+// Affine frame trafo
+class FrameTrafo
+{
+public:
+ FrameTrafo() : R(cv::Matx33f::eye()), t(0,0,0) {}
+ FrameTrafo(const cv::Matx33f& R, const cv::Vec3f& t) : R(R),t(t) {}
+
+ cv::Matx33f R;
+ cv::Vec3f t;
+};
+
+inline FrameTrafo operator*(const FrameTrafo& X, const FrameTrafo& Y)
+{
+ return FrameTrafo(X.R*Y.R, X.R*Y.t + X.t);
+}
+
+inline FrameTrafo operator*(const cv::Matx33f& X, const FrameTrafo& Y)
+{
+ return FrameTrafo(X*Y.R, X*Y.t);
+}
+
+inline FrameTrafo operator*(const FrameTrafo& X, const cv::Matx33f& Y)
+{
+ return FrameTrafo(X.R*Y, X.t);
+}
+
+inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3f& v)
+{
+ return X.R*v + X.t;
+}
+
+
+// ----------------------------------------------------------------------------
+// Describes a 3-point model
+// nomenclature as in
+// [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"]
+class PointModel
+{
+ friend class PointTracker;
+public:
+ static const int N_POINTS = 3;
+
+ PointModel(cv::Vec3f M01, cv::Vec3f M02);
+
+ const cv::Vec3f& get_M01() const { return M01; };
+ const cv::Vec3f& get_M02() const { return M02; };
+
+protected:
+ cv::Vec3f M01; // M01 in model frame
+ cv::Vec3f M02; // M02 in model frame
+
+ cv::Vec3f u; // unit vector perpendicular to M01,M02-plane
+
+ cv::Matx22f P;
+
+ cv::Vec2f d; // discriminant vector for point correspondence
+ int d_order[3]; // sorting of projected model points with respect to d scalar product
+
+ void get_d_order(const std::vector<cv::Vec2f>& points, int d_order[]) const;
+};
+
+// ----------------------------------------------------------------------------
+// Tracks a 3-point model
+// implementing the POSIT algorithm for coplanar points as presented in
+// [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"]
+class PointTracker
+{
+public:
+ PointTracker();
+
+ // track the pose using the set of normalized point coordinates (x pos in range -0.5:0.5)
+ // f : (focal length)/(sensor width)
+ // dt : time since last call
+ bool track(const std::vector<cv::Vec2f>& points, float f, float dt);
+ std::shared_ptr<PointModel> point_model;
+
+ bool dynamic_pose_resolution;
+ float dt_reset;
+
+ FrameTrafo get_pose() const { return X_CM; }
+ void reset();
+
+protected:
+ inline cv::Vec2f project(const cv::Vec3f& v_M, float f)
+ {
+ cv::Vec3f v_C = X_CM * v_M;
+ return cv::Vec2f(f*v_C[0]/v_C[2], f*v_C[1]/v_C[2]);
+ }
+
+ bool find_correspondences(const std::vector<cv::Vec2f>& points, float f);
+
+ cv::Vec2f p[PointModel::N_POINTS]; // the points in model order
+ cv::Vec2f p_exp[PointModel::N_POINTS]; // the expected point positions
+
+ void predict(float dt);
+ void update_velocities(float dt);
+ void reset_velocities();
+
+
+ int POSIT(float f); // The POSIT algorithm, returns the number of iterations
+
+ bool init_phase;
+ float dt_valid; // time since last valid tracking result
+ cv::Vec3f v_t; // velocities
+ cv::Vec3f v_r;
+ FrameTrafo X_CM; // trafo from model to camera
+ FrameTrafo X_CM_old;
+};
+
+#endif //POINTTRACKER_H
diff --git a/ftnoir_tracker_pt/pt_video_widget.cpp b/ftnoir_tracker_pt/pt_video_widget.cpp
index 02817cbf..cb3dc48e 100644
--- a/ftnoir_tracker_pt/pt_video_widget.cpp
+++ b/ftnoir_tracker_pt/pt_video_widget.cpp
@@ -1,64 +1,64 @@
-/* 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.
- *
- * 20130312, WVR: Add 7 lines to resizeGL after resize_frame. This should lower CPU-load.
