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-rw-r--r--ftnoir_tracker_aruco/aruco-trackercontrols.ui88
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp43
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.h10
3 files changed, 88 insertions, 53 deletions
diff --git a/ftnoir_tracker_aruco/aruco-trackercontrols.ui b/ftnoir_tracker_aruco/aruco-trackercontrols.ui
index 15184c41..4433c47c 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>562</width>
- <height>178</height>
+ <width>586</width>
+ <height>202</height>
</rect>
</property>
<property name="sizePolicy">
@@ -62,6 +62,43 @@
</property>
</widget>
</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>
+ </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="3" column="0">
<widget class="QLabel" name="label_4">
<property name="text">
@@ -111,50 +148,27 @@
</item>
</widget>
</item>
- <item row="3" column="1">
- <widget class="QComboBox" name="resolution">
+ <item row="2" column="1">
+ <widget class="QComboBox" name="cameraName">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
- <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">
+ <item row="4" column="0">
+ <widget class="QLabel" name="label_6">
<property name="text">
- <string>Camera name</string>
+ <string>Camera settings</string>
</property>
</widget>
</item>
- <item row="2" column="1">
- <widget class="QComboBox" name="cameraName">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
+ <item row="4" column="1">
+ <widget class="QPushButton" name="camera_settings">
+ <property name="text">
+ <string>Open</string>
</property>
</widget>
</item>
@@ -174,7 +188,7 @@
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="cy">
<property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+ <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@@ -190,7 +204,7 @@
<item row="1" column="1">
<widget class="QDoubleSpinBox" name="cx">
<property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+ <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@@ -206,7 +220,7 @@
<item row="3" column="1">
<widget class="QDoubleSpinBox" name="cz">
<property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+ <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index ca8cea9e..70af379d 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -101,26 +101,31 @@ void Tracker::run()
fps = 200;
break;
}
- camera = cv::VideoCapture(camera_name_to_index(s.camera_name));
- if (res.width)
+
{
- camera.set(cv::CAP_PROP_FRAME_WIDTH, res.width);
- camera.set(cv::CAP_PROP_FRAME_HEIGHT, res.height);
+ QMutexLocker l(&camera_mtx);
+
+ camera = cv::VideoCapture(camera_name_to_index(s.camera_name));
+ if (res.width)
+ {
+ camera.set(cv::CAP_PROP_FRAME_WIDTH, res.width);
+ camera.set(cv::CAP_PROP_FRAME_HEIGHT, res.height);
+ }
+ if (fps)
+ camera.set(cv::CAP_PROP_FPS, fps);
+
+ if (!camera.isOpened())
+ {
+ qDebug() << "aruco tracker: can't open camera";
+ return;
+ }
}
- if (fps)
- camera.set(cv::CAP_PROP_FPS, fps);
aruco::MarkerDetector detector;
detector.setDesiredSpeed(3);
cv::Rect last_roi(65535, 65535, 0, 0);
- if (!camera.isOpened())
- {
- fprintf(stderr, "aruco tracker: can't open camera\n");
- return;
- }
-
auto freq = cv::getTickFrequency();
auto last_time = cv::getTickCount();
double cur_fps = 0;
@@ -133,8 +138,12 @@ void Tracker::run()
while (!stop)
{
cv::Mat color;
- if (!camera.read(color))
- continue;
+ {
+ QMutexLocker l(&camera_mtx);
+
+ if (!camera.read(color))
+ continue;
+ }
cv::Mat grayscale;
cv::cvtColor(color, grayscale, cv::COLOR_RGB2GRAY);
@@ -391,6 +400,7 @@ TrackerControls::TrackerControls()
connect(ui.btn_calibrate, SIGNAL(clicked()), this, SLOT(toggleCalibrate()));
connect(this, SIGNAL(destroyed()), this, SLOT(cleanupCalib()));
connect(&calib_timer, SIGNAL(timeout()), this, SLOT(update_tracker_calibration()));
+ connect(ui.camera_settings, SIGNAL(pressed()), this, SLOT(camera_settings()));
}
void TrackerControls::toggleCalibrate()
@@ -440,3 +450,8 @@ void TrackerControls::doCancel()
s.b->reload();
this->close();
}
+
+void TrackerControls::camera_settings()
+{
+ open_camera_settings(tracker ? &tracker->camera : nullptr, s.camera_name, tracker ? &tracker->camera_mtx : nullptr);
+}
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
index 875a9d41..297fecdb 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
@@ -18,6 +18,7 @@
#include "opentrack/options.hpp"
#include "ftnoir_tracker_aruco/trans_calib.h"
#include "opentrack/plugin-api.hpp"
+#include "opentrack/opencv-camera-dialog.hpp"
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
@@ -40,9 +41,12 @@ struct settings : opts {
{}
};
+class TrackerControls;
+
class Tracker : protected QThread, public ITracker
{
Q_OBJECT
+ friend class TrackerControls;
static constexpr double c_search_window = 2.65;
public:
Tracker();
@@ -52,6 +56,8 @@ public:
void run();
void getRT(cv::Matx33d &r, cv::Vec3d &t);
private:
+ cv::VideoCapture camera;
+ QMutex camera_mtx;
QMutex mtx;
volatile bool stop;
QHBoxLayout* layout;
@@ -59,12 +65,11 @@ private:
settings s;
double pose[6];
cv::Mat frame;
- cv::VideoCapture camera;
cv::Matx33d r;
cv::Vec3d t;
};
-class TrackerControls : public ITrackerDialog
+class TrackerControls : public ITrackerDialog, protected camera_dialog<Tracker>
{
Q_OBJECT
public:
@@ -83,4 +88,5 @@ private slots:
void toggleCalibrate();
void cleanupCalib();
void update_tracker_calibration();
+ void camera_settings();
};
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-16 11:31:25 +0000