diff options
Diffstat (limited to 'FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp')
| -rw-r--r-- | FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 48 |
1 files changed, 35 insertions, 13 deletions
diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index aa0e4272..13522863 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -9,25 +9,30 @@ #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
+
//-----------------------------------------------------------------------------
Tracker::Tracker()
: frame_count(0), commands(0), video_widget(NULL)
{
- qDebug()<<"Tracker Const";
+ qDebug()<<"Tracker::Tracker";
TrackerSettings settings;
settings.load_ini();
apply(settings);
- qDebug()<<"Tracker Starting";
+ camera.start();
start();
}
Tracker::~Tracker()
{
+ qDebug()<<"Tracker::~Tracker";
set_command(ABORT);
wait();
if (video_widget) delete video_widget;
@@ -47,8 +52,17 @@ void Tracker::reset_command(Command command) void Tracker::run()
{
- qDebug()<<"Tracker Thread started";
+ 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
{
{
@@ -58,47 +72,55 @@ void Tracker::run() if (commands & PAUSE) continue;
commands = 0;
- float dt = time.elapsed() / 1000.0;
+ dt = time.elapsed() / 1000.0;
time.restart();
- frame = camera.get_frame(dt);
- if (!frame.empty())
+ new_frame = camera.get_frame(dt, &frame);
+ if (new_frame && !frame.empty())
{
const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, draw_frame);
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";
+
+ qDebug()<<"Tracker:: Thread stopping";
}
void Tracker::apply(const TrackerSettings& settings)
{
- qDebug()<<"Tracker::apply";
+ qDebug()<<"Tracker:: Applying settings";
QMutexLocker lock(&mutex);
camera.set_index(settings.cam_index);
- camera.set_f(settings.cam_f);
- camera.set_res(settings.cam_res_x, settings.cam_res_y);
+ camera.set_res(settings.cam_res_x, settings.cam_res_y);
camera.set_fps(settings.cam_fps);
+ camera.set_f(settings.cam_f);
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));
sleep_time = settings.sleep_time;
- // TODO: reset time
+ point_tracker.dt_reset = settings.reset_time / 1000.0;
draw_frame = settings.video_widget;
t_MH = settings.t_MH;
}
void Tracker::reset()
{
- //TODO
+ 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);
@@ -112,7 +134,7 @@ void Tracker::Initialize(QFrame *videoframe) const int VIDEO_FRAME_WIDTH = 252;
const int VIDEO_FRAME_HEIGHT = 189;
- qDebug("Tracker::Initialize()");
+ qDebug("Tracker::Initialize");
// setup video frame
videoframe->setAttribute(Qt::WA_NativeWindow);
videoframe->show();
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