- */
-
-#include "pt_video_widget.h"
-
-#include <QDebug>
-#include <QHBoxLayout>
-
-using namespace cv;
-using namespace std;
-
-void PTVideoWidget::update_image(const cv::Mat& frame)
-{
- QMutexLocker foo(&mtx);
- _frame = frame.clone();
- freshp = true;
-}
-
-// ----------------------------------------------------------------------------
-VideoWidgetDialog::VideoWidgetDialog(QWidget *parent, FrameProvider* provider)
- : QDialog(parent),
- video_widget(NULL)
-{
- const int VIDEO_FRAME_WIDTH = 640;
- const int VIDEO_FRAME_HEIGHT = 480;
-
- video_widget = new PTVideoWidget(this, provider);
-
- QHBoxLayout* layout = new QHBoxLayout();
- layout->setContentsMargins(0, 0, 0, 0);
- layout->addWidget(video_widget);
- if (this->layout()) delete this->layout();
- setLayout(layout);
- resize(VIDEO_FRAME_WIDTH, VIDEO_FRAME_HEIGHT);
-}
-
-void PTVideoWidget::update_and_repaint()
-{
- QMutexLocker foo(&mtx);
- if (_frame.empty() || !freshp)
- return;
- freshp = false;
- QImage qframe = QImage(_frame.cols, _frame.rows, QImage::Format_RGB888);
- uchar* data = qframe.bits();
- const int pitch = qframe.bytesPerLine();
- for (int y = 0; y < _frame.rows; y++)
- for (int x = 0; x < _frame.cols; x++)
- {
- const auto& elt = _frame.at<Vec3b>(y, x);
- const cv::Scalar elt2 = static_cast<cv::Scalar>(elt);
- data[y * pitch + x * 3 + 0] = elt2.val[2];
- data[y * pitch + x * 3 + 1] = elt2.val[1];
- data[y * pitch + x * 3 + 2] = elt2.val[0];
- }
- qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation);
- texture = qframe;
- update();
-}
+/* 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.
+ *
+ * 20130312, WVR: Add 7 lines to resizeGL after resize_frame. This should lower CPU-load.
+ */
+
+#include "pt_video_widget.h"
+
+#include <QDebug>
+#include <QHBoxLayout>
+
+using namespace cv;
+using namespace std;
+
+void PTVideoWidget::update_image(const cv::Mat& frame)
+{
+ QMutexLocker foo(&mtx);
+ _frame = frame.clone();
+ freshp = true;
+}
+
+// ----------------------------------------------------------------------------
+VideoWidgetDialog::VideoWidgetDialog(QWidget *parent, FrameProvider* provider)
+ : QDialog(parent),
+ video_widget(NULL)
+{
+ const int VIDEO_FRAME_WIDTH = 640;
+ const int VIDEO_FRAME_HEIGHT = 480;
+
+ video_widget = new PTVideoWidget(this, provider);
+
+ QHBoxLayout* layout = new QHBoxLayout();
+ layout->setContentsMargins(0, 0, 0, 0);
+ layout->addWidget(video_widget);
+ if (this->layout()) delete this->layout();
+ setLayout(layout);
+ resize(VIDEO_FRAME_WIDTH, VIDEO_FRAME_HEIGHT);
+}
+
+void PTVideoWidget::update_and_repaint()
+{
+ QMutexLocker foo(&mtx);
+ if (_frame.empty() || !freshp)
+ return;
+ freshp = false;
+ QImage qframe = QImage(_frame.cols, _frame.rows, QImage::Format_RGB888);
+ uchar* data = qframe.bits();
+ const int pitch = qframe.bytesPerLine();
+ for (int y = 0; y < _frame.rows; y++)
+ for (int x = 0; x < _frame.cols; x++)
+ {
+ const auto& elt = _frame.at<Vec3b>(y, x);
+ const cv::Scalar elt2 = static_cast<cv::Scalar>(elt);
+ data[y * pitch + x * 3 + 0] = elt2.val[2];
+ data[y * pitch + x * 3 + 1] = elt2.val[1];
+ data[y * pitch + x * 3 + 2] = elt2.val[0];
+ }
+ qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation);
+ texture = qframe;
+ update();
+}
diff --git a/ftnoir_tracker_pt/pt_video_widget.h b/ftnoir_tracker_pt/pt_video_widget.h
index f7de4db8..1be5f5f2 100644
--- a/ftnoir_tracker_pt/pt_video_widget.h
+++ b/ftnoir_tracker_pt/pt_video_widget.h
