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-rw-r--r--ftnoir_tracker_pt/FTNoIR_PT_Controls.ui106
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.cpp2
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp1
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h4
-rw-r--r--ftnoir_tracker_pt/point_tracker.cpp23
-rw-r--r--ftnoir_tracker_pt/point_tracker.h7
6 files changed, 89 insertions, 54 deletions
diff --git a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
index 39fb0686..17e2819b 100644
--- a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
+++ b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
@@ -67,6 +67,19 @@
<string>Camera settings</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_41">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Height</string>
+ </property>
+ </widget>
+ </item>
<item row="0" column="0">
<widget class="QLabel" name="label_2">
<property name="sizePolicy">
@@ -105,19 +118,6 @@
</property>
</widget>
</item>
- <item row="2" column="0">
- <widget class="QLabel" name="label_41">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Height</string>
- </property>
- </widget>
- </item>
<item row="0" column="1">
<widget class="QComboBox" name="camdevice_combo">
<property name="sizePolicy">
@@ -144,19 +144,6 @@
</property>
</widget>
</item>
- <item row="4" column="0">
- <widget class="QLabel" name="label_4">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Field of view</string>
- </property>
- </widget>
- </item>
<item row="2" column="1">
<widget class="QSpinBox" name="res_y_spin">
<property name="sizePolicy">
@@ -195,22 +182,36 @@
</property>
</widget>
</item>
- <item row="3" column="1">
- <widget class="QSpinBox" name="fps_spin">
+ <item row="4" column="0">
+ <widget class="QLabel" name="label_4">
<property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+ <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
- <property name="toolTip">
- <string>Desired capture framerate</string>
+ <property name="text">
+ <string>Field of view</string>
</property>
- <property name="suffix">
- <string> Hz</string>
+ </widget>
+ </item>
+ <item row="5" column="0">
+ <widget class="QLabel" name="label_5">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
</property>
- <property name="maximum">
- <number>2000</number>
+ <property name="text">
+ <string>Dynamic pose resolution</string>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="1">
+ <widget class="QCheckBox" name="dynamic_pose">
+ <property name="text">
+ <string/>
</property>
</widget>
</item>
@@ -230,23 +231,42 @@
</property>
</widget>
</item>
- <item row="5" column="0">
- <widget class="QLabel" name="label_5">
+ <item row="3" column="1">
+ <widget class="QSpinBox" name="fps_spin">
<property name="sizePolicy">
- <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
- <property name="text">
- <string>Dynamic pose resolution</string>
+ <property name="toolTip">
+ <string>Desired capture framerate</string>
+ </property>
+ <property name="suffix">
+ <string> Hz</string>
+ </property>
+ <property name="maximum">
+ <number>2000</number>
</property>
</widget>
</item>
- <item row="5" column="1">
- <widget class="QCheckBox" name="dynamic_pose">
+ <item row="6" column="0">
+ <widget class="QLabel" name="label_6">
<property name="text">
- <string/>
+ <string>Dynamic pose timeout</string>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="1">
+ <widget class="QSpinBox" name="init_phase_timeout">
+ <property name="suffix">
+ <string> ms</string>
+ </property>
+ <property name="minimum">
+ <number>1</number>
+ </property>
+ <property name="maximum">
+ <number>10000</number>
</property>
</widget>
</item>
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 2d113ac5..e96e7171 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -86,7 +86,7 @@ void Tracker_PT::run()
ever_success |= success;
if (success)
