diff options
Diffstat (limited to 'FTNoIR_Tracker_PT')
35 files changed, 0 insertions, 5658 deletions
diff --git a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui deleted file mode 100644 index 0174df23..00000000 --- a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui +++ /dev/null @@ -1,1764 +0,0 @@ -<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>UICPTClientControls</class>
- <widget class="QWidget" name="UICPTClientControls">
- <property name="windowModality">
- <enum>Qt::ApplicationModal</enum>
- </property>
- <property name="geometry">
- <rect>
- <x>0</x>
- <y>0</y>
- <width>405</width>
- <height>489</height>
- </rect>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="windowTitle">
- <string>PointTracker Settings</string>
- </property>
- <property name="windowIcon">
- <iconset resource="ftnoir_tracker_pt.qrc">
- <normaloff>:/Resources/icon.ico</normaloff>:/Resources/icon.ico</iconset>
- </property>
- <property name="layoutDirection">
- <enum>Qt::LeftToRight</enum>
- </property>
- <property name="autoFillBackground">
- <bool>false</bool>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout_2">
- <property name="sizeConstraint">
- <enum>QLayout::SetFixedSize</enum>
- </property>
- <item>
- <widget class="QTabWidget" name="tabWidget">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>0</height>
- </size>
- </property>
- <property name="locale">
- <locale language="English" country="UnitedStates"/>
- </property>
- <property name="currentIndex">
- <number>0</number>
- </property>
- <widget class="QWidget" name="tab">
- <attribute name="title">
- <string>General</string>
- </attribute>
- <layout class="QVBoxLayout" name="verticalLayout_3">
- <item>
- <widget class="QGroupBox" name="groupBox_6">
- <property name="title">
- <string>Tracker Thread</string>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout_6">
- <item>
- <layout class="QGridLayout" name="gridLayout">
- <item row="1" column="0">
- <widget class="QCheckBox" name="dynpose_check">
- <property name="toolTip">
- <string/>
- </property>
- <property name="text">
- <string>Dynamic Pose Resolution</string>
- </property>
- </widget>
- </item>
- <item row="0" column="2">
- <widget class="QLabel" name="label_39">
- <property name="text">
- <string>Sleep time</string>
- </property>
- <property name="buddy">
- <cstring>sleep_spin</cstring>
- </property>
- </widget>
- </item>
- <item row="0" column="3">
- <layout class="QHBoxLayout" name="horizontalLayout_11">
- <item>
- <widget class="QSpinBox" name="sleep_spin">
- <property name="toolTip">
- <string>Time the tracker thread sleeps after each processed frame</string>
- </property>
- <property name="suffix">
- <string/>
- </property>
- <property name="maximum">
- <number>9999</number>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_40">
- <property name="text">
- <string>ms</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item row="1" column="2">
- <widget class="QLabel" name="label_43">
- <property name="text">
- <string>Auto-reset time</string>
- </property>
- <property name="buddy">
- <cstring>reset_spin</cstring>
- </property>
- </widget>
- </item>
- <item row="1" column="3">
- <layout class="QHBoxLayout" name="horizontalLayout_12">
- <item>
- <widget class="QSpinBox" name="reset_spin">
- <property name="toolTip">
- <string>Time until automatic reset of tracker's internal state when no valid tracking result is found</string>
- </property>
- <property name="maximum">
- <number>9999</number>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_42">
- <property name="text">
- <string>ms</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item row="0" column="0">
- <widget class="QCheckBox" name="videowidget_check">
- <property name="toolTip">
- <string>Whether to update the content of the VideoWidget</string>
- </property>
- <property name="text">
- <string>Show VideoWidget</string>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <spacer name="horizontalSpacer_7">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item row="0" column="1">
- <spacer name="horizontalSpacer_11">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item row="2" column="0">
- <widget class="QPushButton" name="reset_button">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="toolTip">
- <string>Reset the tracker's internal state</string>
- </property>
- <property name="text">
- <string>Reset</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- </item>
- <item>
- <widget class="QGroupBox" name="groupBox_3">
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>85</height>
- </size>
- </property>
- <property name="title">
- <string>Enable Axis</string>
- </property>
- <layout class="QHBoxLayout" name="horizontalLayout_5">
- <item>
- <layout class="QGridLayout" name="gridLayout_2">
- <item row="0" column="0">
- <widget class="QLabel" name="label_6">
- <property name="text">
- <string>Roll:</string>
- </property>
- <property name="buddy">
- <cstring>chkEnableRoll</cstring>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_9">
- <property name="text">
- <string>Pitch:</string>
- </property>
- <property name="buddy">
- <cstring>chkEnablePitch</cstring>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QLabel" name="label_11">
- <property name="text">
- <string>Yaw:</string>
- </property>
- <property name="buddy">
- <cstring>chkEnableYaw</cstring>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QCheckBox" name="chkEnableRoll">
- <property name="maximumSize">
- <size>
- <width>20</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="layoutDirection">
- <enum>Qt::LeftToRight</enum>
- </property>
- <property name="styleSheet">
- <string notr="true"/>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QCheckBox" name="chkEnablePitch">
- <property name="maximumSize">
- <size>
- <width>20</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="layoutDirection">
- <enum>Qt::LeftToRight</enum>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QCheckBox" name="chkEnableYaw">
- <property name="maximumSize">
- <size>
- <width>20</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="layoutDirection">
- <enum>Qt::LeftToRight</enum>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- <item row="0" column="3">
- <widget class="QLabel" name="label_14">
- <property name="text">
- <string>X:</string>
- </property>
- <property name="buddy">
- <cstring>chkEnableX</cstring>
- </property>
- </widget>
- </item>
- <item row="0" column="4">
- <widget class="QCheckBox" name="chkEnableX">
- <property name="maximumSize">
- <size>
- <width>20</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="layoutDirection">
- <enum>Qt::LeftToRight</enum>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- <item row="1" column="3">
- <widget class="QLabel" name="label_15">
- <property name="text">
- <string>Y:</string>
- </property>
- <property name="buddy">
- <cstring>chkEnableY</cstring>
- </property>
- </widget>
- </item>
- <item row="1" column="4">
- <widget class="QCheckBox" name="chkEnableY">
- <property name="maximumSize">
- <size>
- <width>20</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="layoutDirection">
- <enum>Qt::LeftToRight</enum>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- <item row="2" column="3">
- <widget class="QLabel" name="label_16">
- <property name="text">
- <string>Z:</string>
- </property>
- <property name="buddy">
- <cstring>chkEnableZ</cstring>
- </property>
- </widget>
- </item>
- <item row="2" column="4">
- <widget class="QCheckBox" name="chkEnableZ">
- <property name="maximumSize">
- <size>
- <width>20</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="layoutDirection">
- <enum>Qt::LeftToRight</enum>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- <item row="0" column="2">
- <spacer name="horizontalSpacer_3">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeType">
- <enum>QSizePolicy::Minimum</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item row="1" column="2">
- <spacer name="horizontalSpacer_5">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeType">
- <enum>QSizePolicy::Minimum</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item row="2" column="2">
- <spacer name="horizontalSpacer_8">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeType">
- <enum>QSizePolicy::Minimum</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- </layout>
- </item>
- <item>
- <spacer name="horizontalSpacer_4">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- </layout>
- </widget>
- </item>
- <item>
- <spacer name="verticalSpacer">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <widget class="QGroupBox" name="groupBox_11">
- <property name="title">
- <string>Status</string>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout_8">
- <item>
- <layout class="QFormLayout" name="formLayout_2">
- <property name="fieldGrowthPolicy">
- <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
- </property>
- <item row="0" column="0">
- <widget class="QLabel" name="label_65">
- <property name="text">
- <string>Camera Info:</string>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QLabel" name="caminfo_label_2">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>120</width>
- <height>0</height>
- </size>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_17">
- <property name="text">
- <string>Extracted Points:</string>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QLabel" name="pointinfo_label_2">
- <property name="minimumSize">
- <size>
- <width>50</width>
- <height>0</height>
- </size>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- </item>
- </layout>
- </widget>
- <widget class="QWidget" name="tab_2">
- <attribute name="title">
- <string>Camera</string>
- </attribute>
- <layout class="QVBoxLayout" name="verticalLayout_7">
- <item>
- <widget class="QGroupBox" name="groupBox">
- <property name="title">
- <string>Camera Settings</string>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout">
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_3">
- <item>
- <layout class="QFormLayout" name="formLayout_4">
- <item row="1" column="0">
- <widget class="QLabel" name="label_2">
- <property name="text">
- <string>Index</string>
- </property>
- <property name="buddy">
- <cstring>camindex_spin</cstring>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QSpinBox" name="camindex_spin">
- <property name="toolTip">
- <string>Capture device index</string>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QLabel" name="label_37">
- <property name="text">
- <string>FPS</string>
- </property>
- <property name="buddy">
- <cstring>fps_spin</cstring>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QSpinBox" name="fps_spin">
- <property name="toolTip">
- <string>Desired capture framerate</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <spacer name="horizontalSpacer_2">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <layout class="QVBoxLayout" name="verticalLayout_10">
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_13">
- <item>
- <widget class="QLabel" name="label_36">
- <property name="text">
- <string>Resolution</string>
- </property>
- </widget>
- </item>
- <item>
- <spacer name="horizontalSpacer_9">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <widget class="QSpinBox" name="res_x_spin">
- <property name="toolTip">
- <string>Desired capture width</string>
- </property>
- <property name="maximum">
- <number>2000</number>
- </property>
- <property name="singleStep">
- <number>10</number>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_41">
- <property name="text">
- <string>x</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QSpinBox" name="res_y_spin">
- <property name="toolTip">
- <string>Desired capture height</string>
- </property>
- <property name="maximum">
- <number>2000</number>
- </property>
- <property name="singleStep">
- <number>10</number>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_9">
- <item>
- <widget class="QLabel" name="label_34">
- <property name="text">
- <string>(Focal length)/(Sensor width)</string>
- </property>
- <property name="buddy">
- <cstring>f_dspin</cstring>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QDoubleSpinBox" name="f_dspin">
- <property name="toolTip">
- <string>The camera's focal length devided by its sensor width</string>
- </property>
- <property name="decimals">
- <number>2</number>
- </property>
- <property name="singleStep">
- <double>0.100000000000000</double>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_6">
- <item>
- <widget class="QLabel" name="label_4">
- <property name="text">
- <string>Camera Pitch (upwards = positive)</string>
- </property>
- <property name="buddy">
- <cstring>campitch_spin</cstring>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QSpinBox" name="campitch_spin">
- <property name="contextMenuPolicy">
- <enum>Qt::DefaultContextMenu</enum>
- </property>
- <property name="toolTip">
- <string>The angle the camera is facing upwards</string>
- </property>
- <property name="minimum">
- <number>-99</number>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_5">
- <property name="text">
- <string>deg</string>
- </property>
- </widget>
- </item>
- <item>
- <spacer name="horizontalSpacer_10">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- </item>
- <item>
- <widget class="QGroupBox" name="groupBox_2">
- <property name="title">
- <string>Point Extraction</string>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout_4">
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout">
- <item>
- <widget class="QLabel" name="label">
- <property name="text">
- <string>Threshold</string>
- </property>
- <property name="buddy">
- <cstring>threshold_slider</cstring>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QSlider" name="threshold_slider">
- <property name="toolTip">
- <string>Intensity threshold for point extraction</string>
- </property>
- <property name="maximum">
- <number>255</number>
- </property>
- <property name="value">
- <number>127</number>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_2">
- <item>
- <widget class="QLabel" name="label_7">
- <property name="text">
- <string>Min Diameter</string>
- </property>
- <property name="buddy">
- <cstring>mindiam_spin</cstring>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QSpinBox" name="mindiam_spin">
- <property name="toolTip">
- <string>Minimum point diameter</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_12">
