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-rw-r--r--CMakeLists.txt10
-rw-r--r--cmake/mingw-w64.cmake14
-rw-r--r--facetracknoir/settings.ui12
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp19
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.cpp20
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.h8
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp22
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h8
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h4
-rw-r--r--ftnoir_tracker_pt/point_extractor.h2
-rw-r--r--ftnoir_tracker_pt/point_tracker.h4
-rw-r--r--pose-widget/glwidget.cpp14
12 files changed, 74 insertions, 63 deletions
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f9da7d36..4413f712 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,7 +1,9 @@
project(opentrack)
cmake_minimum_required(VERSION 2.8.11)
cmake_policy(SET CMP0020 NEW)
-cmake_policy(SET CMP0058 OLD)
+if(POLICY CMP0058)
+ cmake_policy(SET CMP0058 OLD)
+endif()
include(CMakeParseArguments)
@@ -321,7 +323,7 @@ if(OpenCV_FOUND)
link_with_dinput8(opentrack-tracker-pt)
if(SDK_ARUCO_LIBPATH)
- opentrack_library(opentrack-tracker-aruco ftnoir_tracker_aruco GNU-LINK -fno-ipa-pta)
+ opentrack_library(opentrack-tracker-aruco ftnoir_tracker_aruco)
target_link_libraries(opentrack-tracker-aruco ${SDK_ARUCO_LIBPATH} ${OpenCV_LIBS})
target_include_directories(opentrack-tracker-aruco SYSTEM PUBLIC ${OpenCV_INCLUDE_DIRS})
endif()
@@ -368,7 +370,7 @@ if(SDK_HYDRA)
)
install(FILES "${SDK_HYDRA}/bin/win32/release_dll/sixense.dll"
#"${SDK_HYDRA}/bin/win32/release_dll/sixense_utils.dll"
- DESTINATION .)
+ DESTINATION . PERMISSIONS WORLD_READ WORLD_EXECUTE OWNER_WRITE OWNER_READ OWNER_EXECUTE)
else()
if(SDK_HYDRA_AMD64)
set(underscore-sixtyfour _x64)
@@ -479,7 +481,7 @@ endif()
install(TARGETS opentrack DESTINATION .)
if(SDK_VJOY)
- install(FILES "${SDK_VJOY}/VJoy.dll" DESTINATION .)
+ install(FILES "${SDK_VJOY}/VJoy.dll" DESTINATION . PERMISSIONS WORLD_READ WORLD_EXECUTE OWNER_WRITE OWNER_READ OWNER_EXECUTE)
endif()
if(WIN32)
diff --git a/cmake/mingw-w64.cmake b/cmake/mingw-w64.cmake
index b69fa129..7e34746d 100644
--- a/cmake/mingw-w64.cmake
+++ b/cmake/mingw-w64.cmake
@@ -25,14 +25,16 @@ SET(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
SET(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
SET(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
-set(lto "-flto -fuse-linker-plugin -flto-partition=none -fno-fat-lto-objects")
-set(rice "-ftree-vectorize -ffast-math -mfpmath=both -fipa-pta")
-set(cpu "-march=i686 -mtune=corei7-avx -msse -msse2 -mno-sse3 -mno-avx")
+set(lto "-flto -fuse-linker-plugin")
+set(rice "-fmerge-all-constants -fipa-pta -fipa-icf -fweb -fmodulo-sched -fmodulo-sched-allow-regmoves -fgcse-sm -fgcse-las")
+set(cpu "-O3 -march=i686 -mtune=corei7-avx -ffast-math -mfpmath=both -msse -msse2 -mno-sse3 -mno-avx")
+set(lto-link "${lto} -flto-partition=none -fno-fat-lto-objects")
set(CFLAGS-OVERRIDE "" CACHE STRING "")
-set(CMAKE_C_FLAGS_RELEASE "-O3 ${rice} ${lto} ${cpu} ${CFLAGS-OVERRIDE}" CACHE STRING "" FORCE)
-set(CMAKE_SHARED_LINKER_FLAGS_RELEASE "-msse -msse2 -mno-sse3 -mno-avx ${lto}" CACHE STRING "" FORCE)
-set(CMAKE_EXE_LINKER_FLAGS_RELEASE ${CMAKE_SHARED_LINKER_FLAGS_RELEASE})
+set(CMAKE_C_FLAGS_RELEASE "${rice} ${lto} ${cpu} ${CFLAGS-OVERRIDE}" CACHE STRING "" FORCE)
set(CMAKE_CXX_FLAGS_RELEASE ${CMAKE_C_FLAGS_RELEASE} CACHE STRING "" FORCE)
+set(CMAKE_SHARED_LINKER_FLAGS_RELEASE "${cpu} ${lto-link} ${CFLAGS-OVERRIDE}" CACHE STRING "" FORCE)
