diff options
| -rw-r--r-- | ftnoir_tracker_aruco/aruco-trackercontrols.ui | 341 | ||||
| -rw-r--r-- | ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 7 | ||||
| -rw-r--r-- | ftnoir_tracker_aruco/ftnoir_tracker_aruco.h | 4 |
3 files changed, 164 insertions, 188 deletions
diff --git a/ftnoir_tracker_aruco/aruco-trackercontrols.ui b/ftnoir_tracker_aruco/aruco-trackercontrols.ui index 59d3f69c..03975390 100644 --- a/ftnoir_tracker_aruco/aruco-trackercontrols.ui +++ b/ftnoir_tracker_aruco/aruco-trackercontrols.ui @@ -10,7 +10,7 @@ <x>0</x> <y>0</y> <width>615</width> - <height>353</height> + <height>326</height> </rect> </property> <property name="sizePolicy"> @@ -32,176 +32,7 @@ <property name="spacing"> <number>7</number> </property> - <item row="2" column="1" colspan="2"> - <widget class="QComboBox" name="cameraName"/> - </item> - <item row="1" column="1" colspan="2"> - <widget class="QComboBox" name="cameraFPS"> - <item> - <property name="text"> - <string notr="true">Default</string> - </property> - </item> - <item> - <property name="text"> - <string>30</string> - </property> - </item> - <item> - <property name="text"> - <string>60</string> - </property> - </item> - <item> - <property name="text"> - <string>120</string> - </property> - </item> - <item> - <property name="text"> - <string>180</string> - </property> - </item> - </widget> - </item> - <item row="1" column="0"> - <widget class="QLabel" name="label_2"> - <property name="text"> - <string>Frames per second</string> - </property> - </widget> - </item> - <item row="7" column="1"> - <widget class="QCheckBox" name="red_only"> - <property name="text"> - <string>Recommended!</string> - </property> - </widget> - </item> - <item row="6" column="2" rowspan="6" colspan="3"> - <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::AlignTop</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="0" column="1" colspan="2"> - <widget class="QDoubleSpinBox" name="cameraFOV"> - <property name="locale"> - <locale language="English" country="UnitedStates"/> - </property> - <property name="minimum"> - <double>35.000000000000000</double> - </property> - <property name="maximum"> - <double>180.000000000000000</double> - </property> - <property name="value"> - <double>52.000000000000000</double> - </property> - </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="7" column="0"> - <widget class="QLabel" name="label_10"> - <property name="text"> - <string>Red channel only</string> - </property> - </widget> - </item> - <item row="0" column="0"> - <widget class="QLabel" name="label"> - <property name="text"> - <string>Horizontal FOV</string> - </property> - </widget> - </item> - <item row="6" column="1"> - <widget class="QComboBox" name="resolution"> - <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="12" column="4"> - <widget class="QDialogButtonBox" name="buttonBox"> - <property name="standardButtons"> - <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set> - </property> - </widget> - </item> - <item row="6" column="0"> - <widget class="QLabel" name="label_4"> - <property name="text"> - <string>Resolution</string> - </property> - </widget> - </item> - <item row="8" column="1"> - <widget class="QDoubleSpinBox" name="marker_pitch"> - <property name="minimum"> - <double>-180.000000000000000</double> - </property> - <property name="maximum"> - <double>180.000000000000000</double> - </property> - </widget> - </item> - <item row="8" column="0"> - <widget class="QLabel" name="label_9"> - <property name="text"> - <string>Marker pitch</string> - </property> - </widget> - </item> - <item row="10" column="1" rowspan="3"> + <item row="9" column="1" rowspan="3"> <widget class="QGroupBox" name="groupBox_2"> <property name="title"> <string>Head position</string> @@ -348,17 +179,172 @@ </layout> </widget> </item> - <item row="9" column="1"> - <widget class="QCheckBox" name="fisheye_correction"> + <item row="1" column="0"> + <widget class="QLabel" name="label_2"> + <property name="text"> + <string>Frames per second</string> + </property> + </widget> + </item> + <item row="2" column="1" colspan="2"> + <widget class="QComboBox" name="cameraName"/> + </item> + <item row="1" column="1" colspan="2"> + <widget class="QComboBox" name="cameraFPS"> + <item> + <property name="text"> + <string notr="true">Default</string> + </property> + </item> + <item> + <property name="text"> + <string>30</string> + </property> + </item> + <item> + <property name="text"> + <string>60</string> + </property> + </item> + <item> + <property name="text"> + <string>120</string> + </property> + </item> + <item> + <property name="text"> + <string>180</string> + </property> + </item> + </widget> + </item> + <item row="7" column="1"> + <widget class="QCheckBox" name="red_only"> <property name="text"> - <string>Check if yaw/X interconnect</string> + <string>Recommended!