diff options
| -rw-r--r-- | ftnoir_tracker_aruco/aruco-trackercontrols.ui | 249 | ||||
| -rw-r--r-- | ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 34 | ||||
| -rw-r--r-- | ftnoir_tracker_aruco/ftnoir_tracker_aruco.h | 4 |
3 files changed, 117 insertions, 170 deletions
diff --git a/ftnoir_tracker_aruco/aruco-trackercontrols.ui b/ftnoir_tracker_aruco/aruco-trackercontrols.ui index e5654bd5..240ef5f8 100644 --- a/ftnoir_tracker_aruco/aruco-trackercontrols.ui +++ b/ftnoir_tracker_aruco/aruco-trackercontrols.ui @@ -9,8 +9,8 @@ <rect> <x>0</x> <y>0</y> - <width>636</width> - <height>368</height> + <width>560</width> + <height>214</height> </rect> </property> <property name="sizePolicy"> @@ -22,16 +22,17 @@ <property name="windowTitle"> <string>Tracker settings</string> </property> - <layout class="QGridLayout" name="gridLayout_3"> - <item row="0" column="0" rowspan="2" colspan="2"> - <widget class="QGroupBox" name="groupBox"> - <property name="title"> - <string/> - </property> - <property name="flat"> - <bool>true</bool> + <layout class="QGridLayout" name="gridLayout"> + <item row="1" column="1"> + <widget class="QDialogButtonBox" name="buttonBox"> + <property name="standardButtons"> + <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set> </property> - <layout class="QGridLayout" name="gridLayout"> + </widget> + </item> + <item row="0" column="0"> + <widget class="QFrame" name="frame"> + <layout class="QGridLayout" name="gridLayout_3"> <item row="0" column="0"> <widget class="QLabel" name="label"> <property name="text"> @@ -41,6 +42,12 @@ </item> <item row="0" column="1"> <widget class="QDoubleSpinBox" name="cameraFOV"> + <property name="sizePolicy"> + <sizepolicy hsizetype="Preferred" vsizetype="Preferred"> + <horstretch>0</horstretch> + <verstretch>0</verstretch> + </sizepolicy> + </property> <property name="locale"> <locale language="English" country="UnitedStates"/> </property> @@ -64,6 +71,12 @@ </item> <item row="1" column="1"> <widget class="QComboBox" name="cameraFPS"> + <property name="sizePolicy"> + <sizepolicy hsizetype="Preferred" vsizetype="Preferred"> + <horstretch>0</horstretch> + <verstretch>0</verstretch> + </sizepolicy> + </property> <item> <property name="text"> <string notr="true">Default</string> @@ -99,7 +112,14 @@ </widget> </item> <item row="2" column="1"> - <widget class="QComboBox" name="cameraName"/> + <widget class="QComboBox" name="cameraName"> + <property name="sizePolicy"> + <sizepolicy hsizetype="Preferred" vsizetype="Preferred"> + <horstretch>0</horstretch> + <verstretch>0</verstretch> + </sizepolicy> + </property> + </widget> </item> <item row="3" column="0"> <widget class="QLabel" name="label_4"> @@ -110,6 +130,12 @@ </item> <item row="3" column="1"> <widget class="QComboBox" name="resolution"> + <property name="sizePolicy"> + <sizepolicy hsizetype="Preferred" vsizetype="Preferred"> + <horstretch>0</horstretch> + <verstretch>0</verstretch> + </sizepolicy> + </property> <item> <property name="text"> <string>640x480</string> @@ -146,154 +172,93 @@ </property> </widget> </item> - <item row="5" column="0"> - <widget class="QLabel" name="label_9"> + </layout> + </widget> + </item> + <item row="0" column="1"> + <widget class="QFrame" name="frame_2"> + <layout class="QGridLayout" name="gridLayout_2"> + <item row="1" column="0"> + <widget class="QLabel" name="label_5"> <property name="text"> - <string>Marker pitch</string> + <string>Head X</string> </property> </widget> </item> - <item row="5" column="1"> - <widget class="QDoubleSpinBox" name="marker_pitch"> + <item row="2" column="1"> + <widget