diff options
| -rw-r--r-- | ftnoir_tracker_aruco/aruco-trackercontrols.ui | 326 | ||||
| -rw-r--r-- | ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 21 | ||||
| -rw-r--r-- | ftnoir_tracker_aruco/ftnoir_tracker_aruco.h | 4 |
3 files changed, 189 insertions, 162 deletions
diff --git a/ftnoir_tracker_aruco/aruco-trackercontrols.ui b/ftnoir_tracker_aruco/aruco-trackercontrols.ui index 3f5a1d2a..e699eccc 100644 --- a/ftnoir_tracker_aruco/aruco-trackercontrols.ui +++ b/ftnoir_tracker_aruco/aruco-trackercontrols.ui @@ -32,158 +32,6 @@ <property name="spacing"> <number>7</number> </property> - <item row="2" column="1" colspan="2"> - <widget class="QComboBox" name="cameraName"/> - </item> - <item row="1" column="0"> - <widget class="QLabel" name="label_2"> - <property name="text"> - <string>Frames per second</string> - </property> - </widget> - </item> - <item row="0" column="1" colspan="2"> - <widget class="QDoubleSpinBox" name="cameraFOV"> - <property name="locale"> - <locale language="English" country="UnitedStates"/> - </property> - <property name="minimum"> - <double>35.000000000000000</double> - </property> - <property name="maximum"> - <double>180.000000000000000</double> - </property> - <property name="value"> - <double>52.000000000000000</double> - </property> - </widget> - </item> - <item row="7" column="1"> - <widget class="QCheckBox" name="red_only"> - <property name="text"> - <string>Recommended!</string> - </property> - </widget> - </item> - <item row="2" column="0"> - <widget class="QLabel" name="label_3"> - <property name="text"> - <string>Camera name</string> - </property> - </widget> - </item> - <item row="1" column="1" colspan="2"> - <widget class="QComboBox" name="cameraFPS"> - <item> - <property name="text"> - <string notr="true">Default</string> - </property> - </item> - <item> - <property name="text"> - <string>30</string> - </property> - </item> - <item> - <property name="text"> - <string>60</string> - </property> - </item> - <item> - <property name="text"> - <string>120</string> - </property> - </item> - <item> - <property name="text"> - <string>180</string> - </property> - </item> - </widget> - </item> - <item row="6" column="2" rowspan="4" colspan="3"> - <widget class="QLabel" name="label_6"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Expanding" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string><html><head/><body><p>The ARUCO Library has been developed by the Ava group of the Univeristy of Cordoba, Spain</p><p>Rafael Muñoz Salinas &lt;<a href="mailto:rmsalinas@uco.es"><span style=" text-decoration: underline; color:#0057ae;">rmsalinas@uco.es</span></a>&gt;</p><p>&lt;<a href="https://github.com/rmsalinas/aruco"><span style=" text-decoration: underline; color:#0057ae;">https://github.com/rmsalinas/aruco</span></a>&gt;</p></body></html></string> - </property> - <property name="textFormat"> - <enum>Qt::RichText</enum> - </property> - <property name="alignment"> - <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set> - </property> - <property name="wordWrap"> - <bool>true</bool> - </property> - <property name="margin"> - <number>4</number> - </property> - <property name="openExternalLinks"> - <bool>true</bool> - </property> - <property name="textInteractionFlags"> - <set>Qt::LinksAccessibleByKeyboard|Qt::LinksAccessibleByMouse|Qt::TextBrowserInteraction|Qt::TextSelectableByKeyboard|Qt::TextSelectableByMouse</set> - </property> - </widget> - </item> - <item row="6" column="1"> - <widget class="QComboBox" name="resolution"> - <item> - <property name="text"> - <string>640x480</string> - </property> - </item> - <item> - <property name="text"> - <string>320x240</string> - </property> - </item> - <item> - <property name="text"> - <string>320x200</string> - </property> - </item> - <item> - <property name="text"> - <string>Default (not recommended!)