diff options
| -rw-r--r-- | ftnoir_tracker_aruco/aruco-trackercontrols.ui | 4 | ||||
| -rw-r--r-- | ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 33 | ||||
| -rw-r--r-- | ftnoir_tracker_ht/ftnoir_tracker_ht.cpp | 1 | ||||
| -rw-r--r-- | ftnoir_tracker_ht/ht-trackercontrols.ui | 2 | ||||
| -rw-r--r-- | ftnoir_tracker_pt/FTNoIR_PT_Controls.ui | 2 | ||||
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 9 |
6 files changed, 36 insertions, 15 deletions
diff --git a/ftnoir_tracker_aruco/aruco-trackercontrols.ui b/ftnoir_tracker_aruco/aruco-trackercontrols.ui index 4433c47c..bc384f39 100644 --- a/ftnoir_tracker_aruco/aruco-trackercontrols.ui +++ b/ftnoir_tracker_aruco/aruco-trackercontrols.ui @@ -9,7 +9,7 @@ <rect> <x>0</x> <y>0</y> - <width>586</width> + <width>485</width> <height>202</height> </rect> </property> @@ -109,7 +109,7 @@ <item row="0" column="0"> <widget class="QLabel" name="label"> <property name="text"> - <string>Horizontal FOV</string> + <string>Diagonal FOV</string> </property> </widget> </item> diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index 70af379d..6d87503f 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -18,6 +18,7 @@ #include <opencv2/videoio.hpp> #include "opentrack/camera-names.hpp" #include "opentrack/thread.hpp" +#include "opentrack/opencv-calibration.hpp" typedef struct { int width; @@ -134,6 +135,9 @@ void Tracker::run() double failed = 0; const double max_failed = 1.25; cv::Vec3d rvec, tvec; + double last_fov = -1; + cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1); + cv::Mat dist_coeffs = cv::Mat::zeros(5, 1, CV_32FC1); while (!stop) { @@ -150,15 +154,28 @@ void Tracker::run() const int scale = grayscale.cols > 480 ? 2 : 1; detector.setThresholdParams(box_sizes[box_idx], 5); - const float focal_length_w = 0.5 * grayscale.cols / tan(0.5 * s.fov * HT_PI / 180); - const float focal_length_h = 0.5 * grayscale.rows / tan(0.5 * s.fov * grayscale.rows / grayscale.cols * HT_PI / 180.0); - cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1); - intrinsics.at<float> (0, 0) = focal_length_w; - intrinsics.at<float> (1, 1) = focal_length_h; - intrinsics.at<float> (0, 2) = grayscale.cols/2; - intrinsics.at<float> (1, 2) = grayscale.rows/2; + static constexpr double pi = 3.1415926f; + const int w = grayscale.cols, h = grayscale.rows; + const double diag = sqrt(w * w + h * h)/w, diag_fov = static_cast<int>(s.fov) * pi / 180.; + const double fov = 2.*atan(tan(diag_fov/2.)/sqrt(1. + diag*diag)); + const float focal_length_w = .5 * w / tan(.5 * fov); + const float focal_length_h = focal_length_w; - cv::Mat dist_coeffs = cv::Mat::zeros(5, 1, CV_32FC1); + if (last_fov != s.fov) + { + last_fov = s.fov; + if (!get_camera_calibration(static_cast<QString>(s.camera_name), intrinsics, dist_coeffs, grayscale.cols, grayscale.rows)) + { + intrinsics.at<float> (0, 0) = focal_length_w; + intrinsics.at<float> (1, 1) = focal_length_h; + intrinsics.at<float> (0, 2) = grayscale.cols/2; + intrinsics.at<float> (1, 2) = grayscale.rows/2; + } + else + { + qDebug() << "got calibration"; + } + } std::vector< aruco::Marker > markers; diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp index deb90ee5..1ec0e13f 100644 --- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp @@ -42,6 +42,7 @@ void Tracker::load_settings(ht_config_t* config) break; } + static constexpr float pi = 3.14159265358979323846f; config->classification_delay = 500; config->field_of_view = s.fov; config->max_keypoints = 150; diff --git a/ftnoir_tracker_ht/ht-trackercontrols.ui b/ftnoir_tracker_ht/ht-trackercontrols.ui index dd5e57f3..29b80c8d 100644 --- a/ftnoir_tracker_ht/ht-trackercontrols.ui +++ b/ftnoir_tracker_ht/ht-trackercontrols.ui @@ -55,7 +55,7 @@ <item row="0" column="0"> <widget class="QLabel" name="label"> <property name="text"> - <string>Horizontal FOV</string> + <string>Diagonal FOV</string> </property> </widget> </item> diff --git a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui index 3e900e8e..928b1374 100644 --- a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui +++ b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui @@ -114,7 +114,7 @@ </sizepolicy> </property> <property name="text"> - <string>Field of view</string> + <string>Diagonal field of view</string> </property> </widget> </item> diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index dc0659e5..5b9ec8b6 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -54,9 +54,12 @@ void Tracker_PT::reset_command(Command command) float Tracker_PT::get_focal_length() { - static constexpr float pi = 3.1415926f; - const float fov = static_cast<int>(s.fov) * pi / 180.f; - return 0.5f / tan(0.5f * fov); + CamInfo info = camera.get_info(); + const int w = info.res_x, h = info.res_y; + static constexpr double pi = 3.1415926f; + const double diag = sqrt(w * w + h * h)/w, diag_fov = static_cast<int>(s.fov) * pi / 180.; + const double fov = 2.*atan(tan(diag_fov/2.0)/sqrt(1. + diag*diag)); + return .5 / tan(.5 * fov); } void Tracker_PT::run() |