- <property name="text">
- <string>px</string>
- </property>
- </widget>
- </item>
- <item>
- <spacer name="horizontalSpacer">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <widget class="QLabel" name="label_8">
- <property name="text">
- <string>Max Diameter</string>
- </property>
- <property name="buddy">
- <cstring>maxdiam_spin</cstring>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QSpinBox" name="maxdiam_spin">
- <property name="toolTip">
- <string>Maximum point diameter</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_13">
- <property name="text">
- <string>px</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- </item>
- <item>
- <spacer name="verticalSpacer_2">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>40</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <widget class="QGroupBox" name="groupBox_5">
- <property name="title">
- <string>Status</string>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout_5">
- <item>
- <layout class="QFormLayout" name="formLayout">
- <property name="fieldGrowthPolicy">
- <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
- </property>
- <item row="0" column="0">
- <widget class="QLabel" name="label_38">
- <property name="text">
- <string>Camera Info:</string>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QLabel" name="caminfo_label">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>120</width>
- <height>0</height>
- </size>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_3">
- <property name="text">
- <string>Extracted Points:</string>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QLabel" name="pointinfo_label">
- <property name="minimumSize">
- <size>
- <width>50</width>
- <height>0</height>
- </size>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- </item>
- </layout>
- </widget>
- <widget class="QWidget" name="tab_4">
- <attribute name="title">
- <string>Model</string>
- </attribute>
- <layout class="QVBoxLayout" name="verticalLayout_16">
- <item>
- <widget class="QTabWidget" name="model_tabs">
- <property name="tabShape">
- <enum>QTabWidget::Rounded</enum>
- </property>
- <property name="currentIndex">
- <number>2</number>
- </property>
- <property name="usesScrollButtons">
- <bool>false</bool>
- </property>
- <property name="documentMode">
- <bool>false</bool>
- </property>
- <property name="tabsClosable">
- <bool>false</bool>
- </property>
- <widget class="QWidget" name="tab_5">
- <attribute name="title">
- <string>Clip</string>
- </attribute>
- <layout class="QVBoxLayout" name="verticalLayout_13">
- <item>
- <widget class="QGroupBox" name="groupBox_8">
- <property name="title">
- <string>Model Dimensions (mm)</string>
- </property>
- <layout class="QHBoxLayout" name="horizontalLayout_16">
- <item>
- <widget class="QWidget" name="widget_4" native="true">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>150</width>
- <height>170</height>
- </size>
- </property>
- <widget class="QLabel" name="label_44">
- <property name="geometry">
- <rect>
- <x>30</x>
- <y>30</y>
- <width>71</width>
- <height>111</height>
- </rect>
- </property>
- <property name="text">
- <string/>
- </property>
- <property name="pixmap">
- <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/clip_side.png</pixmap>
- </property>
- </widget>
- <widget class="QSpinBox" name="clip_theight_spin">
- <property name="geometry">
- <rect>
- <x>100</x>
- <y>50</y>
- <width>46</width>
- <height>22</height>
- </rect>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- <widget class="QSpinBox" name="clip_tlength_spin">
- <property name="geometry">
- <rect>
- <x>60</x>
- <y>10</y>
- <width>46</width>
- <height>22</height>
- </rect>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- <widget class="QSpinBox" name="clip_bheight_spin">
- <property name="geometry">
- <rect>
- <x>100</x>
- <y>90</y>
- <width>46</width>
- <height>22</height>
- </rect>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- <widget class="QLabel" name="label_50">
- <property name="geometry">
- <rect>
- <x>10</x>
- <y>10</y>
- <width>46</width>
- <height>13</height>
- </rect>
- </property>
- <property name="text">
- <string>Side</string>
- </property>
- </widget>
- <widget class="QSpinBox" name="clip_blength_spin">
- <property name="geometry">
- <rect>
- <x>40</x>
- <y>140</y>
- <width>46</width>
- <height>22</height>
- </rect>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- <widget class="QLabel" name="label_52">
- <property name="geometry">
- <rect>
- <x>70</x>
- <y>70</y>
- <width>16</width>
- <height>16</height>
- </rect>
- </property>
- <property name="text">
- <string>R</string>
- </property>
- </widget>
- </widget>
- </item>
- <item>
- <widget class="QWidget" name="widget_3" native="true">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>100</width>
- <height>140</height>
- </size>
- </property>
- <widget class="QLabel" name="label_51">
- <property name="geometry">
- <rect>
- <x>10</x>
- <y>10</y>
- <width>46</width>
- <height>13</height>
- </rect>
- </property>
- <property name="text">
- <string>Front</string>
- </property>
- </widget>
- <widget class="QLabel" name="label_45">
- <property name="geometry">
- <rect>
- <x>40</x>
- <y>30</y>
- <width>21</width>
- <height>111</height>
- </rect>
- </property>
- <property name="text">
- <string/>
- </property>
- <property name="pixmap">
- <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/clip_front.png</pixmap>
- </property>
- </widget>
- <widget class="QLabel" name="label_53">
- <property name="geometry">
- <rect>
- <x>60</x>
- <y>70</y>
- <width>16</width>
- <height>16</height>
- </rect>
- </property>
- <property name="text">
- <string>R</string>
- </property>
- </widget>
- </widget>
- </item>
- </layout>
- </widget>
- </item>
- </layout>
- </widget>
- <widget class="QWidget" name="tab_6">
- <attribute name="title">
- <string>Cap</string>
- </attribute>
- <layout class="QVBoxLayout" name="verticalLayout_14">
- <item>
- <widget class="QGroupBox" name="groupBox_9">
- <property name="title">
- <string>Model Dimensions (mm)</string>
- </property>
- <layout class="QHBoxLayout" name="horizontalLayout_15">
- <item>
- <widget class="QWidget" name="widget" native="true">
- <property name="minimumSize">
- <size>
- <width>140</width>
- <height>130</height>
- </size>
- </property>
- <widget class="QLabel" name="label_46">
- <property name="geometry">
- <rect>
- <x>20</x>
- <y>50</y>
- <width>111</width>
- <height>81</height>
- </rect>
- </property>
- <property name="text">
- <string/>
- </property>
- <property name="pixmap">
- <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/cap_side.png</pixmap>
- </property>
- </widget>
- <widget class="QSpinBox" name="cap_height_spin">
- <property name="geometry">
- <rect>
- <x>30</x>
- <y>80</y>
- <width>46</width>
- <height>22</height>
- </rect>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- <widget class="QLabel" name="label_54">
- <property name="geometry">
- <rect>
- <x>130</x>
- <y>50</y>
- <width>16</width>
- <height>16</height>
- </rect>
- </property>
- <property name="text">
- <string>R</string>
- </property>
- </widget>
- <widget class="QLabel" name="label_48">
- <property name="geometry">
- <rect>
- <x>10</x>
- <y>10</y>
- <width>46</width>
- <height>13</height>
- </rect>
- </property>
- <property name="text">
- <string>Side</string>
- </property>
- </widget>
- <widget class="QSpinBox" name="cap_length_spin">
- <property name="geometry">
- <rect>
- <x>50</x>
- <y>40</y>
- <width>46</width>
- <height>22</height>
- </rect>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- </widget>
- </item>
- <item>
- <widget class="QWidget" name="widget_2" native="true">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>100</width>
- <height>130</height>
- </size>
- </property>
- <widget class="QLabel" name="label_49">
- <property name="geometry">
- <rect>
- <x>10</x>
- <y>10</y>
- <width>46</width>
- <height>13</height>
- </rect>
- </property>
- <property name="text">
- <string>Front</string>
- </property>
- </widget>
- <widget class="QLabel" name="label_55">
- <property name="geometry">
- <rect>
- <x>30</x>
- <y>50</y>
- <width>16</width>
- <height>16</height>
- </rect>
- </property>
- <property name="text">
- <string>R</string>
- </property>
- </widget>
- <widget class="QLabel" name="label_47">
- <property name="geometry">
- <rect>
- <x>10</x>
- <y>50</y>
- <width>81</width>
- <height>81</height>
- </rect>
- </property>
- <property name="text">
- <string/>
- </property>
- <property name="pixmap">
- <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/cap_front.png</pixmap>
- </property>
- </widget>
- <widget class="QSpinBox" name="cap_width_spin">
- <property name="geometry">
- <rect>
- <x>50</x>
- <y>30</y>
- <width>46</width>
- <height>22</height>
- </rect>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- </widget>
- </item>
- </layout>
- </widget>
- </item>
- </layout>
- </widget>
- <widget class="QWidget" name="tab_7">
- <attribute name="title">
- <string>Custom</string>
- </attribute>
- <layout class="QVBoxLayout" name="verticalLayout_15">
- <item>
- <widget class="QGroupBox" name="groupBox_7">
- <property name="title">
- <string>Model Dimensions (mm)</string>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout_12">
- <item>
- <widget class="QLabel" name="label_56">
- <property name="text">
- <string><html><head/><body><p>Location of the two remaining model points<br/>with respect to the reference point in default pose</p></body></html></string>
- </property>
- </widget>
- </item>
- <item>
- <spacer name="verticalSpacer_4">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_14">
- <item>
- <spacer name="horizontalSpacer_14">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <layout class="QGridLayout" name="gridLayout_4">
- <item row="3" column="2">
- <widget class="QSpinBox" name="m1z_spin">
- <property name="minimum">
- <number>-999</number>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QLabel" name="label_58">
- <property name="text">
- <string>y:</string>
- </property>
- </widget>
- </item>
- <item row="2" column="2">
- <widget class="QSpinBox" name="m1y_spin">
- <property name="minimum">
- <number>-999</number>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- </item>
- <item row="3" column="1">
- <widget class="QLabel" name="label_57">
- <property name="text">
- <string>z:</string>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_60">
- <property name="text">
- <string>M1:</string>
- </property>
- </widget>
- </item>
- <item row="1" column="2">
- <widget class="QSpinBox" name="m1x_spin">
- <property name="minimum">
- <number>-999</number>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QLabel" name="label_63">
- <property name="text">
- <string>x:</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <spacer name="horizontalSpacer_15">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <layout class="QGridLayout" name="gridLayout_5">
- <item row="1" column="2">
- <widget class="QSpinBox" name="m2x_spin">
- <property name="minimum">
- <number>-999</number>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QLabel" name="label_67">
- <property name="text">
- <string>x:</string>
- </property>
- </widget>
- </item>
- <item row="3" column="1">
- <widget class="QLabel" name="label_69">
- <property name="text">
- <string>z:</string>
- </property>
- </widget>
- </item>
- <item row="2" column="2">
- <widget class="QSpinBox" name="m2y_spin">
- <property name="minimum">
- <number>-999</number>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QLabel" name="label_70">
- <property name="text">
- <string>y:</string>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_64">
- <property name="text">
- <string>M2:</string>
- </property>
- </widget>
- </item>
- <item row="3" column="2">
- <widget class="QSpinBox" name="m2z_spin">
- <property name="suffix">
- <string/>
- </property>
- <property name="minimum">
- <number>-999</number>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <spacer name="horizontalSpacer_16">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- </layout>
- </item>
- <item>
- <spacer name="verticalSpacer_3">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- </layout>
- </widget>
- </item>
- </layout>
- </widget>
- </widget>
- </item>
- <item>
- <widget class="QGroupBox" name="groupBox_10">
- <property name="title">
- <string>Model Position (mm)</string>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout_11">
- <item>
- <widget class="QLabel" name="label_59">
- <property name="text">
- <string><html><head/><body><p>Translation from head center to model reference point<br/> in default pose</p></body></html></string>
- </property>
- </widget>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_17">
- <item>
- <spacer name="horizontalSpacer_17">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <layout class="QGridLayout" name="gridLayout_6">
- <item row="3" column="1">
- <widget class="QSpinBox" name="tz_spin">
- <property name="suffix">
- <string/>
- </property>
- <property name="minimum">
- <number>-999</number>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_61">
- <property name="text">
- <string>x:</string>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QLabel" name="label_62">
- <property name="text">
- <string>y:</string>
- </property>
- </widget>
- </item>
- <item row="3" column="0">
- <widget class="QLabel" name="label_66">
- <property name="text">
- <string>z:</string>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QSpinBox" name="ty_spin">
- <property name="minimum">
- <number>-999</number>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QSpinBox" name="tx_spin">
- <property name="minimum">
- <number>-999</number>
- </property>
- <property name="maximum">
- <number>999</number>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <spacer name="horizontalSpacer_18">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <widget class="QPushButton" name="tcalib_button">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="text">
- <string>Calibrate</string>
- </property>
- <property name="checkable">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item>
- <spacer name="horizontalSpacer_19">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- </item>
- </layout>
- </widget>
- <widget class="QWidget" name="tab_3">
- <attribute name="title">
- <string>About</string>
- </attribute>
- <widget class="QLabel" name="label_10">