- point_tracker.track(points, PointModel(s), get_focal_length(), s.dynamic_pose);
+ point_tracker.track(points, PointModel(s), get_focal_length(), s.dynamic_pose, s.init_phase_timeout);
{
Affine X_CM = pose();
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
index e7f1384d..696f0b1b 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
@@ -75,6 +75,7 @@ TrackerDialog_PT::TrackerDialog_PT()
tie_setting(s.active_model_panel, ui.model_tabs);
tie_setting(s.dynamic_pose, ui.dynamic_pose);
+ tie_setting(s.init_phase_timeout, ui.init_phase_timeout);
connect( ui.tcalib_button,SIGNAL(toggled(bool)), this,SLOT(startstop_trans_calib(bool)) );
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
index 4e241bc3..4d54eb68 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
@@ -32,6 +32,7 @@ struct settings_pt : opts
value<int> fov;
value<bool> dynamic_pose;
+ value<int> init_phase_timeout;
settings_pt() :
opts("tracker-pt"),
@@ -60,7 +61,8 @@ struct settings_pt : opts
cap_y(b, "cap-y", 0),
cap_z(b, "cap-z", 0),
fov(b, "camera-fov", 56),
- dynamic_pose(b, "dynamic-pose-resolution", true)
+ dynamic_pose(b, "dynamic-pose-resolution", true),
+ init_phase_timeout(b, "init-phase-timeout", 500)
{}
};
diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp
index e4c999ad..bae89dbe 100644
--- a/ftnoir_tracker_pt/point_tracker.cpp
+++ b/ftnoir_tracker_pt/point_tracker.cpp
@@ -62,7 +62,7 @@ void PointModel::get_d_order(const std::vector<cv::Vec2f>& points, int d_order[]
}
-PointTracker::PointTracker()
+PointTracker::PointTracker() : init_phase(true)
{
}
@@ -96,6 +96,7 @@ PointTracker::PointOrder PointTracker::find_correspondences_previous(const vecto
// if one point is closest to more than one model point, fallback
if (point_taken[min_idx])
{
+ init_phase = true;
return find_correspondences(points, model);
}
point_taken[min_idx] = true;
@@ -104,16 +105,24 @@ PointTracker::PointOrder PointTracker::find_correspondences_previous(const vecto
return p;
}
-void PointTracker::track(const vector<Vec2f>& points, const PointModel& model, float f, bool dynamic_pose)
+void PointTracker::track(const vector<Vec2f>& points, const PointModel& model, float f, bool dynamic_pose, int init_phase_timeout)
{
PointOrder order;
-
- if (!dynamic_pose)
- order = find_correspondences(points, model);
- else
- order = find_correspondences_previous(points, model, f);
+
+ if (t.elapsed_ms() > init_phase_timeout)
+ {
+ t.start();
+ init_phase = true;
+ }
+
+ if (!dynamic_pose || init_phase)
+ order = find_correspondences(points, model);
+ else
+ order = find_correspondences_previous(points, model, f);
POSIT(model, order, f);
+ init_phase = false;
+ t.start();
}
PointTracker::PointOrder PointTracker::find_correspondences(const std::vector<cv::Vec2f>& points, const PointModel& model)
diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h
index 3b9573ff..935e2eaa 100644
--- a/ftnoir_tracker_pt/point_tracker.h
+++ b/ftnoir_tracker_pt/point_tracker.h
@@ -15,7 +15,7 @@
# include <memory>
#endif
#include <vector>
-
+#include "opentrack/timer.hpp"
#include "ftnoir_tracker_pt_settings.h"
#include <QObject>
@@ -119,7 +119,7 @@ public:
// 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
- void track(const std::vector<cv::Vec2f>& projected_points, const PointModel& model, float f, bool dynamic_pose);
+ void track(const std::vector<cv::Vec2f>& projected_points, const PointModel& model, float f, bool dynamic_pose, int init_phase_timeout);
Affine pose() const { return X_CM; }
cv::Vec2f project(const cv::Vec3f& v_M, float f);
private:
@@ -139,6 +139,9 @@ private:
int POSIT(const PointModel& point_model, const PointOrder& order, float focal_length); // The POSIT algorithm, returns the number of iterations
Affine X_CM; // trafo from model to camera
+
+ Timer t;
+ bool init_phase;
};
#endif //POINTTRACKER_H
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-05 18:43:31 +0000