+set(CMAKE_EXE_LINKER_FLAGS_RELEASE ${CMAKE_SHARED_LINKER_FLAGS_RELEASE} CACHE STRING "" FORCE)
+set(CMAKE_MODULE_LINKER_FLAGS_RELEASE ${CMAKE_SHARED_LINKER_FLAGS_RELEASE} CACHE STRING "" FORCE)
set(CMAKE_BUILD_TYPE "RELEASE" CACHE STRING "" FORCE)
diff --git a/facetracknoir/settings.ui b/facetracknoir/settings.ui
index 6d67b8ff..34b15b47 100644
--- a/facetracknoir/settings.ui
+++ b/facetracknoir/settings.ui
@@ -344,10 +344,10 @@
</size>
</property>
<property name="minimum">
- <number>-90</number>
+ <number>-180</number>
</property>
<property name="maximum">
- <number>90</number>
+ <number>180</number>
</property>
</widget>
</item>
@@ -360,10 +360,10 @@
</size>
</property>
<property name="minimum">
- <number>-90</number>
+ <number>-180</number>
</property>
<property name="maximum">
- <number>90</number>
+ <number>180</number>
</property>
</widget>
</item>
@@ -383,10 +383,10 @@
</size>
</property>
<property name="minimum">
- <number>-90</number>
+ <number>-180</number>
</property>
<property name="maximum">
- <number>90</number>
+ <number>180</number>
</property>
</widget>
</item>
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index cf9dc7cb..ca8cea9e 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -236,8 +236,8 @@ void Tracker::run()
obj_points.at<float>(x4,2)= 0 + s.headpos_z;
std::vector<cv::Point2f> img_points = m;
- cv::solvePnP(obj_points, img_points, intrinsics, dist_coeffs, rvec, tvec, false, cv::SOLVEPNP_DLS);
- cv::solvePnP(obj_points, img_points, intrinsics, dist_coeffs, rvec, tvec, true, cv::SOLVEPNP_ITERATIVE);
+ if (!cv::solvePnP(obj_points, img_points, intrinsics, dist_coeffs, rvec, tvec, false, cv::SOLVEPNP_ITERATIVE))
+ goto fail;
{
std::vector<cv::Point2f> repr2;
@@ -287,11 +287,17 @@ void Tracker::run()
last_roi.x = 0;
if (last_roi.y < 0)
last_roi.y = 0;
-
- if (last_roi.width+1 > color.cols)
+ if (last_roi.width < 0)
+ last_roi.width = 0;
+ if (last_roi.height < 0)
+ last_roi.height = 0;
+ if (last_roi.x >= color.cols-1)
+ last_roi.x = color.cols-1;
+ if (last_roi.width >= color.cols-1)
last_roi.width = color.cols-1;
-
- if (last_roi.height+1 > color.rows)
+ if (last_roi.y >= color.rows-1)
+ last_roi.y= color.rows-1;
+ if (last_roi.height >= color.rows-1)
last_roi.height = color.rows-1;
last_roi.width -= last_roi.x;
@@ -320,6 +326,7 @@ void Tracker::run()
cv::rectangle(frame, last_roi, cv::Scalar(255, 0, 255), 1);
}
else
+fail:
last_roi = cv::Rect(65535, 65535, 0, 0);
if (frame.rows > 0)
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index b7138f25..4c0913e7 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -19,7 +19,7 @@ using namespace cv;
//#define PT_PERF_LOG //log performance
//-----------------------------------------------------------------------------
-Tracker::Tracker()
+Tracker_PT::Tracker_PT()
: mutex(QMutex::Recursive),
commands(0),
video_widget(NULL),
@@ -29,7 +29,7 @@ Tracker::Tracker()
connect(s.b.get(), SIGNAL(saving()), this, SLOT(apply_settings()));
}
-Tracker::~Tracker()
+Tracker_PT::~Tracker_PT()
{
set_command(ABORT);
wait();
@@ -38,26 +38,26 @@ Tracker::~Tracker()
if (video_frame->layout()) delete video_frame->layout();
}
-void Tracker::set_command(Command command)
+void Tracker_PT::set_command(Command command)
{
//QMutexLocker lock(&mutex);
commands |= command;
}
-void Tracker::reset_command(Command command)
+void Tracker_PT::reset_command(Command command)
{
//QMutexLocker lock(&mutex);
commands &= ~command;
}
-float Tracker::get_focal_length()
+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);
}
-void Tracker::run()
+void Tracker_PT::run()
{
#ifdef PT_PERF_LOG