- <property name="geometry">
- <rect>
- <x>30</x>
- <y>30</y>
- <width>161</width>
- <height>111</height>
- </rect>
- </property>
- <property name="text">
- <string><html><head/><body><p><span style=" font-weight:600;">FTNoIR PointTracker Plugin<br/>Version 1.0</span></p><p><span style=" font-weight:600;">by Patrick Ruoff</span></p><p><a href="http://ftnoirpt.sourceforge.net/"><span style=" font-weight:600; text-decoration: underline; color:#0000ff;">Manual (external)</span></a></p></body></html></string>
- </property>
- <property name="openExternalLinks">
- <bool>true</bool>
- </property>
- </widget>
- <widget class="QLabel" name="label_35">
- <property name="geometry">
- <rect>
- <x>200</x>
- <y>30</y>
- <width>141</width>
- <height>141</height>
- </rect>
- </property>
- <property name="text">
- <string/>
- </property>
- <property name="pixmap">
- <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/Logo_IR.png</pixmap>
- </property>
- </widget>
- </widget>
- </widget>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_4">
- <item>
- <spacer name="horizontalSpacer_6">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <widget class="QPushButton" name="ok_button">
- <property name="text">
- <string>Ok</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="cancel_button">
- <property name="text">
- <string>Cancel</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- <tabstops>
- <tabstop>tabWidget</tabstop>
- <tabstop>sleep_spin</tabstop>
- <tabstop>reset_spin</tabstop>
- <tabstop>chkEnableRoll</tabstop>
- <tabstop>chkEnablePitch</tabstop>
- <tabstop>chkEnableYaw</tabstop>
- <tabstop>chkEnableX</tabstop>
- <tabstop>chkEnableY</tabstop>
- <tabstop>chkEnableZ</tabstop>
- <tabstop>camindex_spin</tabstop>
- <tabstop>res_x_spin</tabstop>
- <tabstop>res_y_spin</tabstop>
- <tabstop>fps_spin</tabstop>
- <tabstop>f_dspin</tabstop>
- <tabstop>campitch_spin</tabstop>
- <tabstop>threshold_slider</tabstop>
- <tabstop>mindiam_spin</tabstop>
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diff --git a/FTNoIR_Tracker_PT/Resources/Logo_IR.png b/FTNoIR_Tracker_PT/Resources/Logo_IR.png Binary files differdeleted file mode 100644 index 95032a25..00000000 --- a/FTNoIR_Tracker_PT/Resources/Logo_IR.png +++ /dev/null diff --git a/FTNoIR_Tracker_PT/Resources/cap_front.png b/FTNoIR_Tracker_PT/Resources/cap_front.png Binary files differdeleted file mode 100644 index 14207a67..00000000 --- a/FTNoIR_Tracker_PT/Resources/cap_front.png +++ /dev/null diff --git a/FTNoIR_Tracker_PT/Resources/cap_side.png b/FTNoIR_Tracker_PT/Resources/cap_side.png Binary files differdeleted file mode 100644 index 5ad4ee65..00000000 --- a/FTNoIR_Tracker_PT/Resources/cap_side.png +++ /dev/null diff --git a/FTNoIR_Tracker_PT/Resources/clip_front.png b/FTNoIR_Tracker_PT/Resources/clip_front.png Binary files differdeleted file mode 100644 index 04880138..00000000 --- a/FTNoIR_Tracker_PT/Resources/clip_front.png +++ /dev/null diff --git a/FTNoIR_Tracker_PT/Resources/clip_side.png b/FTNoIR_Tracker_PT/Resources/clip_side.png Binary files differdeleted file mode 100644 index 72667ac7..00000000 --- a/FTNoIR_Tracker_PT/Resources/clip_side.png +++ /dev/null diff --git a/FTNoIR_Tracker_PT/Resources/icon.ico b/FTNoIR_Tracker_PT/Resources/icon.ico Binary files differdeleted file mode 100644 index c4b2aedc..00000000 --- a/FTNoIR_Tracker_PT/Resources/icon.ico +++ /dev/null diff --git a/FTNoIR_Tracker_PT/camera.cpp b/FTNoIR_Tracker_PT/camera.cpp deleted file mode 100644 index fc11c738..00000000 --- a/FTNoIR_Tracker_PT/camera.cpp +++ /dev/null @@ -1,226 +0,0 @@ -/* 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 "camera.h"
-#include <QDebug>
-
-using namespace cv;
-
-// ----------------------------------------------------------------------------
-void Camera::set_index(int index)
-{
- if (desired_index != index)
- {
- desired_index = index;
- _set_index();
-
- // reset fps
- dt_valid = 0;
- dt_mean = 0;
- active_index = index;
- }
-}
-
-void Camera::set_f(float f)
-{
- if (cam_desired.f != f)
- {
- cam_desired.f = f;
- _set_f();
- }
-}
-void Camera::set_fps(int fps)
-{
- if (cam_desired.fps != fps)
- {
- cam_desired.fps = fps;
- _set_fps();
- }
-}
-
-void Camera::set_res(int x_res, int y_res)
-{
- if (cam_desired.res_x != x_res || cam_desired.res_y != y_res)
- {
- cam_desired.res_x = x_res;
- cam_desired.res_y = y_res;
- _set_res();
- }
-}
-
-bool Camera::get_frame(float dt, cv::Mat* frame)
-{
- bool new_frame = _get_frame(frame);
- // measure fps of valid frames
- const float dt_smoothing_const = 0.9;
- dt_valid += dt;
- if (new_frame)
- {
- dt_mean = dt_smoothing_const * dt_mean + (1.0 - dt_smoothing_const) * dt_valid;
- cam_info.fps = 1.0 / dt_mean;
- dt_valid = 0;
- }
- return new_frame;
-}
-
-// ----------------------------------------------------------------------------
-/*
-void CVCamera::start()
-{
- cap = cvCreateCameraCapture(desired_index);
- // extract camera info
- if (cap)
- {
- active = true;
- active_index = desired_index;
- cam_info.res_x = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_WIDTH);
- cam_info.res_y = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_HEIGHT);
- }
-}
-
-void CVCamera::stop()
-{
- if (cap) cvReleaseCapture(&cap);
- active = false;
-}
-
-bool CVCamera::_get_frame(Mat* frame)
-{
- if (cap && cvGrabFrame(cap) != 0)
- {
- // retrieve frame
- IplImage* _img = cvRetrieveFrame(cap, 0);
- if(_img)
- {
- if(_img->origin == IPL_ORIGIN_TL)
- *frame = Mat(_img);
- else
- {
- Mat temp(_img);
- flip(temp, *frame, 0);
- }
- return true;
- }
- }
- return false;
-}
-
-void CVCamera::_set_index()
-{
- if (active) restart();
-}
-
-void CVCamera::_set_f()
-{
- cam_info.f = cam_desired.f;
-}
-
-void CVCamera::_set_fps()
-{
- if (cap) cvSetCaptureProperty(cap, CV_CAP_PROP_FPS, cam_desired.fps);
-}
-
-void CVCamera::_set_res()
-{
- if (cap)
- {
- cvSetCaptureProperty(cap, CV_CAP_PROP_FRAME_WIDTH, cam_desired.res_x);
- cvSetCaptureProperty(cap, CV_CAP_PROP_FRAME_HEIGHT, cam_desired.res_y);
- cam_info.res_x = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_WIDTH);
- cam_info.res_y = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_HEIGHT);
- }
-}
-*/
-
-// ----------------------------------------------------------------------------
-VICamera::VICamera() : frame_buffer(NULL)
-{
- VI.listDevices();
-}
-
-void VICamera::start()
-{
- if (desired_index >= 0)
- {
-
-
- if (cam_desired.res_x == 0 || cam_desired.res_y == 0)
- VI.setupDevice(desired_index);
- else
- VI.setupDevice(desired_index, cam_desired.res_x, cam_desired.res_y);
-
- active = true;
- active_index = desired_index;
-
- cam_info.res_x = VI.getWidth(active_index);
- cam_info.res_y = VI.getHeight(active_index);
- new_frame = cv::Mat(cam_info.res_y, cam_info.res_x, CV_8UC3);
- // If matrix is not continuous we have to copy manually via frame_buffer
- if (!new_frame.isContinuous()) {
- unsigned int size = VI.getSize(active_index);
- frame_buffer = new unsigned char[size];
- }
- }
-}
-
-void VICamera::stop()
-{
- if (active)
- {
- VI.stopDevice(active_index);
- }
- if (frame_buffer)
- {
- delete[] frame_buffer;
- frame_buffer = NULL;
- }
- active = false;
-}
-
-bool VICamera::_get_frame(Mat* frame)
-{
- if (active && VI.isFrameNew(active_index))
- {
- if (new_frame.isContinuous())
- {
- VI.getPixels(active_index, new_frame.data, false, true);
- }
- else
- {
- // If matrix is not continuous we have to copy manually via frame_buffer
- VI.getPixels(active_index, frame_buffer, false, true);
- new_frame = cv::Mat(cam_info.res_y, cam_info.res_x, CV_8UC3, frame_buffer).clone();
- }
- *frame = new_frame;
- return true;
- }
- return false;
-}
-
-void VICamera::_set_index()
-{
- if (active) restart();
-}
-
-void VICamera::_set_f()
-{
- cam_info.f = cam_desired.f;
-}
-
-void VICamera::_set_fps()
-{
- bool was_active = active;
- if (active) stop();
- VI.setIdealFramerate(desired_index, cam_desired.fps);
- if (was_active) start();
-}
-
-void VICamera::_set_res()
-{
- if (active) restart();
-}
-
diff --git a/FTNoIR_Tracker_PT/camera.h b/FTNoIR_Tracker_PT/camera.h deleted file mode 100644 index cd1f0842..00000000 --- a/FTNoIR_Tracker_PT/camera.h +++ /dev/null @@ -1,116 +0,0 @@ -/* 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.
- */
-
-#ifndef CAMERA_H
-#define CAMERA_H
-
-#include <opencv2/opencv.hpp>
-#include "videoInput/videoInput.h"
-
-// ----------------------------------------------------------------------------
-struct CamInfo
-{
- CamInfo() : res_x(0), res_y(0), fps(0), f(1) {}
-
- int res_x;
- int res_y;
- int fps;
- float f; // (focal length) / (sensor width)
-};
-
-// ----------------------------------------------------------------------------
-// base class for cameras
-class Camera
-{
-public:
- Camera() : dt_valid(0), dt_mean(0), desired_index(0), active_index(-1), active(false) {}
- virtual ~Camera() {}
-
- // start/stop capturing
- virtual void start() = 0;
- virtual void stop() = 0;
- void restart() { stop(); start(); }
-
- void set_index(int index);
- void set_f(float f);
- void set_fps(int fps);
- void set_res(int x_res, int y_res);
-
- // gets a frame from the camera, dt: time since last call in seconds
- bool get_frame(float dt, cv::Mat* frame);
-
- // WARNING: returned references are valid as long as object
- const CamInfo& get_info() const { return cam_info; }
- const CamInfo& get_desired() const { return cam_desired; }
-
-protected:
- // get a frame from the camera
- virtual bool _get_frame(cv::Mat* frame) = 0;
-
- // update the camera
- virtual void _set_index() = 0;
- virtual void _set_f() = 0;
- virtual void _set_fps() = 0;
- virtual void _set_res() = 0;
-
- bool active;
- int desired_index;
- int active_index;
- CamInfo cam_info;
- CamInfo cam_desired;
- float dt_valid;
- float dt_mean;
-};
-
-
-// ----------------------------------------------------------------------------
-// OpenCV camera
-/*
-class CVCamera : public Camera
-{
-public:
- CVCamera() : cap(NULL) {}
- ~CVCamera() { stop(); }
-
- void start();
- void stop();
-
-protected:
- bool _get_frame(cv::Mat* frame);
- void _set_index();
- void _set_f();
- void _set_fps();
- void _set_res();
-
- CvCapture* cap;
-};
-*/
-
-// ----------------------------------------------------------------------------
-// videoInput camera
-class VICamera : public Camera
-{
-public:
- VICamera();
- ~VICamera() { stop(); }
-
- void start();
- void stop();
-
-protected:
- bool _get_frame(cv::Mat* frame);
- void _set_index();
- void _set_f();
- void _set_fps();
- void _set_res();
-
- videoInput VI;
- cv::Mat new_frame;
- unsigned char* frame_buffer;
-};
-
-#endif //CAMERA_H
diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp deleted file mode 100644 index 5b77da69..00000000 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ /dev/null @@ -1,257 +0,0 @@ -/* 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
-
-//-----------------------------------------------------------------------------
-Tracker::Tracker()
- : frame_count(0), commands(0), video_widget(NULL), tracking_valid(false)
-{
- qDebug()<<"Tracker::Tracker";
- TrackerSettings settings;
- settings.load_ini();
- apply(settings);
- camera.start();
- start();
-}
-
-Tracker::~Tracker()
-{
- qDebug()<<"Tracker::~Tracker";
- set_command(ABORT);
- wait();
- if (video_widget) delete 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())
- {
- const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, draw_frame);
- 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_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);
- 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;
- draw_frame = settings.video_widget;
- cam_pitch = settings.cam_pitch;
-
- bEnableRoll = settings.bEnableRoll;
- bEnablePitch = settings.bEnablePitch;
- bEnableYaw = settings.bEnableYaw;
- bEnableX = settings.bEnableX;
- bEnableY = settings.bEnableY;
- bEnableZ = settings.bEnableZ;
-
- t_MH = settings.t_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_CH_0 = X_CM_0 * X_MH;
-}
-
-//-----------------------------------------------------------------------------
-// ITracker interface
-void Tracker::Initialize(QFrame *videoframe)
-{
- const int VIDEO_FRAME_WIDTH = 252;
- const int VIDEO_FRAME_HEIGHT = 189;
-
- qDebug("Tracker::Initialize");
- // setup video frame
- videoframe->setAttribute(Qt::WA_NativeWindow);
- videoframe->show();
- video_widget = new VideoWidget(videoframe);
- QHBoxLayout* layout = new QHBoxLayout();
- layout->setContentsMargins(0, 0, 0, 0);
- layout->addWidget(video_widget);
- if (videoframe->layout()) delete videoframe->layout();
- videoframe->setLayout(layout);
- video_widget->resize(VIDEO_FRAME_WIDTH, VIDEO_FRAME_HEIGHT);
-}
-
-void Tracker::refreshVideo()
-{
- if (video_widget)
- {
- Mat frame_copy;
- shared_ptr< vector<Vec2f> > points;
- {
- QMutexLocker lock(&mutex);
- if (!draw_frame || frame.empty()) return;
-
- // copy the frame and points from the tracker thread
- frame_copy = frame.clone();
- points = shared_ptr< vector<Vec2f> >(new vector<Vec2f>(point_extractor.get_points()));
- }
-
- video_widget->update(frame_copy, points);
- }
-}
-
-void Tracker::StartTracker(HWND parent_window)
-{
- reset_command(PAUSE);
-}
-
-void Tracker::StopTracker(bool exit)
-{
- set_command(PAUSE);
-}
-
-bool Tracker::GiveHeadPoseData(THeadPoseData *data)
-{
- const float rad2deg = 180.0/3.14159265;
- const float deg2rad = 1.0/rad2deg;
- {
- QMutexLocker lock(&mutex);
-
- if (!tracking_valid) return false;
-
- FrameTrafo X_CM = point_tracker.get_pose();
- FrameTrafo X_MH(Matx33f::eye(), t_MH);
- FrameTrafo X_CH = X_CM * X_MH;
-
- Matx33f R = X_CH.R * X_CH_0.R.t();
- Vec3f t = X_CH.t - X_CH_0.t;
-
- // correct for camera pitch
- Matx33f R_CP( 1, 0, 0,
- 0, cos(deg2rad*cam_pitch), sin(deg2rad*cam_pitch),
- 0, -sin(deg2rad*cam_pitch), cos(deg2rad*cam_pitch));
- R = R_CP * R * R_CP.t();
- t = R_CP * 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 (R) frame
- // -z -> x, y -> z, x -> -y
- Matx33f R_RG( 0, 0,-1,
- -1, 0, 0,
- 0, 1, 0);
- R = R_RG * R * R_RG.t();
-
- // extract rotation angles
- float alpha, beta, gamma;
- //beta = atan2( -R(2,0), sqrt(R(0,0)*R(0,0) + R(1,0)*R(1,0)) );
- 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;
- }
- 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 diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h deleted file mode 100644 index 2533a39b..00000000 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h +++ /dev/null @@ -1,86 +0,0 @@ -/* 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.
