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-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp31
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.h12
2 files changed, 34 insertions, 9 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index 1a638198..d068564d 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -16,6 +16,7 @@
#include <opencv/highgui.h>
#include <vector>
#include <cstdio>
+#include <memory>
#if defined(_WIN32)
#include <dshow.h>
@@ -100,6 +101,7 @@ static resolution_tuple resolution_choices[] = {
void Tracker::load_settings()
{
+ QMutexLocker foo(&mtx);
QSettings settings("opentrack");
QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString();
QSettings iniFile( currentFile, QSettings::IniFormat );
@@ -126,6 +128,8 @@ void Tracker::load_settings()
headpos[i] = iniFile.value(QString("headpos-%1").arg(i), 0).toDouble();
}
iniFile.endGroup();
+
+ reset = true;
}
Tracker::Tracker()
@@ -149,6 +153,7 @@ Tracker::~Tracker()
void Tracker::StartTracker(QFrame* videoframe)
{
+ reset = false;
videoframe->show();
videoWidget = new ArucoVideoWidget(videoframe);
QHBoxLayout* layout = new QHBoxLayout();
@@ -169,26 +174,32 @@ void Tracker::StartTracker(QFrame* videoframe)
void Tracker::run()
{
- cv::VideoCapture camera(camera_index);
+start:
+ reset = false;
+ std::unique_ptr<cv::VideoCapture> camera(new cv::VideoCapture(camera_index));
if (force_width)
- camera.set(CV_CAP_PROP_FRAME_WIDTH, force_width);
+ camera->set(CV_CAP_PROP_FRAME_WIDTH, force_width);
if (force_height)
- camera.set(CV_CAP_PROP_FRAME_HEIGHT, force_height);
+ camera->set(CV_CAP_PROP_FRAME_HEIGHT, force_height);
if (force_fps)
- camera.set(CV_CAP_PROP_FPS, force_fps);
+ camera->set(CV_CAP_PROP_FPS, force_fps);
aruco::MarkerDetector detector;
detector.setDesiredSpeed(3);
detector.setThresholdParams(11, 5);
cv::Mat color, color_, grayscale, grayscale2, rvec, tvec;
- if (!camera.isOpened())
+ if (!camera->isOpened())
{
fprintf(stderr, "aruco tracker: can't open camera\n");
return;
}
+ while (!stop)
+ if(camera->read(color_))
+ break;
+
auto freq = cv::getTickFrequency();
auto last_time = cv::getTickCount();
auto prev_time = last_time;
@@ -200,7 +211,12 @@ void Tracker::run()
cv::Point2f last_centroid;
while (!stop)
{
- if (!camera.read(color_))
+ if (reset)
+ {
+ camera.reset(nullptr);
+ goto start;
+ }
+ if (!camera->read(color_))
continue;
color_.copyTo(color);
cv::cvtColor(color, grayscale2, cv::COLOR_BGR2GRAY);
@@ -416,6 +432,7 @@ extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDial
TrackerControls::TrackerControls()
{
+ tracker = nullptr;
ui.setupUi(this);
setAttribute(Qt::WA_NativeWindow, true);
connect(ui.cameraName, SIGNAL(currentIndexChanged(int)), this, SLOT(settingChanged(int)));
@@ -553,6 +570,8 @@ void TrackerControls::save()
}
iniFile.endGroup();
settingsDirty = false;
+ if (tracker)
+ tracker->load_settings();
}
void TrackerControls::doOK()
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
index 5d3d4ed6..61eec096 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
@@ -28,6 +28,7 @@ public:
bool GiveHeadPoseData(double *data);
bool enableTX, enableTY, enableTZ, enableRX, enableRY, enableRZ;
void run();
+ void load_settings();
private:
QMutex mtx;
ArucoVideoWidget* videoWidget;
@@ -36,10 +37,10 @@ private:
float fov;
int camera_index;
int force_fps, force_width, force_height;
- void load_settings();
double pose[6];
cv::Mat frame;
double headpos[3];
+ volatile bool reset;
};
// Widget that has controls for FTNoIR protocol client-settings.
@@ -53,14 +54,19 @@ public:
void showEvent (QShowEvent *);
void Initialize(QWidget *);
- void registerTracker(ITracker *) {}
- void unRegisterTracker() {}
+ void registerTracker(ITracker * x) {
+ tracker = dynamic_cast<Tracker*>(x);
+ }
+ void unRegisterTracker() {
+ tracker = nullptr;
+ }
private:
Ui::Form ui;
void loadSettings();
void save();
bool settingsDirty;
+ Tracker* tracker;
private slots:
void doOK();