class="QDoubleSpinBox" name="cy"> + <property name="sizePolicy"> + <sizepolicy hsizetype="Minimum" vsizetype="Minimum"> + <horstretch>0</horstretch> + <verstretch>0</verstretch> + </sizepolicy> + </property> <property name="minimum"> - <double>-180.000000000000000</double> + <double>-10000.000000000000000</double> </property> <property name="maximum"> - <double>180.000000000000000</double> + <double>10000.000000000000000</double> + </property> + </widget> + </item> + <item row="1" column="1"> + <widget class="QDoubleSpinBox" name="cx"> + <property name="sizePolicy"> + <sizepolicy hsizetype="Minimum" vsizetype="Minimum"> + <horstretch>0</horstretch> + <verstretch>0</verstretch> + </sizepolicy> + </property> + <property name="minimum"> + <double>-10000.000000000000000</double> + </property> + <property name="maximum"> + <double>10000.000000000000000</double> + </property> + </widget> + </item> + <item row="3" column="1"> + <widget class="QDoubleSpinBox" name="cz"> + <property name="sizePolicy"> + <sizepolicy hsizetype="Minimum" vsizetype="Minimum"> + <horstretch>0</horstretch> + <verstretch>0</verstretch> + </sizepolicy> + </property> + <property name="minimum"> + <double>-10000.000000000000000</double> + </property> + <property name="maximum"> + <double>10000.000000000000000</double> + </property> + </widget> + </item> + <item row="3" column="0"> + <widget class="QLabel" name="label_8"> + <property name="text"> + <string>Head Z </string> </property> </widget> </item> - <item row="6" column="1"> - <widget class="QGroupBox" name="groupBox_2"> - <property name="title"> - <string>Head center</string> + <item row="2" column="0"> + <widget class="QLabel" name="label_7"> + <property name="text"> + <string>Head Y</string> + </property> + </widget> + </item> + <item row="4" column="1"> + <widget class="QPushButton" name="btn_calibrate"> + <property name="text"> + <string>Calibrate</string> </property> - <layout class="QGridLayout" name="gridLayout_2"> - <item row="4" column="1"> - <widget class="QPushButton" name="btn_calibrate"> - <property name="text"> - <string>Calibrate</string> - </property> - </widget> - </item> - <item row="1" column="0"> - <widget class="QLabel" name="label_5"> - <property name="text"> - <string>TX</string> - </property> - </widget> - </item> - <item row="2" column="1"> - <widget class="QDoubleSpinBox" name="cy"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Minimum" vsizetype="Minimum"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="minimum"> - <double>-10000.000000000000000</double> - </property> - <property name="maximum"> - <double>10000.000000000000000</double> - </property> - </widget> - </item> - <item row="1" column="1"> - <widget class="QDoubleSpinBox" name="cx"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Minimum" vsizetype="Minimum"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="minimum"> - <double>-10000.000000000000000</double> - </property> - <property name="maximum"> - <double>10000.000000000000000</double> - </property> - </widget> - </item> - <item row="3" column="1"> - <widget class="QDoubleSpinBox" name="cz"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Minimum" vsizetype="Minimum"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="minimum"> - <double>-10000.000000000000000</double> - </property> - <property name="maximum"> - <double>10000.000000000000000</double> - </property> - </widget> - </item> - <item row="3" column="0"> - <widget class="QLabel" name="label_8"> - <property name="text"> - <string>TZ</string> - </property> - </widget> - </item> - <item row="2" column="0"> - <widget