- */
-
-#ifndef FTNOIR_TRACKER_PT_H
-#define FTNOIR_TRACKER_PT_H
-
-#include "..\ftnoir_tracker_base\ftnoir_tracker_base.h"
-#include "ftnoir_tracker_pt_settings.h"
-#include "camera.h"
-#include "point_extractor.h"
-#include "point_tracker.h"
-#include "video_widget.h"
-#include "timer.h"
-
-#include <QThread>
-#include <QMutex>
-#include <QTime>
-#include <opencv2/opencv.hpp>
-
-//-----------------------------------------------------------------------------
-class Tracker : public ITracker, QThread
-{
-public:
- Tracker();
- ~Tracker();
-
- // ITracker interface
- void Initialize(QFrame *videoframe);
- void StartTracker(HWND parent_window);
- void StopTracker(bool exit);
- bool GiveHeadPoseData(THeadPoseData *data);
-
- void refreshVideo();
-
- void apply(const TrackerSettings& settings);
- void center();
- void reset(); // reset the trackers internal state variables
- void run();
-
- void get_pose(FrameTrafo* X_CM) { QMutexLocker lock(&mutex); *X_CM = point_tracker.get_pose(); }
- int get_n_points() { QMutexLocker lock(&mutex); return point_extractor.get_points().size(); }
- void get_cam_info(CamInfo* info) { QMutexLocker lock(&mutex); *info = camera.get_info(); }
-
-protected:
- FrameTrafo X_CH_0; // for centering
-
- QMutex mutex;
- cv::Mat frame; // the output frame for display
-
- enum Command {
- ABORT = 1<<0,
- PAUSE = 1<<1
- };
- void set_command(Command command);
- void reset_command(Command command);
- int commands;
-
- VICamera camera;
- PointExtractor point_extractor;
- PointTracker point_tracker;
- bool tracking_valid;
-
- cv::Vec3f t_MH;
- int cam_pitch;
-
- bool draw_frame;
- int sleep_time;
-
- bool bEnableRoll;
- bool bEnablePitch;
- bool bEnableYaw;
- bool bEnableX;
- bool bEnableY;
- bool bEnableZ;
-
- long frame_count;
-
- VideoWidget* video_widget;
- Timer time;
-};
-
-#endif // FTNOIR_TRACKER_PT_H
diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.qrc b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.qrc deleted file mode 100644 index eb1fba2c..00000000 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.qrc +++ /dev/null @@ -1,10 +0,0 @@ -<RCC> - <qresource prefix="/"> - <file>Resources/icon.ico</file> - <file>Resources/cap_front.png</file> - <file>Resources/cap_side.png</file> - <file>Resources/clip_front.png</file> - <file>Resources/clip_side.png</file> - <file>Resources/Logo_IR.png</file> - </qresource> -</RCC> diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp deleted file mode 100644 index a1531dd7..00000000 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp +++ /dev/null @@ -1,336 +0,0 @@ -/* 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_dialog.h"
-
-#include <QMessageBox>
-#include <QDebug>
-
-//-----------------------------------------------------------------------------
-TrackerDialog::TrackerDialog()
- : settings_dirty(false), tracker(NULL), timer(this), trans_calib_running(false)
-{
- qDebug()<<"TrackerDialog::TrackerDialog";
- setAttribute(Qt::WA_DeleteOnClose, false);
-
- ui.setupUi( this );
-
- settings.load_ini();
- dialog_settings.load_ini();
-
- // initialize ui values
- ui.videowidget_check->setChecked(settings.video_widget);
- ui.dynpose_check->setChecked(settings.dyn_pose_res);
- ui.sleep_spin->setValue(settings.sleep_time);
- ui.reset_spin->setValue(settings.reset_time);
- ui.camindex_spin->setValue(settings.cam_index);
- ui.f_dspin->setValue(settings.cam_f);
- ui.res_x_spin->setValue(settings.cam_res_x);
- ui.res_y_spin->setValue(settings.cam_res_y);
- ui.fps_spin->setValue(settings.cam_fps);
- ui.campitch_spin->setValue(settings.cam_pitch);
- ui.threshold_slider->setValue(settings.threshold);
-
- ui.chkEnableRoll->setChecked(settings.bEnableRoll);
- ui.chkEnablePitch->setChecked(settings.bEnablePitch);
- ui.chkEnableYaw->setChecked(settings.bEnableYaw);
- ui.chkEnableX->setChecked(settings.bEnableX);
- ui.chkEnableY->setChecked(settings.bEnableY);
- ui.chkEnableZ->setChecked(settings.bEnableZ);
-
- ui.mindiam_spin->setValue(settings.min_point_size);
- ui.maxdiam_spin->setValue(settings.max_point_size);
- ui.model_tabs->setCurrentIndex(dialog_settings.active_model_panel);
- ui.clip_bheight_spin->setValue(dialog_settings.clip_by);
- ui.clip_blength_spin->setValue(dialog_settings.clip_bz);
- ui.clip_theight_spin->setValue(dialog_settings.clip_ty);
- ui.clip_tlength_spin->setValue(dialog_settings.clip_tz);
- ui.cap_width_spin->setValue(dialog_settings.cap_x);
- ui.cap_height_spin->setValue(dialog_settings.cap_y);
- ui.cap_length_spin->setValue(dialog_settings.cap_z);
- ui.m1x_spin->setValue(dialog_settings.M01x);
- ui.m1y_spin->setValue(dialog_settings.M01y);
- ui.m1z_spin->setValue(dialog_settings.M01z);
- ui.m2x_spin->setValue(dialog_settings.M02x);
- ui.m2y_spin->setValue(dialog_settings.M02y);
- ui.m2z_spin->setValue(dialog_settings.M02z);
- ui.tx_spin->setValue(settings.t_MH[0]);
- ui.ty_spin->setValue(settings.t_MH[1]);
- ui.tz_spin->setValue(settings.t_MH[2]);
-
- // connect Qt signals and slots
- connect( ui.videowidget_check,SIGNAL(toggled(bool)), this,SLOT(set_video_widget(bool)) );
- connect( ui.dynpose_check,SIGNAL(toggled(bool)), this,SLOT(set_dyn_pose_res(bool)) );
- connect( ui.sleep_spin,SIGNAL(valueChanged(int)), this,SLOT(set_sleep_time(int)) );
- connect( ui.reset_spin,SIGNAL(valueChanged(int)), this,SLOT(set_reset_time(int)) );
- connect( ui.camindex_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cam_index(int)) );
- connect( ui.f_dspin,SIGNAL(valueChanged(double)), this,SLOT(set_cam_f(double)) );
- connect( ui.res_x_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cam_res_x(int)) );
- connect( ui.res_y_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cam_res_y(int)) );
- connect( ui.fps_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cam_fps(int)) );
- connect( ui.campitch_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cam_pitch(int)) );
- connect( ui.threshold_slider,SIGNAL(sliderMoved(int)), this,SLOT(set_threshold(int)) );
-
- connect( ui.chkEnableRoll,SIGNAL(toggled(bool)), this,SLOT(set_ena_roll(bool)) );
- connect( ui.chkEnablePitch,SIGNAL(toggled(bool)), this,SLOT(set_ena_pitch(bool)) );
- connect( ui.chkEnableYaw,SIGNAL(toggled(bool)), this,SLOT(set_ena_yaw(bool)) );
- connect( ui.chkEnableX,SIGNAL(toggled(bool)), this,SLOT(set_ena_x(bool)) );
- connect( ui.chkEnableY,SIGNAL(toggled(bool)), this,SLOT(set_ena_y(bool)) );
- connect( ui.chkEnableZ,SIGNAL(toggled(bool)), this,SLOT(set_ena_z(bool)) );
-
- connect( ui.mindiam_spin,SIGNAL(valueChanged(int)), this,SLOT(set_min_point_size(int)) );
- connect( ui.maxdiam_spin,SIGNAL(valueChanged(int)), this,SLOT(set_max_point_size(int)) );
- connect( ui.model_tabs,SIGNAL(currentChanged(int)), this,SLOT(set_model(int)) );
- connect( ui.clip_theight_spin,SIGNAL(valueChanged(int)), this,SLOT(set_clip_t_height(int)) );
- connect( ui.clip_tlength_spin,SIGNAL(valueChanged(int)), this,SLOT(set_clip_t_length(int)) );
- connect( ui.clip_bheight_spin,SIGNAL(valueChanged(int)), this,SLOT(set_clip_b_height(int)) );
- connect( ui.clip_blength_spin,SIGNAL(valueChanged(int)), this,SLOT(set_clip_b_length(int)) );
- connect( ui.cap_width_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cap_width(int)) );
- connect( ui.cap_height_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cap_height(int)) );
- connect( ui.cap_length_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cap_length(int)) );
- connect( ui.m1x_spin,SIGNAL(valueChanged(int)), this,SLOT(set_m1x(int)) );
- connect( ui.m1y_spin,SIGNAL(valueChanged(int)), this,SLOT(set_m1y(int)) );
- connect( ui.m1z_spin,SIGNAL(valueChanged(int)), this,SLOT(set_m1z(int)) );
- connect( ui.m2x_spin,SIGNAL(valueChanged(int)), this,SLOT(set_m2x(int)) );
- connect( ui.m2y_spin,SIGNAL(valueChanged(int)), this,SLOT(set_m2y(int)) );
- connect( ui.m2z_spin,SIGNAL(valueChanged(int)), this,SLOT(set_m2z(int)) );
- connect( ui.tx_spin,SIGNAL(valueChanged(int)), this,SLOT(set_tx(int)) );
- connect( ui.ty_spin,SIGNAL(valueChanged(int)), this,SLOT(set_ty(int)) );
- connect( ui.tz_spin,SIGNAL(valueChanged(int)), this,SLOT(set_tz(int)) );
-
- connect( ui.tcalib_button,SIGNAL(toggled(bool)), this,SLOT(startstop_trans_calib(bool)) );
-
- connect(ui.reset_button, SIGNAL(clicked()), this, SLOT(doReset()));
- //connect(ui.center_button, SIGNAL(clicked()), this, SLOT(doCenter()));
-
- connect(ui.ok_button, SIGNAL(clicked()), this, SLOT(doOK()));
- connect(ui.cancel_button, SIGNAL(clicked()), this, SLOT(doCancel()));
-
- connect(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info()));
- timer.start(100);
-}
-
-TrackerDialog::~TrackerDialog()
-{
- qDebug()<<"TrackerDialog::~TrackerDialog";
-}
-
-void TrackerDialog::set_clip()
-{
- settings.M01[0] = 0;
- settings.M01[1] = dialog_settings.clip_ty;
- settings.M01[2] = -dialog_settings.clip_tz;
- settings.M02[0] = 0;
- settings.M02[1] = -dialog_settings.clip_by;
- settings.M02[2] = -dialog_settings.clip_bz;
-
- settings_changed();
-}
-
-void TrackerDialog::set_cap()
-{
- settings.M01[0] = -dialog_settings.cap_x;
- settings.M01[1] = -dialog_settings.cap_y;
- settings.M01[2] = -dialog_settings.cap_z;
- settings.M02[0] = dialog_settings.cap_x;
- settings.M02[1] = -dialog_settings.cap_y;
- settings.M02[2] = -dialog_settings.cap_z;
-
- settings_changed();
-}
-
-void TrackerDialog::set_custom()
-{
- settings.M01[0] = dialog_settings.M01x;
- settings.M01[1] = dialog_settings.M01y;
- settings.M01[2] = dialog_settings.M01z;
- settings.M02[0] = dialog_settings.M02x;
- settings.M02[1] = dialog_settings.M02y;
- settings.M02[2] = dialog_settings.M02z;
-
- settings_changed();
-}
-
-void TrackerDialog::set_model(int val)
-{
- dialog_settings.active_model_panel = val;
-
- switch (val) {
-
- case TrackerDialogSettings::MODEL_CLIP:
- set_clip();
- break;
-
- case TrackerDialogSettings::MODEL_CAP:
- set_cap();
- break;
-
- case TrackerDialogSettings::MODEL_CUSTOM:
- set_custom();
- break;
-
- default:
- break;
- }
-}
-
-void TrackerDialog::startstop_trans_calib(bool start)
-{
- if (start)
- {
- qDebug()<<"TrackerDialog:: Starting translation calibration";
- trans_calib.reset();
- trans_calib_running = true;
- }
- else
- {
- qDebug()<<"TrackerDialog:: Stoppping translation calibration";
- trans_calib_running = false;
- settings.t_MH = trans_calib.get_estimate();
- settings_changed();
- }
-}
-
-void TrackerDialog::trans_calib_step()
-{
- if (tracker)
- {
- FrameTrafo X_CM;
- tracker->get_pose(&X_CM);
- trans_calib.update(X_CM.R, X_CM.t);
- cv::Vec3f t_MH = trans_calib.get_estimate();
- //qDebug()<<"TrackerDialog:: Current translation estimate: "<<t_MH[0]<<t_MH[1]<<t_MH[2];
- ui.tx_spin->setValue(t_MH[0]);
- ui.ty_spin->setValue(t_MH[1]);
- ui.tz_spin->setValue(t_MH[2]);
- }
-}
-
-void TrackerDialog::settings_changed()
-{
- settings_dirty = true;
- if (tracker) tracker->apply(settings);