QFile log_file(QCoreApplication::applicationDirPath() + "/PointTrackerPerformance.txt");
@@ -130,7 +130,7 @@ void Tracker::run()
int camera_name_to_index(const QString &name);
-void Tracker::apply_settings()
+void Tracker_PT::apply_settings()
{
qDebug()<<"Tracker:: Applying settings";
QMutexLocker lock(&mutex);
@@ -140,7 +140,7 @@ void Tracker::apply_settings()
qDebug()<<"Tracker::apply ends";
}
-void Tracker::start_tracker(QFrame *parent_window)
+void Tracker_PT::start_tracker(QFrame *parent_window)
{
this->video_frame = parent_window;
video_frame->setAttribute(Qt::WA_NativeWindow);
@@ -167,7 +167,7 @@ void Tracker::StopTracker(bool exit)
#define THeadPoseData double
#endif
-void Tracker::data(THeadPoseData *data)
+void Tracker_PT::data(THeadPoseData *data)
{
if (ever_success)
{
@@ -211,5 +211,5 @@ extern "C" OPENTRACK_EXPORT ITracker* GetConstructor()
OPENTRACK_EXPORT ITrackerPtr __stdcall GetTracker()
#endif
{
- return new Tracker;
+ return new Tracker_PT;
}
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
index 349cf2c8..771631cd 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
@@ -33,12 +33,12 @@
//-----------------------------------------------------------------------------
// Constantly processes the tracking chain in a separate thread
-class Tracker : public QThread, public ITracker
+class Tracker_PT : public QThread, public ITracker
{
Q_OBJECT
public:
- Tracker();
- ~Tracker() override;
+ Tracker_PT();
+ ~Tracker_PT() override;
void start_tracker(QFrame* parent_window) override;
void data(double* data) override;
@@ -69,7 +69,7 @@ private:
PTVideoWidget* video_widget;
QFrame* video_frame;
- settings s;
+ settings_pt s;
Timer time;
volatile bool ever_success;
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
index 6fa149ed..86178cb3 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
@@ -21,7 +21,7 @@
using namespace std;
//-----------------------------------------------------------------------------
-TrackerDialog::TrackerDialog()
+TrackerDialog_PT::TrackerDialog_PT()
: tracker(NULL),
timer(this),
trans_calib_running(false)
@@ -86,7 +86,7 @@ TrackerDialog::TrackerDialog()
timer.start(100);
}
-void TrackerDialog::startstop_trans_calib(bool start)
+void TrackerDialog_PT::startstop_trans_calib(bool start)
{
if (start)
{
@@ -110,7 +110,7 @@ void TrackerDialog::startstop_trans_calib(bool start)
}
}
-void TrackerDialog::poll_tracker_info()
+void TrackerDialog_PT::poll_tracker_info()
{
if (tracker)
{
@@ -142,7 +142,7 @@ void TrackerDialog::poll_tracker_info()
}
}
-void TrackerDialog::trans_calib_step()
+void TrackerDialog_PT::trans_calib_step()
{
if (tracker)
{
@@ -151,32 +151,32 @@ void TrackerDialog::trans_calib_step()
}
}
-void TrackerDialog::save()
+void TrackerDialog_PT::save()
{
s.b->save();
}
-void TrackerDialog::doOK()
+void TrackerDialog_PT::doOK()
{
save();
close();
}
-void TrackerDialog::doCancel()
+void TrackerDialog_PT::doCancel()
{
s.b->reload();
close();
}
-void TrackerDialog::register_tracker(ITracker *t)
+void TrackerDialog_PT::register_tracker(ITracker *t)
{
qDebug()<<"TrackerDialog:: Tracker registered";
- tracker = static_cast<Tracker*>(t);
+ tracker = static_cast<Tracker_PT*>(t);
ui.tcalib_button->setEnabled(true);
//ui.center_button->setEnabled(true);
}
-void TrackerDialog::unregister_tracker()
+void TrackerDialog_PT::unregister_tracker()
{
qDebug()<<"TrackerDialog:: Tracker un-registered";
tracker = NULL;
@@ -186,5 +186,5 @@ void TrackerDialog::unregister_tracker()
extern "C" OPENTRACK_EXPORT ITrackerDialog* GetDialog( )
{
- return new TrackerDialog;
+ return new TrackerDialog_PT;