</string> - </property> - </item> - </widget> - </item> - <item row="7" column="0"> - <widget class="QLabel" name="label_10"> - <property name="text"> - <string>Red channel only</string> - </property> - </widget> - </item> - <item row="10" column="4"> - <widget class="QDialogButtonBox" name="buttonBox"> - <property name="standardButtons"> - <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set> - </property> - </widget> - </item> - <item row="0" column="0"> - <widget class="QLabel" name="label"> - <property name="text"> - <string>Horizontal FOV</string> - </property> - </widget> - </item> - <item row="6" column="0"> - <widget class="QLabel" name="label_4"> - <property name="text"> - <string>Resolution</string> - </property> - </widget> - </item> <item row="0" column="3" rowspan="3" colspan="2"> <widget class="QGroupBox" name="groupBox"> <property name="title"> @@ -250,7 +98,7 @@ </layout> </widget> </item> - <item row="8" column="1" rowspan="3"> + <item row="9" column="1" rowspan="3"> <widget class="QGroupBox" name="groupBox_2"> <property name="title"> <string>Head position</string> @@ -331,6 +179,175 @@ </layout> </widget> </item> + <item row="2" column="1" colspan="2"> + <widget class="QComboBox" name="cameraName"/> + </item> + <item row="0" column="1" colspan="2"> + <widget class="QDoubleSpinBox" name="cameraFOV"> + <property name="locale"> + <locale language="English" country="UnitedStates"/> + </property> + <property name="minimum"> + <double>35.000000000000000</double> + </property> + <property name="maximum"> + <double>180.000000000000000</double> + </property> + <property name="value"> + <double>52.000000000000000</double> + </property> + </widget> + </item> + <item row="7" column="1"> + <widget class="QCheckBox" name="red_only"> + <property name="text"> + <string>Recommended!</string> + </property> + </widget> + </item> + <item row="1" column="0"> + <widget class="QLabel" name="label_2"> + <property name="text"> + <string>Frames per second</string> + </property> + </widget> + </item> + <item row="6" column="2" rowspan="5" colspan="3"> + <widget class="QLabel" name="label_6"> + <property name="sizePolicy"> + <sizepolicy hsizetype="Expanding" vsizetype="Preferred"> + <horstretch>0</horstretch> + <verstretch>0</verstretch> + </sizepolicy> + </property> + <property name="text"> + <string><html><head/><body><p>The ARUCO Library has been developed by the Ava group of the Univeristy of Cordoba, Spain</p><p>Rafael Muñoz Salinas &lt;<a href="mailto:rmsalinas@uco.es"><span style=" text-decoration: underline; color:#0057ae;">rmsalinas@uco.es</span></a>&gt;</p><p>&lt;<a href="https://github.com/rmsalinas/aruco"><span style=" text-decoration: underline; color:#0057ae;">https://github.com/rmsalinas/aruco</span></a>&gt;</p></body></html></string> + </property> + <property name="textFormat"> + <enum>Qt::RichText</enum> + </property> + <property name="alignment"> + <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set> + </property> + <property name="wordWrap"> + <bool>true</bool> + </property> + <property name="margin"> + <number>4</number> + </property> + <property name="openExternalLinks"> + <bool>true</bool> + </property> + <property name="textInteractionFlags"> + <set>Qt::LinksAccessibleByKeyboard|Qt::LinksAccessibleByMouse|Qt::TextBrowserInteraction|Qt::TextSelectableByKeyboard|Qt::TextSelectableByMouse</set> + </property> + </widget> + </item> + <item row="1" column="1" colspan="2"> + <widget class="QComboBox" name="cameraFPS"> + <item> + <property name="text"> + <string notr="true">Default</string> + </property> + </item> + <item> + <property name="text"> + <string>30</string> + </property> + </item> + <item> + <property name="text"> + <string>60</string> + </property> + </item> + <item> + <property name="text"> + <string>120</string> + </property> + </item> + <item> + <property name="text"> + <string>180</string> + </property> + </item> + </widget> + </item> + <item row="6" column="1"> + <widget class="QComboBox" name="resolution"> + <item> + <property name="text"> + <string>640x480</string> + </property> + </item> + <item> + <property name="text"> + <string>320x240</string> + </property> + </item> + <item> + <property name="text"> + <string>320x200</string> + </property> + </item> + <item> + <property name="text"> + <string>Default (not recommended!)