-}
-
-void TrackerDialog::doCenter()
-{
- if (tracker) tracker->center();
-}
-
-void TrackerDialog::doReset()
-{
- if (tracker) tracker->reset();
-}
-
-void TrackerDialog::doOK()
-{
- settings.save_ini();
- dialog_settings.save_ini();
- close();
-}
-
-void TrackerDialog::doCancel()
-{
- if (settings_dirty) {
- int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?",
- QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel, QMessageBox::Discard );
- switch (ret) {
- case QMessageBox::Save:
- settings.save_ini();
- dialog_settings.save_ini();
- close();
- break;
- case QMessageBox::Discard:
- close();
- break;
- case QMessageBox::Cancel:
- // Cancel was clicked
- break;
- default:
- // should never be reached
- break;
- }
- }
- else {
- close();
- }
-}
-
-void TrackerDialog::poll_tracker_info()
-{
- if (tracker)
- {
- QString to_print;
-
- // display caminfo
- CamInfo info;
- tracker->get_cam_info(&info);
- to_print = QString::number(info.res_x)+"x"+QString::number(info.res_y)+" @ "+QString::number(info.fps)+" FPS";
- ui.caminfo_label->setText(to_print);
- ui.caminfo_label_2->setText(to_print);
-
- // display pointinfo
- int n_points = tracker->get_n_points();
- to_print = QString::number(n_points);
- if (n_points == 3)
- to_print += " OK!";
- else
- to_print += " BAD!";
- ui.pointinfo_label->setText(to_print);
- ui.pointinfo_label_2->setText(to_print);
-
- // update calibration
- if (trans_calib_running) trans_calib_step();
- }
- else
- {
- QString to_print = "Tracker offline";
- ui.caminfo_label->setText(to_print);
- ui.caminfo_label_2->setText(to_print);
- ui.pointinfo_label->setText(to_print);
- ui.pointinfo_label_2->setText(to_print);
- }
-}
-
-
-//-----------------------------------------------------------------------------
-// ITrackerDialog interface
-void TrackerDialog::Initialize(QWidget *parent)
-{
- QPoint offsetpos(200, 200);
- if (parent) {
- this->move(parent->pos() + offsetpos);
- }
- show();
-}
-
-void TrackerDialog::registerTracker(ITracker *t)
-{
- qDebug()<<"TrackerDialog:: Tracker registered";
- tracker = static_cast<Tracker*>(t);
- if (isVisible() && settings_dirty) tracker->apply(settings);
- ui.tcalib_button->setEnabled(true);
- //ui.center_button->setEnabled(true);
- ui.reset_button->setEnabled(true);
-}
-
-void TrackerDialog::unRegisterTracker()
-{
- qDebug()<<"TrackerDialog:: Tracker un-registered";
- tracker = NULL;
- ui.tcalib_button->setEnabled(false);
- //ui.center_button->setEnabled(false);
- ui.reset_button->setEnabled(false);
-}
-
-//-----------------------------------------------------------------------------
-#pragma comment(linker, "/export:GetTrackerDialog=_GetTrackerDialog@0")
-
-FTNOIR_TRACKER_BASE_EXPORT ITrackerDialogPtr __stdcall GetTrackerDialog( )
-{
- return new TrackerDialog;
-}
\ No newline at end of file diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h deleted file mode 100644 index 0f836dfe..00000000 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h +++ /dev/null @@ -1,102 +0,0 @@ -/* 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.
- */
-
-#ifndef FTNOIR_TRACKER_PT_DIALOG_H
-#define FTNOIR_TRACKER_PT_DIALOG_H
-
-#include "..\ftnoir_tracker_base\ftnoir_tracker_base.h"
-#include "ftnoir_tracker_pt_settings.h"
-#include "ftnoir_tracker_pt.h"
-#include "ui_FTNoIR_PT_Controls.h"
-#include "trans_calib.h"
-
-#include <QTimer>
-
-//-----------------------------------------------------------------------------
-class TrackerDialog : public QWidget, Ui::UICPTClientControls, public ITrackerDialog
-{
- Q_OBJECT
-public:
- TrackerDialog();
- ~TrackerDialog();
-
- // ITrackerDialog interface
- void Initialize(QWidget *parent);
- void registerTracker(ITracker *tracker);
- void unRegisterTracker();
-
- void trans_calib_step();
-
-protected slots:
- // ugly qt stuff
- void set_video_widget(bool val) { settings.video_widget = val; settings_changed(); }
- void set_dyn_pose_res(bool val) { settings.dyn_pose_res = val; settings_changed(); }
- void set_sleep_time(int val) { settings.sleep_time = val; settings_changed(); }
- void set_reset_time(int val) { settings.reset_time = val; settings_changed(); }
- void set_cam_index(int val) { settings.cam_index = val; settings_changed(); }
- void set_cam_f(double val) { settings.cam_f = val; settings_changed(); }
- void set_cam_res_x(int val) { settings.cam_res_x = val; settings_changed(); }
- void set_cam_res_y(int val) { settings.cam_res_y = val; settings_changed(); }
- void set_cam_fps(int val) { settings.cam_fps = val; settings_changed(); }
- void set_cam_pitch(int val) { settings.cam_pitch = val; settings_changed(); }
- void set_min_point_size(int val) { settings.min_point_size = val; settings_changed(); }
- void set_max_point_size(int val) { settings.max_point_size = val; settings_changed(); }
- void set_threshold(int val) { settings.threshold = val; settings_changed(); }
- void set_ena_roll(bool val) { settings.bEnableRoll = val; settings_changed(); }
- void set_ena_pitch(bool val) { settings.bEnablePitch = val; settings_changed(); }
- void set_ena_yaw(bool val) { settings.bEnableYaw = val; settings_changed(); }
- void set_ena_x(bool val) { settings.bEnableX = val; settings_changed(); }
- void set_ena_y(bool val) { settings.bEnableY = val; settings_changed(); }
- void set_ena_z(bool val) { settings.bEnableZ = val; settings_changed(); }
-
- void set_clip_t_height(int val) { dialog_settings.clip_ty = val; set_clip(); }
- void set_clip_t_length(int val) { dialog_settings.clip_tz = val; set_clip(); }
- void set_clip_b_height(int val) { dialog_settings.clip_by = val; set_clip(); }
- void set_clip_b_length(int val) { dialog_settings.clip_bz = val; set_clip(); }
- void set_cap_width(int val) { dialog_settings.cap_x = val; set_cap(); }
- void set_cap_height(int val) { dialog_settings.cap_y = val; set_cap(); }
- void set_cap_length(int val) { dialog_settings.cap_z = val; set_cap(); }
- void set_m1x(int val) { dialog_settings.M01x = val; set_custom(); }
- void set_m1y(int val) { dialog_settings.M01y = val; set_custom(); }
- void set_m1z(int val) { dialog_settings.M01z = val; set_custom(); }
- void set_m2x(int val) { dialog_settings.M02x = val; set_custom(); }
- void set_m2y(int val) { dialog_settings.M02y = val; set_custom(); }
- void set_m2z(int val) { dialog_settings.M02z = val; set_custom(); }
- void set_tx(int val) { settings.t_MH[0] = val; settings_changed(); }
- void set_ty(int val) { settings.t_MH[1] = val; settings_changed(); }
- void set_tz(int val) { settings.t_MH[2] = val; settings_changed(); }
- void set_model(int model_id);
-
- void doCenter();
- void doReset();
-
- void doOK();
- void doCancel();
-
- void startstop_trans_calib(bool start);
-
- void poll_tracker_info();
-
-protected:
- void set_clip();
- void set_cap();
- void set_custom();
-
- void settings_changed();
-
- TrackerSettings settings;
- TrackerDialogSettings dialog_settings;
- bool settings_dirty;
-
- Tracker* tracker;
- TranslationCalibrator trans_calib;
- bool trans_calib_running;
- QTimer timer;
- Ui::UICPTClientControls ui;
-};
-
-#endif //FTNOIR_TRACKER_PT_DIALOG_H
\ No newline at end of file diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.cpp deleted file mode 100644 index 7f58d77d..00000000 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.cpp +++ /dev/null @@ -1,40 +0,0 @@ -/* 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_dll.h"
-
-#include <QIcon>
-
-//-----------------------------------------------------------------------------
-void TrackerDll::getFullName(QString *strToBeFilled)
-{
- *strToBeFilled = "PointTracker 1.0";
-}
-
-void TrackerDll::getShortName(QString *strToBeFilled)
-{
- *strToBeFilled = "PointTracker";
-}
-
-void TrackerDll::getDescription(QString *strToBeFilled)
-{
- *strToBeFilled = "Tracks a 3-point model with know geometry like Freetrack / TrackIR";
-}
-
-void TrackerDll::getIcon(QIcon *icon)
-{
- *icon = QIcon(":/Resources/icon.ico");
-}
-
-
-//-----------------------------------------------------------------------------
-#pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0")
-
-FTNOIR_TRACKER_BASE_EXPORT ITrackerDllPtr __stdcall GetTrackerDll()
-{
- return new TrackerDll;
-}
diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.h deleted file mode 100644 index 15ad63aa..00000000 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.h +++ /dev/null @@ -1,19 +0,0 @@ -/* 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_base\ftnoir_tracker_base.h"
-
-//-----------------------------------------------------------------------------
-class TrackerDll : public ITrackerDll
-{
- // ITrackerDll interface
- void Initialize() {}
- void getFullName(QString *strToBeFilled);
- void getShortName(QString *strToBeFilled);
- void getDescription(QString *strToBeFilled);
- void getIcon(QIcon *icon);
-};
\ No newline at end of file diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp deleted file mode 100644 index 40d1bc4f..00000000 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp +++ /dev/null @@ -1,150 +0,0 @@ -/* 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 <QCoreApplication>
-#include <QSettings>
-
-//-----------------------------------------------------------------------------
-void TrackerSettings::load_ini()
-{
- qDebug("TrackerSettings::load_ini()");
-
- QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // Registry settings (in HK_USER)
- QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
- QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file)
-
- iniFile.beginGroup( "PointTracker" );
-
- cam_index = iniFile.value("CameraId", 0).toInt();
- cam_f = iniFile.value("CameraF", 1).toFloat();
- cam_res_x = iniFile.value("CameraResX", 640).toInt();
- cam_res_y = iniFile.value("CameraResY", 480).toInt();
- cam_fps = iniFile.value("CameraFPS", 30).toInt();
- cam_pitch = iniFile.value("CameraPitch", 0).toInt();
- threshold = iniFile.value("PointExtractThreshold", 128).toInt();
- min_point_size = iniFile.value("PointExtractMinSize", 2).toInt();
- max_point_size = iniFile.value("PointExtractMaxSize", 50).toInt();
- M01[0] = iniFile.value("PointModelM01x", 0).toFloat();
- M01[1] = iniFile.value("PointModelM01y", 40).toFloat();
- M01[2] = iniFile.value("PointModelM01z", -30).toFloat();
- M02[0] = iniFile.value("PointModelM02x", 0).toFloat();
- M02[1] = iniFile.value("PointModelM02y", -70).toFloat();
- M02[2] = iniFile.value("PointModelM02z", -80).toFloat();
- t_MH[0] = iniFile.value("tMHx", 0).toFloat();
- t_MH[1] = iniFile.value("tMHy", 0).toFloat();
- t_MH[2] = iniFile.value("tMHz", 0).toFloat();
- dyn_pose_res = iniFile.value("DynamicPoseResolution", true).toBool();
- video_widget = iniFile.value("VideoWidget", true).toBool();
- sleep_time = iniFile.value("SleepTime", 10).toInt();
- reset_time = iniFile.value("ResetTime", 1000).toInt();
-
