diff options
Diffstat (limited to 'FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp')
| -rw-r--r-- | FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 265 |
1 files changed, 265 insertions, 0 deletions
diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp new file mode 100644 index 00000000..88a3fc8d --- /dev/null +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -0,0 +1,265 @@ +/* Copyright (c) 2012 Patrick Ruoff
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ */
+
+#include "ftnoir_tracker_pt.h"
+#include <QHBoxLayout>
+#include <cmath>
+#include <QDebug>
+#include <QFile>
+#include <QCoreApplication>
+
+using namespace std;
+using namespace cv;
+using namespace boost;
+
+//#define PT_PERF_LOG //log performance
+
+const float rad2deg = 180.0/3.14159265;
+const float deg2rad = 1.0/rad2deg;
+
+//-----------------------------------------------------------------------------
+Tracker::Tracker()
+ : frame_count(0),
+ commands(0),
+ video_widget(NULL),
+ video_frame(NULL),
+ tracking_valid(false)
+{
+ qDebug()<<"Tracker::Tracker";
+ TrackerSettings settings;
+ settings.load_ini();
+ apply(settings);
+ camera.start();
+ start();
+}
+
+Tracker::~Tracker()
+{
+ qDebug()<<"Tracker::~Tracker";
+ // terminate tracker thread
+ set_command(ABORT);
+ wait();
+ // destroy video widget
+ show_video_widget = false;
+ update_show_video_widget();
+}
+
+void Tracker::set_command(Command command)
+{
+ QMutexLocker lock(&mutex);
+ commands |= command;
+}
+
+void Tracker::reset_command(Command command)
+{
+ QMutexLocker lock(&mutex);
+ commands &= ~command;
+}
+
+void Tracker::run()
+{
+ qDebug()<<"Tracker:: Thread started";
+
+#ifdef PT_PERF_LOG
+ QFile log_file(QCoreApplication::applicationDirPath() + "/PointTrackerPerformance.txt");
+ if (!log_file.open(QIODevice::WriteOnly | QIODevice::Text)) return;
+ QTextStream log_stream(&log_file);
+#endif
+
+ time.start();
+ float dt;
+ bool new_frame;
+ forever
+ {
+ {
+ QMutexLocker lock(&mutex);
+
+ if (commands & ABORT) break;
+ if (commands & PAUSE) continue;
+ commands = 0;
+
+ dt = time.elapsed() / 1000.0;
+ time.restart();
+
+ new_frame = camera.get_frame(dt, &frame);
+ if (new_frame && !frame.empty())
+ {
+ frame = frame_rotation.rotate_frame(frame);
+ const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, has_observers());
+ tracking_valid = point_tracker.track(points, camera.get_info().f, dt);
+ frame_count++;
+ }
+#ifdef PT_PERF_LOG
+ log_stream<<"dt: "<<dt;
+ if (!frame.empty()) log_stream<<" fps: "<<camera.get_info().fps;
+ log_stream<<"\n";
+#endif
+ }
+ msleep(sleep_time);
+ }
+
+ qDebug()<<"Tracker:: Thread stopping";
+}
+
+void Tracker::apply(const TrackerSettings& settings)
+{
+ qDebug()<<"Tracker:: Applying settings";
+ QMutexLocker lock(&mutex);
+ camera.set_device_index(settings.cam_index);
+ camera.set_res(settings.cam_res_x, settings.cam_res_y);
+ camera.set_fps(settings.cam_fps);
+ camera.set_f(settings.cam_f);
+ frame_rotation.rotation = static_cast<FrameRotation::Rotation>(settings.cam_roll);
+ point_extractor.threshold_val = settings.threshold;
+ point_extractor.min_size = settings.min_point_size;
+ point_extractor.max_size = settings.max_point_size;
+ point_tracker.point_model = boost::shared_ptr<PointModel>(new PointModel(settings.M01, settings.M02));
+ point_tracker.dynamic_pose_resolution = settings.dyn_pose_res;
+ sleep_time = settings.sleep_time;
+ point_tracker.dt_reset = settings.reset_time / 1000.0;
+ show_video_widget = settings.video_widget;
+ update_show_video_widget();
+ bEnableRoll = settings.bEnableRoll;
+ bEnablePitch = settings.bEnablePitch;
+ bEnableYaw = settings.bEnableYaw;
+ bEnableX = settings.bEnableX;
+ bEnableY = settings.bEnableY;
+ bEnableZ = settings.bEnableZ;
+
+ t_MH = settings.t_MH;