</string> + </property> + </item> + </widget> + </item> + <item row="2" column="0"> + <widget class="QLabel" name="label_3"> + <property name="text"> + <string>Camera name</string> + </property> + </widget> + </item> + <item row="7" column="0"> + <widget class="QLabel" name="label_10"> + <property name="text"> + <string>Red channel only</string> + </property> + </widget> + </item> + <item row="0" column="0"> + <widget class="QLabel" name="label"> + <property name="text"> + <string>Horizontal FOV</string> + </property> + </widget> + </item> + <item row="11" column="4"> + <widget class="QDialogButtonBox" name="buttonBox"> + <property name="standardButtons"> + <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set> + </property> + </widget> + </item> + <item row="6" column="0"> + <widget class="QLabel" name="label_4"> + <property name="text"> + <string>Resolution</string> + </property> + </widget> + </item> + <item row="8" column="0"> + <widget class="QLabel" name="label_9"> + <property name="text"> + <string>Marker pitch</string> + </property> + </widget> + </item> + <item row="8" column="1"> + <widget class="QDoubleSpinBox" name="marker_pitch"> + <property name="minimum"> + <double>-180.000000000000000</double> + </property> + <property name="maximum"> + <double>180.000000000000000</double> + </property> + </widget> + </item> </layout> </widget> <tabstops> @@ -338,6 +355,8 @@ <tabstop>cameraFPS</tabstop> <tabstop>cameraName</tabstop> <tabstop>resolution</tabstop> + <tabstop>red_only</tabstop> + <tabstop>marker_pitch</tabstop> <tabstop>cx</tabstop> <tabstop>cy</tabstop> <tabstop>cz</tabstop> @@ -347,6 +366,7 @@ <tabstop>tx</tabstop> <tabstop>ty</tabstop> <tabstop>tz</tabstop> + <tabstop>buttonBox</tabstop> </tabstops> <resources/> <connections/> diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index 9c8cd52b..776d443a 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -282,19 +282,23 @@ void Tracker::run() const aruco::Marker& m = markers.at(0); const float size = 7; + const double p = s.marker_pitch; + const double sq = sin(p * HT_PI / 180); + const double cq = cos(p * HT_PI / 180); + cv::Mat obj_points(4,3,CV_32FC1); obj_points.at<float>(1,0)=-size + s.headpos_x; - obj_points.at<float>(1,1)=-size + s.headpos_y; - obj_points.at<float>(1,2)=0 + s.headpos_z; + obj_points.at<float>(1,1)=-size * cq + s.headpos_y; + obj_points.at<float>(1,2)=-size * sq + s.headpos_z; obj_points.at<float>(2,0)=size + s.headpos_x; - obj_points.at<float>(2,1)=-size + s.headpos_y; - obj_points.at<float>(2,2)=0 + s.headpos_z; + obj_points.at<float>(2,1)=-size * cq + s.headpos_y; + obj_points.at<float>(2,2)=-size * sq + s.headpos_z; obj_points.at<float>(3,0)=size + s.headpos_x; - obj_points.at<float>(3,1)=size + s.headpos_y; - obj_points.at<float>(3,2)=0 + s.headpos_z; + obj_points.at<float>(3,1)=size * cq + s.headpos_y; + obj_points.at<float>(3,2)=size * sq + s.headpos_z; obj_points.at<float>(0,0)=-size + s.headpos_x; - obj_points.at<float>(0,1)=size + s.headpos_y; - obj_points.at<float>(0,2)=0 + s.headpos_z; + obj_points.at<float>(0,1)=size * cq + s.headpos_y; + obj_points.at<float>(0,2)=size * sq + s.headpos_z; last_roi = cv::Rect(65535, 65535, 0, 0); @@ -468,6 +472,7 @@ TrackerControls::TrackerControls() tie_setting(s.headpos_y, ui.cy); tie_setting(s.headpos_z, ui.cz); tie_setting(s.red_only, ui.red_only); + tie_setting(s.marker_pitch, ui.marker_pitch); connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK())); connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel())); ui.cameraName->addItems(get_camera_names()); diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h index 91a5ae8e..4cab84b5 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h @@ -27,6 +27,7 @@ struct settings { value<int> camera_index, force_fps, resolution; value<bool> red_only; value<bool> eyaw, epitch, eroll, ex, ey, ez; + value<double> marker_pitch; settings() : b(bundle("aruco-tracker")), fov(b, "field-of-view", 56), @@ -42,7 +43,8 @@ struct settings { eroll(b, "enable-r", true), ex(b, "enable-x", true), ey(b, "enable-y", true), - ez(b, "enable-z", true) + ez(b, "enable-z", true), + marker_pitch(b, "marker-pitch", 0) {} }; |