- bEnableRoll = iniFile.value( "EnableRoll", 1 ).toBool();
- bEnablePitch = iniFile.value( "EnablePitch", 1 ).toBool();
- bEnableYaw = iniFile.value( "EnableYaw", 1 ).toBool();
- bEnableX = iniFile.value( "EnableX", 1 ).toBool();
- bEnableY = iniFile.value( "EnableY", 1 ).toBool();
- bEnableZ = iniFile.value( "EnableZ", 1 ).toBool();
-
- iniFile.endGroup();
-}
-
-void TrackerSettings::save_ini() const
-{
- qDebug("TrackerSettings::save_ini()");
-
- QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // Registry settings (in HK_USER)
- QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
- QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file)
-
- iniFile.beginGroup ( "PointTracker" );
-
- iniFile.setValue("CameraId", cam_index);
- iniFile.setValue("CameraF", cam_f);
- iniFile.setValue("CameraResX", cam_res_x);
- iniFile.setValue("CameraResY", cam_res_y);
- iniFile.setValue("CameraFPS", cam_fps);
- iniFile.setValue("CameraPitch", cam_pitch);
- iniFile.setValue("PointExtractThreshold", threshold);
- iniFile.setValue("PointExtractMinSize", min_point_size);
- iniFile.setValue("PointExtractMaxSize", max_point_size);
- iniFile.setValue("PointModelM01x", M01[0]);
- iniFile.setValue("PointModelM01y", M01[1]);
- iniFile.setValue("PointModelM01z", M01[2]);
- iniFile.setValue("PointModelM02x", M02[0]);
- iniFile.setValue("PointModelM02y", M02[1]);
- iniFile.setValue("PointModelM02z", M02[2]);
- iniFile.setValue("tMHx", t_MH[0]);
- iniFile.setValue("tMHy", t_MH[1]);
- iniFile.setValue("tMHz", t_MH[2]);
- iniFile.setValue("DynamicPoseResolution", dyn_pose_res);
- iniFile.setValue("VideoWidget", video_widget);
- iniFile.setValue("SleepTime", sleep_time);
- iniFile.setValue("ResetTime", reset_time);
-
- iniFile.setValue( "EnableRoll", bEnableRoll );
- iniFile.setValue( "EnablePitch", bEnablePitch );
- iniFile.setValue( "EnableYaw", bEnableYaw );
- iniFile.setValue( "EnableX", bEnableX );
- iniFile.setValue( "EnableY", bEnableY );
- iniFile.setValue( "EnableZ", bEnableZ );
-
- iniFile.endGroup();
-}
-
-//-----------------------------------------------------------------------------
-void TrackerDialogSettings::load_ini()
-{
- qDebug("TrackerDialogSettings::load_ini()");
-
- QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // Registry settings (in HK_USER)
- QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
- QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file)
-
- iniFile.beginGroup( "PointTrackerDialog" );
-
- active_model_panel = iniFile.value("ActiveModelPanel", MODEL_CLIP).toInt();
- M01x = iniFile.value("CustomM01x", 0).toInt();
- M01y = iniFile.value("CustomM01y", 40).toInt();
- M01z = iniFile.value("CustomM01z", -30).toInt();
- M02x = iniFile.value("CustomM02x", 0).toInt();
- M02y = iniFile.value("CustomM02y", -70).toInt();
- M02z = iniFile.value("CustomM02z", -80).toInt();
- clip_ty = iniFile.value("ClipTopHeight", 40).toInt();
- clip_tz = iniFile.value("ClipTopLength", 30).toInt();
- clip_by = iniFile.value("ClipBottomHeight", 70).toInt();
- clip_bz = iniFile.value("ClipBottomLength", 80).toInt();
- cap_x = iniFile.value("CapHalfWidth", 40).toInt();
- cap_y = iniFile.value("CapHeight", 60).toInt();
- cap_z = iniFile.value("CapLength", 100).toInt();
-}
-
-void TrackerDialogSettings::save_ini() const
-{
- qDebug("TrackerDialogSettings::save_ini()");
-
- QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // Registry settings (in HK_USER)
- QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
- QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file)
-
- iniFile.beginGroup ( "PointTrackerDialog" );
-
- iniFile.setValue("ActiveModelPanel", active_model_panel);
- iniFile.setValue("CustomM01x", M01x);
- iniFile.setValue("CustomM01y", M01y);
- iniFile.setValue("CustomM01z", M01z);
- iniFile.setValue("CustomM02x", M02x);
- iniFile.setValue("CustomM02y", M02y);
- iniFile.setValue("CustomM02z", M02z);
- iniFile.setValue("ClipTopHeight", clip_ty);
- iniFile.setValue("ClipTopLength", clip_tz);
- iniFile.setValue("ClipBottomHeight", clip_by);
- iniFile.setValue("ClipBottomLength", clip_bz);
- iniFile.setValue("CapHalfWidth", cap_x);
- iniFile.setValue("CapHeight", cap_y);
- iniFile.setValue("CapLength", cap_z);
-}
\ No newline at end of file diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h deleted file mode 100644 index 88162c86..00000000 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h +++ /dev/null @@ -1,84 +0,0 @@ -/* 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.
- */
-
-#ifndef FTNOIR_TRACKER_PT_SETTINGS_H
-#define FTNOIR_TRACKER_PT_SETTINGS_H
-
-#include <opencv2/opencv.hpp>
-#include "point_tracker.h"
-
-
-//-----------------------------------------------------------------------------
-struct TrackerSettings
-{
- // camera
- int cam_index;
- float cam_f;
- int cam_res_x;
- int cam_res_y;
- int cam_fps;
- int cam_pitch;
-
- // point extraction
- int threshold;
- int min_point_size;
- int max_point_size;
-
- // point tracking
- cv::Vec3f M01;
- cv::Vec3f M02;
- bool dyn_pose_res;
-
- // head to model translation
- cv::Vec3f t_MH;
-
- int sleep_time; // in ms
- int reset_time; // in ms
- bool video_widget;
-
- bool bEnableRoll;
- bool bEnablePitch;
- bool bEnableYaw;
- bool bEnableX;
- bool bEnableY;
- bool bEnableZ;
-
- void load_ini();
- void save_ini() const;
-};
-
-
-//-----------------------------------------------------------------------------
-struct TrackerDialogSettings
-{
- enum
- {
- MODEL_CLIP,
- MODEL_CAP,
- MODEL_CUSTOM
- };
- int active_model_panel;
-
- int M01x;
- int M01y;
- int M01z;
- int M02x;
- int M02y;
- int M02z;
- int clip_ty;
- int clip_tz;
- int clip_by;
- int clip_bz;
- int cap_x;
- int cap_y;
- int cap_z;
-
- void load_ini();
- void save_ini() const;
-};
-
-#endif //FTNOIR_TRACKER_PT_SETTINGS_H
\ No newline at end of file diff --git a/FTNoIR_Tracker_PT/point_extractor.cpp b/FTNoIR_Tracker_PT/point_extractor.cpp deleted file mode 100644 index 4aa1a658..00000000 --- a/FTNoIR_Tracker_PT/point_extractor.cpp +++ /dev/null @@ -1,97 +0,0 @@ -/* 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 "point_extractor.h"
-#include <QDebug>
-
-using namespace cv;
-using namespace std;
-
-// ----------------------------------------------------------------------------
-const vector<Vec2f>& PointExtractor::extract_points(Mat frame, float dt, bool draw_output)
-{
- /*
- // sensitivity test for tracker
- static int n = 0;
- if (points.size() == 3)
- {
- for (int i=0; i<3; ++i)
- {
- points[i][0] -= 1e-4*sin(n/100.0);
- points[i][1] -= 1e-4*cos(n/100.0);
- }
- ++n;
- return points;
- }
- */
-
- // convert to grayscale
- Mat frame_bw;
- cvtColor(frame, frame_bw, CV_RGB2GRAY);
-
- // convert to binary
- threshold(frame_bw, frame_bw, threshold_val, 255, THRESH_BINARY);
- //erode(frame_bw, frame_bw, Mat(), Point(-1,-1), min_size); //destroys information -> bad for subpixel accurarcy
-
- // find connected components...
- // extract blobs with floodfill
- struct BlobInfo
- {
- BlobInfo() : m00(0), m10(0), m01(0) {}
- long m00;
- long m10;
- long m01;
- };
- vector<BlobInfo> blobs;
- int blob_count = 1;
-
- for (int y=0; y < frame_bw.rows; y++) {
- for (int x=0; x < frame_bw.cols; x++) {
- if (frame_bw.at<unsigned char>(y,x) != 255) continue;
- Rect rect;
- floodFill(frame_bw, Point(x,y), Scalar(blob_count), &rect, Scalar(0), Scalar(0), 4);
- BlobInfo blob;
- for (int i=rect.y; i < (rect.y+rect.height); i++) {
- for (int j=rect.x; j < (rect.x+rect.width); j++) {
- if (frame_bw.at<unsigned char>(i,j) != blob_count) continue;
- blob.m00++;
- blob.m01+=i;
- blob.m10+=j;
- }
- }
- blobs.push_back(blob);
- blob_count++;
- if (blob_count >= 255) break;
- }
- if (blob_count >= 255) break;
- }
-
- // extract points
- Vec2f c;
- points.clear();
- float m00_min = 3.14*min_size*min_size;
- float m00_max = 3.14*max_size*max_size;
- for (vector<BlobInfo>::iterator iter = blobs.begin();
- iter!= blobs.end();
- ++iter)
- {
- const BlobInfo& m = *iter;
- if (m.m00 < m00_min || m.m00 > m00_max) continue;
- // convert to centered camera coordinate system with y axis upwards
- c[0] = (m.m10/float(m.m00) - frame.cols/2)/frame.cols;
- c[1] = -(m.m01/float(m.m00) - frame.rows/2)/frame.cols;
- points.push_back(c);
- }
-
- // draw output image
- if (draw_output)
- {
- frame.setTo(Scalar(255,0,0), frame_bw);
- }
-
- return points;
-}
diff --git a/FTNoIR_Tracker_PT/point_extractor.h b/FTNoIR_Tracker_PT/point_extractor.h deleted file mode 100644 index b142d2bb..00000000 --- a/FTNoIR_Tracker_PT/point_extractor.h +++ /dev/null @@ -1,31 +0,0 @@ -/* 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.
- */
-
-#ifndef POINTEXTRACTOR_H
-#define POINTEXTRACTOR_H
-
-#include <opencv2/opencv.hpp>
-
-// ----------------------------------------------------------------------------
-// Extracts points from an opencv image
-class PointExtractor
-{
-public:
- // extracts points from frame and draws some processing info into frame, if draw_output is set
- // dt: time since last call in seconds
- // WARNING: returned reference is valid as long as object
- const std::vector<cv::Vec2f>& extract_points(cv::Mat frame, float dt, bool draw_output);
- const std::vector<cv::Vec2f>& get_points() { return points; }
-
- int threshold_val;
- int min_size, max_size;
-
-protected:
- std::vector<cv::Vec2f> points;
-};
-
-#endif //POINTEXTRACTOR_H
diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp deleted file mode 100644 index d617de19..00000000 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ /dev/null @@ -1,352 +0,0 @@ -/* 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 "point_tracker.h"
-
-#include <vector>
-#include <algorithm>
-#include <cmath>
-
-#include <QDebug>
-
-using namespace cv;
-using namespace boost;
-using namespace std;
-
-const float PI = 3.14159265358979323846f;
-
-// ----------------------------------------------------------------------------
-static void get_row(const Matx33f& m, int i, Vec3f& v)
-{
- v[0] = m(i,0);
- v[1] = m(i,1);
- v[2] = m(i,2);
-}
-
-static void set_row(Matx33f& m, int i, const Vec3f& v)
-{
- m(i,0) = v[0];
- m(i,1) = v[1];
- m(i,2) = v[2];
-}
-
-// ----------------------------------------------------------------------------
-PointModel::PointModel(Vec3f M01, Vec3f M02)
- : M01(M01), M02(M02)
-{
- // calculate u
- u = M01.cross(M02);
- u /= norm(u);
-
- // calculate projection matrix on M01,M02 plane
- float s11 = M01.dot(M01);
- float s12 = M01.dot(M02);
- float s22 = M02.dot(M02);
- P = 1.0/(s11*s22-s12*s12) * Matx22f(s22, -s12,
- -s12, s11);
-
- // calculate d and d_order for simple freetrack-like point correspondence
- vector<Vec2f> points;
- points.push_back(Vec2f(0,0));
- points.push_back(Vec2f(M01[0], M01[1]));
- points.push_back(Vec2f(M02[0], M02[1]));
- // fit line to orthographically projected points
- // ERROR: yields wrong results with colinear points?!