@@ -1,71 +1,71 @@
-/* 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 "frame_observer.h"
-#include <QObject>
-#include <QTime>
-#include <QDialog>
-#include <opencv2/opencv.hpp>
-#ifndef OPENTRACK_API
-# include <QGLWidget>
-# include <boost/shared_ptr.hpp>
-#else
+/* 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 "frame_observer.h"
+#include <QObject>
+#include <QTime>
+#include <QDialog>
+#include <opencv2/opencv.hpp>
+#ifndef OPENTRACK_API
+# include <QGLWidget>
+# include <boost/shared_ptr.hpp>
+#else
# include <memory>
-# if defined(_WIN32)
-# include <dshow.h>
-# endif
-#endif
-#include <QPainter>
-#include <QPaintEvent>
-#include <QTimer>
-
-class PTVideoWidget : public QWidget, public FrameObserver
-{
- Q_OBJECT
-
-public:
- PTVideoWidget(QWidget *parent, FrameProvider* provider) :
- QWidget(parent),
- /* to avoid linker errors */ FrameObserver(provider),
- freshp(false)
- {
- connect(&timer, SIGNAL(timeout()), this, SLOT(update_and_repaint()));
- timer.start(40);
- }
- void update_image(const cv::Mat &frame);
- void update_frame_and_points() {}
-protected slots:
- void paintEvent( QPaintEvent* e ) {
- QMutexLocker foo(&mtx);
- QPainter painter(this);
- painter.drawImage(e->rect(), texture);
- }
- void update_and_repaint();
-private:
- QMutex mtx;
- QImage texture;
- QTimer timer;
- cv::Mat _frame;
- bool freshp;
-};
-
-// ----------------------------------------------------------------------------
-// A VideoWidget embedded in a dialog frame
-class VideoWidgetDialog : public QDialog
-{
- Q_OBJECT
-public:
- VideoWidgetDialog(QWidget *parent, FrameProvider* provider);
- virtual ~VideoWidgetDialog() {}
-
- PTVideoWidget* get_video_widget() { return video_widget; }
-
-private:
- PTVideoWidget* video_widget;
-};
+# if defined(_WIN32)
+# include <dshow.h>
+# endif
+#endif
+#include <QPainter>
+#include <QPaintEvent>
+#include <QTimer>
+
+class PTVideoWidget : public QWidget, public FrameObserver
+{
+ Q_OBJECT
+
+public:
+ PTVideoWidget(QWidget *parent, FrameProvider* provider) :
+ QWidget(parent),
+ /* to avoid linker errors */ FrameObserver(provider),
+ freshp(false)
+ {
+ connect(&timer, SIGNAL(timeout()), this, SLOT(update_and_repaint()));
+ timer.start(40);
+ }
+ void update_image(const cv::Mat &frame);
+ void update_frame_and_points() {}
+protected slots:
+ void paintEvent( QPaintEvent* e ) {
+ QMutexLocker foo(&mtx);
+ QPainter painter(this);
+ painter.drawImage(e->rect(), texture);
+ }
+ void update_and_repaint();
+private:
+ QMutex mtx;
+ QImage texture;
+ QTimer timer;
+ cv::Mat _frame;
+ bool freshp;
+};
+
+// ----------------------------------------------------------------------------
+// A VideoWidget embedded in a dialog frame
+class VideoWidgetDialog : public QDialog
+{
+ Q_OBJECT
+public:
+ VideoWidgetDialog(QWidget *parent, FrameProvider* provider);
+ virtual ~VideoWidgetDialog() {}
+
+ PTVideoWidget* get_video_widget() { return video_widget; }
+
+private:
+ PTVideoWidget* video_widget;
+};
diff --git a/ftnoir_tracker_pt/trans_calib.cpp b/ftnoir_tracker_pt/trans_calib.cpp
index 9b75a1b6..729a0b7f 100644
--- a/ftnoir_tracker_pt/trans_calib.cpp
+++ b/ftnoir_tracker_pt/trans_calib.cpp
@@ -1,44 +1,44 @@
-/* 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 "trans_calib.h"
-
-using namespace cv;
-
-//-----------------------------------------------------------------------------
-TranslationCalibrator::TranslationCalibrator()
-{
- reset();