class="QLabel" name="label_7"> - <property name="text"> - <string>TY</string> - </property> - </widget> - </item> - </layout> </widget> </item> </layout> </widget> </item> - <item row="0" column="2"> - <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::AlignVCenter</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="2"> - <widget class="QDialogButtonBox" name="buttonBox"> - <property name="standardButtons"> - <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set> - </property> - </widget> - </item> </layout> </widget> - <tabstops> - <tabstop>buttonBox</tabstop> - </tabstops> <resources/> <connections/> <designerdata> diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index 1787ef2b..31aa2372 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -198,7 +198,6 @@ void Tracker::run() int cur_fps = 0; int last_fps = 0; cv::Point2f last_centroid; - bool first = true; while (!stop) { @@ -284,23 +283,19 @@ void Tracker::run() const auto& m = markers.at(0); const float size = 40; - 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 * cq + s.headpos_y; - obj_points.at<float>(1,2)=-size * sq + s.headpos_z; + obj_points.at<float>(1,1)=-size + s.headpos_y; + obj_points.at<float>(1,2)=-size + s.headpos_z; obj_points.at<float>(2,0)=size + s.headpos_x; - 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>(2,1)=-size + s.headpos_y; + obj_points.at<float>(2,2)=-size + s.headpos_z; obj_points.at<float>(3,0)=size + s.headpos_x; - 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>(3,1)=size + s.headpos_y; + obj_points.at<float>(3,2)=size + s.headpos_z; obj_points.at<float>(0,0)=-size + s.headpos_x; - obj_points.at<float>(0,1)=size * cq + s.headpos_y; - obj_points.at<float>(0,2)=size * sq + s.headpos_z; + obj_points.at<float>(0,1)=size + s.headpos_y; + obj_points.at<float>(0,2)=size + s.headpos_z; last_roi = cv::Rect(65535, 65535, 0, 0); @@ -325,8 +320,7 @@ void Tracker::run() last_roi.height = std::min<int>(grayscale.rows - last_roi.y, last_roi.height); } - cv::solvePnP(obj_points, m, intrinsics, dist_coeffs, rvec, tvec, !first, cv::ITERATIVE); - first = false; + cv::solvePnP(obj_points, m, intrinsics, dist_coeffs, rvec, tvec, false, cv::ITERATIVE); cv::Mat rotation_matrix = cv::Mat::zeros(3, 3, CV_64FC1); cv::Mat junk1(3, 3, CV_64FC1), junk2(3, 3, CV_64FC1); cv::Rodrigues(rvec, rotation_matrix); @@ -334,12 +328,6 @@ void Tracker::run() { cv::Vec3d euler = cv::RQDecomp3x3(rotation_matrix, junk1, junk2); - if (fabs(euler[0]) + fabs(s.marker_pitch) > 60) - { - first = true; - qDebug() << "reset levmarq due to pitch breakage"; - } - QMutexLocker lck(&mtx); for (int i = 0; i < 3; i++) @@ -366,10 +354,7 @@ void Tracker::run() last_centroid = repr2[0]; } else - { last_roi = cv::Rect(65535, 65535, 0, 0); - first = true; - } if (frame.rows > 0) videoWidget->update_image(frame); @@ -454,7 +439,6 @@ 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())); connect(ui.btn_calibrate, SIGNAL(clicked()), this, SLOT(toggleCalibrate())); diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h index 9ac57417..c53a49a4 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h @@ -28,7 +28,6 @@ struct settings { value<double> fov, headpos_x, headpos_y, headpos_z; value<int> camera_index, force_fps, resolution; value<bool> red_only; - value<double> marker_pitch; settings() : b(bundle("aruco-tracker")), fov(b, "field-of-view", 56), @@ -38,8 +37,7 @@ struct settings { camera_index(b, "camera-index", 0), force_fps(b, "force-fps", 0), resolution(b, "force-resolution", 0), - red_only(b, "red-only", false), - marker_pitch(b, "marker-pitch", 0) + red_only(b, "red-only", false) {} }; |