- /*
- Vec4f line;
- fitLine(points, line, CV_DIST_L2, 0, 0.01, 0.01);
- d[0] = line[0]; d[1] = line[1];
- */
- // TODO: fix this
- d = Vec2f(M01[0]-M02[0], M01[1]-M02[1]);
-
- // sort model points
- get_d_order(points, d_order);
-}
-
-void PointModel::get_d_order(const std::vector<cv::Vec2f>& points, int d_order[]) const
-{
- // get sort indices with respect to d scalar product
- vector< pair<float,int> > d_vals;
- for (int i = 0; i<points.size(); ++i)
- d_vals.push_back(pair<float, int>(d.dot(points[i]), i));
-
- struct
- {
- bool operator()(const pair<float, int>& a, const pair<float, int>& b) { return a.first < b.first; }
- } comp;
- sort(d_vals.begin(), d_vals.end(), comp);
-
- for (int i = 0; i<points.size(); ++i)
- d_order[i] = d_vals[i].second;
-}
-
-
-// ----------------------------------------------------------------------------
-PointTracker::PointTracker() : init_phase(true), dt_valid(0), dt_reset(1), v_t(0,0,0), v_r(0,0,0), dynamic_pose_resolution(true)
-{
- X_CM.t[2] = 1000; // default position: 1 m away from cam;
-}
-
-void PointTracker::reset()
-{
- // enter init phase and reset velocities
- init_phase = true;
- dt_valid = 0;
- reset_velocities();
-}
-
-void PointTracker::reset_velocities()
-{
- v_t = Vec3f(0,0,0);
- v_r = Vec3f(0,0,0);
-}
-
-
-bool PointTracker::track(const vector<Vec2f>& points, float f, float dt)
-{
- if (!dynamic_pose_resolution) init_phase = true;
-
- dt_valid += dt;
- // if there was no valid tracking result for too long, do a reset
- if (dt_valid > dt_reset)
- {
- //qDebug()<<"dt_valid "<<dt_valid<<" > dt_reset "<<dt_reset;
- reset();
- }
-
- // if there is a pointtracking problem, reset the velocities
- if (!point_model || points.size() != PointModel::N_POINTS)
- {
- //qDebug()<<"Wrong number of points!";
- reset_velocities();
- return false;
- }
-
- X_CM_old = X_CM; // backup old transformation for velocity calculation
-
- if (!init_phase)
- predict(dt_valid);
-
- // if there is a point correspondence problem something has gone wrong, do a reset
- if (!find_correspondences(points, f))
- {
- //qDebug()<<"Error in finding point correspondences!";
- X_CM = X_CM_old; // undo prediction
- reset();
- return false;
- }
-
- int n_iter = POSIT(f);
- //qDebug()<<"Number of POSIT iterations: "<<n_iter;
-
- if (!init_phase)
- update_velocities(dt_valid);
-
- // we have a valid tracking result, leave init phase and reset time since valid result
- init_phase = false;
- dt_valid = 0;
- return true;
-}
-
-void PointTracker::predict(float dt)
-{
- // predict with constant velocity
- Matx33f R;
- Rodrigues(dt*v_r, R);
- X_CM.R = R*X_CM.R;
- X_CM.t += dt * v_t;
-}
-
-void PointTracker::update_velocities(float dt)
-{
- // update velocities
- Rodrigues(X_CM.R*X_CM_old.R.t(), v_r);
- v_r /= dt;
- v_t = (X_CM.t - X_CM_old.t)/dt;
-}
-
-bool PointTracker::find_correspondences(const vector<Vec2f>& points, float f)
-{
- if (init_phase) {
- // We do a simple freetrack-like sorting in the init phase...
- // sort points
- int point_d_order[PointModel::N_POINTS];
- point_model->get_d_order(points, point_d_order);
-
- // set correspondences
- for (int i=0; i<PointModel::N_POINTS; ++i)
- {
- p[point_model->d_order[i]] = points[point_d_order[i]];
- }
- }
- else {
- // ... otherwise we look at the distance to the projection of the expected model points
- // project model points under current pose
- p_exp[0] = project(Vec3f(0,0,0), f);
- p_exp[1] = project(point_model->M01, f);
- p_exp[2] = project(point_model->M02, f);
-
- // set correspondences by minimum distance to projected model point
- bool point_taken[PointModel::N_POINTS];
- for (int i=0; i<PointModel::N_POINTS; ++i)
- point_taken[i] = false;
-
- float min_sdist = 0;
- int min_idx = 0;
-
- for (int i=0; i<PointModel::N_POINTS; ++i)
- {
- // find closest point to projected model point i
- for (int j=0; j<PointModel::N_POINTS; ++j)
- {
- Vec2f d = p_exp[i]-points[j];
- float sdist = d.dot(d);
- if (sdist < min_sdist || j==0)
- {
- min_idx = j;
- min_sdist = sdist;
- }
- }
- // if one point is closest to more than one model point, abort
- if (point_taken[min_idx]) return false;
- point_taken[min_idx] = true;
- p[i] = points[min_idx];
- }
- }
- return true;
-}
-
-
-
-int PointTracker::POSIT(float f)
-{
- // POSIT algorithm for coplanar points as presented in
- // [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"]
- // we use the same notation as in the paper here
-
- // The expected rotation used for resolving the ambiguity in POSIT:
- // In every iteration step the rotation closer to R_expected is taken
- Matx33f R_expected;
- if (init_phase)
- R_expected = Matx33f::eye(); // in the init phase, we want to be close to the default pose = no rotation
- else
- R_expected = X_CM.R; // later we want to be close to the last (predicted) rotation
-
- // initial pose = last (predicted) pose
- Vec3f k;
- get_row(X_CM.R, 2, k);
- float Z0 = X_CM.t[2];
-
- float old_epsilon_1 = 0;
- float old_epsilon_2 = 0;
- float epsilon_1 = 1;
- float epsilon_2 = 1;
-
- Vec3f I0, J0;
- Vec2f I0_coeff, J0_coeff;
-
- Vec3f I_1, J_1, I_2, J_2;
- Matx33f R_1, R_2;
- Matx33f* R_current;
-
- const int MAX_ITER = 100;
- const float EPS_THRESHOLD = 1e-4;
-
- int i=1;
- for (; i<MAX_ITER; ++i)
- {
- epsilon_1 = k.dot(point_model->M01)/Z0;
- epsilon_2 = k.dot(point_model->M02)/Z0;
-
- // vector of scalar products <I0, M0i> and <J0, M0i>
- Vec2f I0_M0i(p[1][0]*(1.0 + epsilon_1) - p[0][0],
- p[2][0]*(1.0 + epsilon_2) - p[0][0]);
- Vec2f J0_M0i(p[1][1]*(1.0 + epsilon_1) - p[0][1],
- p[2][1]*(1.0 + epsilon_2) - p[0][1]);
-
- // construct projection of I, J onto M0i plane: I0 and J0
- I0_coeff = point_model->P * I0_M0i;
- J0_coeff = point_model->P * J0_M0i;
- I0 = I0_coeff[0]*point_model->M01 + I0_coeff[1]*point_model->M02;
- J0 = J0_coeff[0]*point_model->M01 + J0_coeff[1]*point_model->M02;
-
- // calculate u component of I, J
- float II0 = I0.dot(I0);
- float IJ0 = I0.dot(J0);
- float JJ0 = J0.dot(J0);
- float rho, theta;
- if (JJ0 == II0) {
- rho = sqrt(abs(2*IJ0));
- theta = -PI/4;
- if (IJ0<0) theta *= -1;
- }
- else {
- rho = sqrt(sqrt( (JJ0-II0)*(JJ0-II0) + 4*IJ0*IJ0 ));
- theta = atan( -2*IJ0 / (JJ0-II0) );
- if (JJ0 - II0 < 0) theta += PI;
- theta /= 2;
- }
-
- // construct the two solutions
- I_1 = I0 + rho*cos(theta)*point_model->u;
- I_2 = I0 - rho*cos(theta)*point_model->u;
-
- J_1 = J0 + rho*sin(theta)*point_model->u;
- J_2 = J0 - rho*sin(theta)*point_model->u;
-
- float norm_const = 1.0/norm(I_1); // all have the same norm
-
- // create rotation matrices
- I_1 *= norm_const; J_1 *= norm_const;
- I_2 *= norm_const; J_2 *= norm_const;
-
- set_row(R_1, 0, I_1);
- set_row(R_1, 1, J_1);
- set_row(R_1, 2, I_1.cross(J_1));
-
- set_row(R_2, 0, I_2);
- set_row(R_2, 1, J_2);
- set_row(R_2, 2, I_2.cross(J_2));
-
- // the single translation solution
- Z0 = norm_const * f;
-
- // pick the rotation solution closer to the expected one
- // in simple metric d(A,B) = || I - A * B^T ||
- float R_1_deviation = norm(Matx33f::eye() - R_expected * R_1.t());
- float R_2_deviation = norm(Matx33f::eye() - R_expected * R_2.t());
-
- if (R_1_deviation < R_2_deviation)
- R_current = &R_1;
- else
- R_current = &R_2;
-
- get_row(*R_current, 2, k);
-
- // check for convergence condition
- if (abs(epsilon_1 - old_epsilon_1) + abs(epsilon_2 - old_epsilon_2) < EPS_THRESHOLD)
- break;
- old_epsilon_1 = epsilon_1;
- old_epsilon_2 = epsilon_2;
- }
-
- // apply results
- X_CM.R = *R_current;
- X_CM.t[0] = p[0][0] * Z0/f;
- X_CM.t[1] = p[0][1] * Z0/f;
- X_CM.t[2] = Z0;
-
- return i;
-
- //Rodrigues(X_CM.R, r);
- //qDebug()<<"iter: "<<i;
- //qDebug()<<"t: "<<X_CM.t[0]<<' '<<X_CM.t[1]<<' '<<X_CM.t[2];
- //Vec3f r;
- //
- //qDebug()<<"r: "<<r[0]<<' '<<r[1]<<' '<<r[2]<<'\n';
-}
diff --git a/FTNoIR_Tracker_PT/point_tracker.h b/FTNoIR_Tracker_PT/point_tracker.h deleted file mode 100644 index 21baad19..00000000 --- a/FTNoIR_Tracker_PT/point_tracker.h +++ /dev/null @@ -1,114 +0,0 @@ -/* 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.
- */
-
-#ifndef POINTTRACKER_H
-#define POINTTRACKER_H
-
-#include <opencv2/opencv.hpp>
-#include <boost/shared_ptr.hpp>
-#include <list>
-
-// ----------------------------------------------------------------------------
-// Afine frame trafo
-class FrameTrafo
-{
-public:
- FrameTrafo() : R(cv::Matx33f::eye()), t(0,0,0) {}
- FrameTrafo(const cv::Matx33f& R, const cv::Vec3f& t) : R(R),t(t) {}
-
- cv::Matx33f R;
- cv::Vec3f t;
-};
-
-inline FrameTrafo operator*(const FrameTrafo& X, const FrameTrafo& Y)
-{
- return FrameTrafo(X.R*Y.R, X.R*Y.t + X.t);
-}
-
-inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3f& v)
-{
- return X.R*v + X.t;
-}
-
-// ----------------------------------------------------------------------------
-// Describes a 3-point model
-// nomenclature as in
-// [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"]
-class PointModel
-{
- friend class PointTracker;
-public:
- static const int N_POINTS = 3;
-
- PointModel(cv::Vec3f M01, cv::Vec3f M02);
-
- const cv::Vec3f& get_M01() const { return M01; };
- const cv::Vec3f& get_M02() const { return M02; };
-
-protected:
- cv::Vec3f M01; // M01 in model frame
- cv::Vec3f M02; // M02 in model frame
-
- cv::Vec3f u; // unit vector perpendicular to M01,M02-plane
-
- cv::Matx22f P;
-
- cv::Vec2f d; // discrimant vector for point correspondence
- int d_order[3]; // sorting of projected model points with respect to d scalar product
-
- void get_d_order(const std::vector<cv::Vec2f>& points, int d_order[]) const;
-};
-
-// ----------------------------------------------------------------------------
-// Tracks a 3-point model
-// implementing the POSIT algorithm for coplanar points as presented in
-// [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"]
-class PointTracker
-{
-public:
- PointTracker();
-
- // track the pose using the set of normalized point coordinates (x pos in range -0.5:0.5)
- // f : (focal length)/(sensor width)
- // dt : time since last call
- bool track(const std::vector<cv::Vec2f>& points, float f, float dt);
- boost::shared_ptr<PointModel> point_model;
-
- bool dynamic_pose_resolution;
- float dt_reset;
-
- FrameTrafo get_pose() const { return X_CM; }
- void reset();
-
-protected:
- inline cv::Vec2f project(const cv::Vec3f& v_M, float f)
- {
- cv::Vec3f v_C = X_CM * v_M;
- return cv::Vec2f(f*v_C[0]/v_C[2], f*v_C[1]/v_C[2]);
- }
-
- bool find_correspondences(const std::vector<cv::Vec2f>& points, float f);
-
- cv::Vec2f p[PointModel::N_POINTS]; // the points in model order
- cv::Vec2f p_exp[PointModel::N_POINTS]; // the expected point positions
-
- void predict(float dt);
- void update_velocities(float dt);
- void reset_velocities();
-
-
- int POSIT(float f); // The POSIT algorithm, returns the number of iterations
-
- bool init_phase;
- float dt_valid; // time since last valid tracking result
- cv::Vec3f v_t; // velocities
- cv::Vec3f v_r;
- FrameTrafo X_CM; // trafo from model to camera
- FrameTrafo X_CM_old;
-};
-
-#endif //POINTTRACKER_H
diff --git a/FTNoIR_Tracker_PT/resource.h b/FTNoIR_Tracker_PT/resource.h deleted file mode 100644 index c14e94ad..00000000 --- a/FTNoIR_Tracker_PT/resource.h +++ /dev/null @@ -1,14 +0,0 @@ -//{{NO_DEPENDENCIES}}
-// Microsoft Visual C++ generated include file.