-}
-
-void TranslationCalibrator::reset()
-{
- P = Matx66f::zeros();
- y = Vec6f(0,0,0, 0,0,0);
-}
-
-void TranslationCalibrator::update(const Matx33f& R_CM_k, const Vec3f& t_CM_k)
-{
- Matx<float, 6,3> H_k_T = Matx<float, 6,3>::zeros();
- for (int i=0; i<3; ++i) {
- for (int j=0; j<3; ++j) {
- H_k_T(i,j) = R_CM_k(j,i);
- }
- }
- for (int i=0; i<3; ++i)
- {
- H_k_T(3+i,i) = 1.0;
- }
- P += H_k_T * H_k_T.t();
- y += H_k_T * t_CM_k;
-}
-
-Vec3f TranslationCalibrator::get_estimate()
-{
- Vec6f x = P.inv() * y;
- return Vec3f(-x[0], -x[1], -x[2]);
+/* 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 "trans_calib.h"
+
+using namespace cv;
+
+//-----------------------------------------------------------------------------
+TranslationCalibrator::TranslationCalibrator()
+{
+ reset();
+}
+
+void TranslationCalibrator::reset()
+{
+ P = Matx66f::zeros();
+ y = Vec6f(0,0,0, 0,0,0);
+}
+
+void TranslationCalibrator::update(const Matx33f& R_CM_k, const Vec3f& t_CM_k)
+{
+ Matx<float, 6,3> H_k_T = Matx<float, 6,3>::zeros();
+ for (int i=0; i<3; ++i) {
+ for (int j=0; j<3; ++j) {
+ H_k_T(i,j) = R_CM_k(j,i);
+ }
+ }
+ for (int i=0; i<3; ++i)
+ {
+ H_k_T(3+i,i) = 1.0;
+ }
+ P += H_k_T * H_k_T.t();
+ y += H_k_T * t_CM_k;
+}
+
+Vec3f TranslationCalibrator::get_estimate()
+{
+ Vec6f x = P.inv() * y;
+ return Vec3f(-x[0], -x[1], -x[2]);
} \ No newline at end of file
diff --git a/ftnoir_tracker_pt/trans_calib.h b/ftnoir_tracker_pt/trans_calib.h
index f2521690..609c9af1 100644
--- a/ftnoir_tracker_pt/trans_calib.h
+++ b/ftnoir_tracker_pt/trans_calib.h
@@ -1,39 +1,39 @@
-/* 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.
- */
-
-#ifndef TRANSCALIB_H
-#define TRANSCALIB_H
-
-#include <opencv2/opencv.hpp>
-
-//-----------------------------------------------------------------------------
-// Calibrates the translation from head to model = t_MH
-// by recursive least squares /
-// kalman filter in information form with identity noise covariance
-// measurement equation when head position = t_CH is fixed:
-// (R_CM_k , Id)*(-t_MH, t_CH) = t_CM_k
-
-class TranslationCalibrator
-{
-public:
- TranslationCalibrator();
-
- // reset the calibration process
- void reset();
-
- // update the current estimate
- void update(const cv::Matx33f& R_CM_k, const cv::Vec3f& t_CM_k);
-
- // get the current estimate for t_MH
- cv::Vec3f get_estimate();
-
-protected:
- cv::Matx66f P; // normalized precision matrix = inverse covariance
- cv::Vec6f y; // P*(-t_MH, t_CH)
-};
-
+/* 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.
+ */
+
+#ifndef TRANSCALIB_H
+#define TRANSCALIB_H
+
+#include <opencv2/opencv.hpp>
+
+//-----------------------------------------------------------------------------
+// Calibrates the translation from head to model = t_MH
+// by recursive least squares /
+// kalman filter in information form with identity noise covariance
+// measurement equation when head position = t_CH is fixed:
+// (R_CM_k , Id)*(-t_MH, t_CH) = t_CM_k
+
+class TranslationCalibrator
+{
+public:
+ TranslationCalibrator();
+
+ // reset the calibration process
+ void reset();
+
+ // update the current estimate
+ void update(const cv::Matx33f& R_CM_k, const cv::Vec3f& t_CM_k);
+
+ // get the current estimate for t_MH
+ cv::Vec3f get_estimate();
+
+protected:
+ cv::Matx66f P; // normalized precision matrix = inverse covariance
+ cv::Vec6f y; // P*(-t_MH, t_CH)
+};
+
#endif //TRANSCALIB_H \ No newline at end of file