</string> </property> </widget> </item> - <item row="9" column="0"> - <widget class="QLabel" name="label_11"> + <item row="2" column="0"> + <widget class="QLabel" name="label_3"> <property name="text"> - <string>Fisheye correction</string> + <string>Camera name</string> + </property> + </widget> + </item> + <item row="0" column="1" colspan="2"> + <widget class="QDoubleSpinBox" name="cameraFOV"> + <property name="locale"> + <locale language="English" country="UnitedStates"/> + </property> + <property name="minimum"> + <double>35.000000000000000</double> + </property> + <property name="maximum"> + <double>180.000000000000000</double> + </property> + <property name="value"> + <double>52.000000000000000</double> + </property> + </widget> + </item> + <item row="6" column="2" rowspan="5" colspan="3"> + <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::AlignTop</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="7" column="0"> + <widget class="QLabel" name="label_10"> + <property name="text"> + <string>Red channel only</string> + </property> + </widget> + </item> + <item row="6" column="1"> + <widget class="QComboBox" name="resolution"> + <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="0" column="0"> + <widget class="QLabel" name="label"> + <property name="text"> + <string>Horizontal FOV</string> + </property> + </widget> + </item> + <item row="11" column="4"> + <widget class="QDialogButtonBox" name="buttonBox"> + <property name="standardButtons"> + <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set> + </property> + </widget> + </item> + <item row="8" column="1"> + <widget class="QDoubleSpinBox" name="marker_pitch"> + <property name="minimum"> + <double>-180.000000000000000</double> + </property> + <property name="maximum"> + <double>180.000000000000000</double> + </property> + </widget> + </item> + <item row="6" column="0"> + <widget class="QLabel" name="label_4"> + <property name="text"> + <string>Resolution</string> + </property> + </widget> + </item> + <item row="8" column="0"> + <widget class="QLabel" name="label_9"> + <property name="text"> + <string>Marker pitch</string> </property> </widget> </item> @@ -371,7 +357,6 @@ <tabstop>resolution</tabstop> <tabstop>red_only</tabstop> <tabstop>marker_pitch</tabstop> - <tabstop>fisheye_correction</tabstop> <tabstop>cx</tabstop> <tabstop>cy</tabstop> <tabstop>cz</tabstop> diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index 77f794b9..9d484775 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -353,12 +353,6 @@ void Tracker::run() pose[Yaw] = euler[1]; pose[Pitch] = -euler[0]; pose[Roll] = euler[2]; - - if (s.fisheye_correction) - { - pose[Yaw] -= atan(pose[TX] / pose[TZ]) * 180 / HT_PI; - pose[Pitch] -= atan(pose[TY] / pose[TZ]) * 180 / HT_PI; - } } std::vector<cv::Point2f> repr2; @@ -482,7 +476,6 @@ TrackerControls::TrackerControls() tie_setting(s.headpos_z, ui.cz); tie_setting(s.red_only, ui.red_only); tie_setting(s.marker_pitch, ui.marker_pitch); - tie_setting(s.fisheye_correction, ui.fisheye_correction); connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK())); connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel())); ui.cameraName->addItems(get_camera_names()); diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h index e32e304a..4cab84b5 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h @@ -28,7 +28,6 @@ struct settings { value<bool> red_only; value<bool> eyaw, epitch, eroll, ex, ey, ez; value<double> marker_pitch; - value<bool> fisheye_correction; settings() : b(bundle("aruco-tracker")), fov(b, "field-of-view", 56), @@ -45,8 +44,7 @@ struct settings { ex(b, "enable-x", true), ey(b, "enable-y", true), ez(b, "enable-z", true), - marker_pitch(b, "marker-pitch", 0), - fisheye_correction(b, "fisheye-correction", false) + marker_pitch(b, "marker-pitch", 0) {} }; |