+ R_GC = Matx33f( cos(deg2rad*settings.cam_yaw), 0, sin(deg2rad*settings.cam_yaw),
+ 0, 1, 0,
+ -sin(deg2rad*settings.cam_yaw), 0, cos(deg2rad*settings.cam_yaw));
+ R_GC = R_GC * Matx33f( 1, 0, 0,
+ 0, cos(deg2rad*settings.cam_pitch), sin(deg2rad*settings.cam_pitch),
+ 0, -sin(deg2rad*settings.cam_pitch), cos(deg2rad*settings.cam_pitch));
+
+ FrameTrafo X_MH(Matx33f::eye(), t_MH);
+ X_GH_0 = R_GC * X_MH;
+
+ qDebug()<<"Tracker::apply ends";
+}
+
+void Tracker::reset()
+{
+ QMutexLocker lock(&mutex);
+ point_tracker.reset();
+}
+
+void Tracker::center()
+{
+ point_tracker.reset(); // we also do a reset here since there is no reset shortkey yet
+ QMutexLocker lock(&mutex);
+ FrameTrafo X_CM_0 = point_tracker.get_pose();
+ FrameTrafo X_MH(Matx33f::eye(), t_MH);
+ X_GH_0 = R_GC * X_CM_0 * X_MH;
+}
+
+bool Tracker::get_frame_and_points(cv::Mat& frame_copy, boost::shared_ptr< std::vector<Vec2f> >& points)
+{
+ QMutexLocker lock(&mutex);
+ if (frame.empty()) return false;
+
+ // copy the frame and points from the tracker thread
+ frame_copy = frame.clone();
+ points = boost::shared_ptr< vector<Vec2f> >(new vector<Vec2f>(point_extractor.get_points()));
+ return true;
+}
+
+void Tracker::update_show_video_widget()
+{
+ if (!show_video_widget && video_widget) {
+ delete video_widget;
+ video_widget = NULL;
+ if (video_frame->layout()) delete video_frame->layout();
+ }
+ else if (video_frame && show_video_widget && !video_widget)
+ {
+ const int VIDEO_FRAME_WIDTH = 252;
+ const int VIDEO_FRAME_HEIGHT = 189;
+
+ video_widget = new VideoWidget(video_frame, this);
+ QHBoxLayout* video_layout = new QHBoxLayout();
+ video_layout->setContentsMargins(0, 0, 0, 0);
+ video_layout->addWidget(video_widget);
+ video_frame->setLayout(video_layout);
+ video_widget->resize(VIDEO_FRAME_WIDTH, VIDEO_FRAME_HEIGHT);
+ }
+}
+
+//-----------------------------------------------------------------------------
+// ITracker interface
+void Tracker::Initialize(QFrame *video_frame)
+{
+ qDebug("Tracker::Initialize");
+ // setup video frame
+ this->video_frame = video_frame;
+ video_frame->setAttribute(Qt::WA_NativeWindow);
+ video_frame->show();
+ update_show_video_widget();
+}
+
+void Tracker::refreshVideo()
+{
+ if (video_widget) video_widget->update_frame_and_points();
+}
+
+void Tracker::StartTracker(HWND parent_window)
+{
+ reset_command(PAUSE);
+}
+
+void Tracker::StopTracker(bool exit)
+{
+ set_command(PAUSE);
+}
+
+bool Tracker::GiveHeadPoseData(THeadPoseData *data)
+{
+ {
+ QMutexLocker lock(&mutex);
+
+ if (!tracking_valid) return false;
+
+ FrameTrafo X_CM = point_tracker.get_pose();
+ FrameTrafo X_MH(Matx33f::eye(), t_MH);
+ FrameTrafo X_GH = R_GC * X_CM * X_MH;
+ Matx33f R = X_GH.R * X_GH_0.R.t();
+ Vec3f t = X_GH.t - X_GH_0.t;
+
+ // get translation(s)
+ if (bEnableX) data->x = t[0] / 10.0; // convert to cm
+ if (bEnableY) data->y = t[1] / 10.0;
+ if (bEnableZ) data->z = t[2] / 10.0;
+
+ // translate rotation matrix from opengl (G) to roll-pitch-yaw (E) frame
+ // -z -> x, y -> z, x -> -y
+ Matx33f R_EG( 0, 0,-1,
+ -1, 0, 0,
+ 0, 1, 0);
+ R = R_EG * R * R_EG.t();
+
+ // extract rotation angles
+ float alpha, beta, gamma;
+ beta = atan2( -R(2,0), sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) );
+ alpha = atan2( R(1,0), R(0,0));
+ gamma = atan2( R(2,1), R(2,2));
+
+ if (bEnableYaw) data->yaw = rad2deg * alpha;
+ if (bEnablePitch) data->pitch = - rad2deg * beta; // FTNoIR expects a minus here
+ if (bEnableRoll) data->roll = rad2deg * gamma;
+ }
+ return true;
+}
+
+//-----------------------------------------------------------------------------
+#pragma comment(linker, "/export:GetTracker=_GetTracker@0")
+
+FTNOIR_TRACKER_BASE_EXPORT ITrackerPtr __stdcall GetTracker()
+{
+ return new Tracker;
+}
\ No newline at end of file |