}
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h
index c6f7f8e1..c1cd2e3b 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h
@@ -23,11 +23,11 @@
//-----------------------------------------------------------------------------
// The dialog that shows up when the user presses "Settings"
-class TrackerDialog : public ITrackerDialog
+class TrackerDialog_PT : public ITrackerDialog
{
Q_OBJECT
public:
- TrackerDialog();
+ TrackerDialog_PT();
void register_tracker(ITracker *tracker) override;
void unregister_tracker() override;
void save();
@@ -40,8 +40,8 @@ public slots:
void startstop_trans_calib(bool start);
void poll_tracker_info();
private:
- settings s;
- Tracker* tracker;
+ settings_pt s;
+ Tracker_PT* tracker;
QTimer timer;
TranslationCalibrator trans_calib;
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
index fba755bd..30647412 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
@@ -13,7 +13,7 @@
#include "opentrack/options.hpp"
using namespace options;
-struct settings : opts
+struct settings_pt : opts
{
value<QString> camera_name;
value<int> cam_res_x,
@@ -36,7 +36,7 @@ struct settings : opts
value<bool> dynamic_pose;
- settings() :
+ settings_pt() :
opts("tracker-pt"),
camera_name(b, "camera-name", ""),
cam_res_x(b, "camera-res-width", 640),
diff --git a/ftnoir_tracker_pt/point_extractor.h b/ftnoir_tracker_pt/point_extractor.h
index 06d148d6..3f6cfb72 100644
--- a/ftnoir_tracker_pt/point_extractor.h
+++ b/ftnoir_tracker_pt/point_extractor.h
@@ -25,7 +25,7 @@ public:
const std::vector<cv::Vec2f>& get_points() { return points; }
PointExtractor();
- settings s;
+ settings_pt s;
private:
std::vector<cv::Vec2f> points;
cv::Mat frame_last;
diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h
index 10bd2cef..3b9573ff 100644
--- a/ftnoir_tracker_pt/point_tracker.h
+++ b/ftnoir_tracker_pt/point_tracker.h
@@ -72,7 +72,7 @@ public:
enum Model { Clip = 0, Cap = 1, Custom = 2 };
- PointModel(settings& s)
+ PointModel(settings_pt& s)
{
set_model(s);
// calculate u
@@ -86,7 +86,7 @@ public:
P = 1.0/(s11*s22-s12*s12) * cv::Matx22f(s22, -s12, -s12, s11);
}
- void set_model(settings& s)
+ void set_model(settings_pt& s)
{
switch (s.active_model_panel)
{
diff --git a/pose-widget/glwidget.cpp b/pose-widget/glwidget.cpp
index b444e87e..66527a57 100644
--- a/pose-widget/glwidget.cpp
+++ b/pose-widget/glwidget.cpp
@@ -70,7 +70,7 @@ public:
}
bool barycentric_coords(const vec2& px, vec2& uv) const
{
- vec2 v2({ px.x() - origin.x(), px.y() - origin.y() });
+ vec2 v2 = px - origin;
double dot12 = v1.dot(v2);
double dot02 = v0.dot(v2);
double u = (dot11 * dot02 - dot01 * dot12) * invDenom;
@@ -162,15 +162,15 @@ void GLWidget::project_quad_texture() {
for (int x = 0; x < sx; x++) {
vec2 pos({(double)x, (double)y});
for (int i = 0; i < 2; i++) {
- vec2 coords;
- if (triangles[i].barycentric_coords(pos, coords))
+ vec2 uv;
+ if (triangles[i].barycentric_coords(pos, uv))
{
const int px = origs[i][0].x()
- + coords.x() * (origs[i][2].x() - origs[i][0].x())
- + coords.y() * (origs[i][1].x() - origs[i][0].x());
+ + uv.x() * (origs[i][2].x() - origs[i][0].x())
+ + uv.y() * (origs[i][1].x() - origs[i][0].x());
const int py = origs[i][0].y()
- + coords.x() * (origs[i][2].y() - origs[i][0].y())
- + coords.y() * (origs[i][1].y() - origs[i][0].y());
+ + uv.x() * (origs[i][2].y() - origs[i][0].y())
+ + uv.y() * (origs[i][1].y() - origs[i][0].y());
int r = orig[py * orig_pitch + px * orig_depth + 2];
int g = orig[py * orig_pitch + px * orig_depth + 1];
generated by cgit v1.2.3 (git 2.39.1) at 2025-03-15 15:19:41 +0000