-// Used by FTNoIR_Tracker_PT.rc
-
-// Next default values for new objects
-//
-#ifdef APSTUDIO_INVOKED
-#ifndef APSTUDIO_READONLY_SYMBOLS
-#define _APS_NEXT_RESOURCE_VALUE 101
-#define _APS_NEXT_COMMAND_VALUE 40001
-#define _APS_NEXT_CONTROL_VALUE 1001
-#define _APS_NEXT_SYMED_VALUE 101
-#endif
-#endif
diff --git a/FTNoIR_Tracker_PT/timer.cpp b/FTNoIR_Tracker_PT/timer.cpp deleted file mode 100644 index 363b5b09..00000000 --- a/FTNoIR_Tracker_PT/timer.cpp +++ /dev/null @@ -1,66 +0,0 @@ -/* 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 "timer.h"
-
-#include <stdlib.h>
-
-// ----------------------------------------------------------------------------
-Timer::Timer()
-: startTime(0), endTime(0), running(false)
-{
-#ifdef WIN32
- QueryPerformanceFrequency(&frequency);
- startCount.QuadPart = 0;
- endCount.QuadPart = 0;
-#else
- startCount.tv_sec = startCount.tv_usec = 0;
- endCount.tv_sec = endCount.tv_usec = 0;
-#endif
-}
-
-
-void Timer::start()
-{
-#ifdef WIN32
- QueryPerformanceCounter(&startCount);
-#else
- gettimeofday(&startCount, NULL);
-#endif
- running = true;
-}
-
-
-void Timer::stop()
-{
-#ifdef WIN32
- QueryPerformanceCounter(&endCount);
-#else
- gettimeofday(&endCount, NULL);
-#endif
- running = false;
-}
-
-
-double Timer::elapsed()
-{
-#ifdef WIN32
- if (running)
- QueryPerformanceCounter(&endCount);
-
- startTime = startCount.QuadPart * (1e3 / frequency.QuadPart);
- endTime = endCount.QuadPart * (1e3 / frequency.QuadPart);
-#else
- if(!stopped)
- gettimeofday(&endCount, NULL);
-
- startTime = (startCount.tv_sec * 1e3) + startCount.tv_usec;
- endTime = (endCount.tv_sec * 1e3) + endCount.tv_usec;
-#endif
-
- return endTime - startTime;
-}
\ No newline at end of file diff --git a/FTNoIR_Tracker_PT/timer.h b/FTNoIR_Tracker_PT/timer.h deleted file mode 100644 index 2aaf725a..00000000 --- a/FTNoIR_Tracker_PT/timer.h +++ /dev/null @@ -1,44 +0,0 @@ -/* 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.
- */
-
-#ifndef PT_TIMER_H
-#define PT_TIMER_H
-
-#ifdef WIN32 // Windows system specific
-#include <windows.h>
-#else // Unix based system specific
-#include <sys/time.h>
-#endif
-
-// ----------------------------------------------------------------------------
-// high resolution timer based on http://www.songho.ca/misc/timer/timer.html
-class Timer
-{
-public:
- Timer();
-
- void start();
- void stop();
- void restart() { start(); } // for Qt compatibility
- double elapsed(); // get elapsed time in ms
-
-protected:
- double startTime; // starting time in ms
- double endTime; // ending time in ms
- bool running;
-
-#ifdef WIN32
- LARGE_INTEGER frequency; // ticks per second
- LARGE_INTEGER startCount;
- LARGE_INTEGER endCount;
-#else
- timeval startCount;
- timeval endCount;
-#endif
-};
-
-#endif //PT_TIMER_H
\ No newline at end of file diff --git a/FTNoIR_Tracker_PT/trans_calib.cpp b/FTNoIR_Tracker_PT/trans_calib.cpp deleted file mode 100644 index 9b75a1b6..00000000 --- a/FTNoIR_Tracker_PT/trans_calib.cpp +++ /dev/null @@ -1,44 +0,0 @@ -/* 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 "trans_calib.h"
-
-using namespace cv;
-
-//-----------------------------------------------------------------------------
-TranslationCalibrator::TranslationCalibrator()
-{
- reset();
-}
-
-void TranslationCalibrator::reset()
-{
- P = Matx66f::zeros();
- y = Vec6f(0,0,0, 0,0,0);
-}
-
-void TranslationCalibrator::update(const Matx33f& R_CM_k, const Vec3f& t_CM_k)
-{
- Matx<float, 6,3> H_k_T = Matx<float, 6,3>::zeros();
- for (int i=0; i<3; ++i) {
- for (int j=0; j<3; ++j) {
- H_k_T(i,j) = R_CM_k(j,i);
- }
- }
- for (int i=0; i<3; ++i)
- {
- H_k_T(3+i,i) = 1.0;
- }
- P += H_k_T * H_k_T.t();
- y += H_k_T * t_CM_k;
-}
-
-Vec3f TranslationCalibrator::get_estimate()
-{
- Vec6f x = P.inv() * y;
- return Vec3f(-x[0], -x[1], -x[2]);
-}
\ No newline at end of file diff --git a/FTNoIR_Tracker_PT/trans_calib.h b/FTNoIR_Tracker_PT/trans_calib.h deleted file mode 100644 index 4024d011..00000000 --- a/FTNoIR_Tracker_PT/trans_calib.h +++ /dev/null @@ -1,39 +0,0 @@ -/* 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.
- */
-
-#ifndef TRANSCALIB_H
-#define TRANSCALIB_H
-
-#include <opencv2/opencv.hpp>
-
-//-----------------------------------------------------------------------------
-// calibrates the translation from head to model = t_MH
-// by recursive least squares /
-// kalman filter in information form with identity noise covariance
-// measurement equation when head position = t_CH is fixed:
-// (R_CM_k , Id)*(-t_MH, t_CH) = t_CM_k
-
-class TranslationCalibrator
-{
-public:
- TranslationCalibrator();
-
- // reset the calibration process
- void reset();
-
- // update the current estimate
- void update(const cv::Matx33f& R_CM_k, const cv::Vec3f& t_CM_k);
-
- // get the current estimate for t_MH
- cv::Vec3f get_estimate();
-
-protected:
- cv::Matx66f P; // normalized precision matrix = inverse covariance
- cv::Vec6f y; // P*(-t_MH, t_CH)
-};
-
-#endif //TRANSCALIB_H
\ No newline at end of file diff --git a/FTNoIR_Tracker_PT/videoInput/videoInput.h b/FTNoIR_Tracker_PT/videoInput/videoInput.h deleted file mode 100644 index 4244902c..00000000 --- a/FTNoIR_Tracker_PT/videoInput/videoInput.h +++ /dev/null @@ -1,385 +0,0 @@ -#ifndef _VIDEOINPUT
-#define _VIDEOINPUT
-
-//THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-//IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-//FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-//AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-//LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-//OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-//THE SOFTWARE.
-
-//////////////////////////////////////////////////////////
-//Written by Theodore Watson - theo.watson@gmail.com //
-//Do whatever you want with this code but if you find //
-//a bug or make an improvement I would love to know! //
-// //
-//Warning This code is experimental //
-//use at your own risk :) //
-//////////////////////////////////////////////////////////
-/////////////////////////////////////////////////////////
-/* Shoutouts
-
-Thanks to:
-
- Dillip Kumar Kara for crossbar code.
- Zachary Lieberman for getting me into this stuff
- and for being so generous with time and code.
- The guys at Potion Design for helping me with VC++
- Josh Fisher for being a serious C++ nerd :)
- Golan Levin for helping me debug the strangest
- and slowest bug in the world!
-
- And all the people using this library who send in
- bugs, suggestions and improvements who keep me working on
- the next version - yeah thanks a lot ;)
-
-*/
-/////////////////////////////////////////////////////////
-
-
-
-#include <stdlib.h>
-#include <stdio.h>
-#include <math.h>
-#include <string.h>
-#include <wchar.h>
-
-//this is for TryEnterCriticalSection
-#ifndef _WIN32_WINNT
- # define _WIN32_WINNT 0x400
-#endif
-#include <windows.h>
-
-
-//Example Usage
-/*
- //create a videoInput object
- videoInput VI;
-
- //Prints out a list of available devices and returns num of devices found
- int numDevices = VI.listDevices();
-
- int device1 = 0; //this could be any deviceID that shows up in listDevices
- int device2 = 1; //this could be any deviceID that shows up in listDevices
-
- //if you want to capture at a different frame rate (default is 30)
- //specify it here, you are not guaranteed to get this fps though.
- //VI.setIdealFramerate(dev, 60);
-
- //setup the first device - there are a number of options:
-
- VI.setupDevice(device1); //setup the first device with the default settings
- //VI.setupDevice(device1, VI_COMPOSITE); //or setup device with specific connection type
- //VI.setupDevice(device1, 320, 240); //or setup device with specified video size
- //VI.setupDevice(device1, 320, 240, VI_COMPOSITE); //or setup device with video size and connection type
-
- //VI.setFormat(device1, VI_NTSC_M); //if your card doesn't remember what format it should be
- //call this with the appropriate format listed above
- //NOTE: must be called after setupDevice!
-
- //optionally setup a second (or third, fourth ...) device - same options as above
- VI.setupDevice(device2);
-
- //As requested width and height can not always be accomodated
- //make sure to check the size once the device is setup
-
- int width = VI.getWidth(device1);
- int height = VI.getHeight(device1);
- int size = VI.getSize(device1);
-
- unsigned char * yourBuffer1 = new unsigned char[size];
- unsigned char * yourBuffer2 = new unsigned char[size];
-
- //to get the data from the device first check if the data is new
- if(VI.isFrameNew(device1)){
- VI.getPixels(device1, yourBuffer1, false, false); //fills pixels as a BGR (for openCV) unsigned char array - no flipping
- VI.getPixels(device1, yourBuffer2, true, true); //fills pixels as a RGB (for openGL) unsigned char array - flipping!
- }
-
- //same applies to device2 etc
-
- //to get a settings dialog for the device
- VI.showSettingsWindow(device1);
-
-
- //Shut down devices properly
- VI.stopDevice(device1);
- VI.stopDevice(device2);
-*/
-
-
-////////////////////////////////////// VARS AND DEFS //////////////////////////////////
-
-
-//STUFF YOU CAN CHANGE
-
-//change for verbose debug info
-static bool verbose = true;
-
-//if you need VI to use multi threaded com
-//#define VI_COM_MULTI_THREADED
-
-//STUFF YOU DON'T CHANGE
-
-//videoInput defines
-#define VI_VERSION 0.1995
-#define VI_MAX_CAMERAS 20
-#define VI_NUM_TYPES 18 //DON'T TOUCH
-#define VI_NUM_FORMATS 18 //DON'T TOUCH
-
-//defines for setPhyCon - tuner is not as well supported as composite and s-video
-#define VI_COMPOSITE 0
-#define VI_S_VIDEO 1
-#define VI_TUNER 2
-#define VI_USB 3
-#define VI_1394 4
-
-//defines for formats
-#define VI_NTSC_M 0
-#define VI_PAL_B 1
-#define VI_PAL_D 2
-#define VI_PAL_G 3
-#define VI_PAL_H 4
-#define VI_PAL_I 5
-#define VI_PAL_M 6
-#define VI_PAL_N 7
-#define VI_PAL_NC 8
-#define VI_SECAM_B 9
-#define VI_SECAM_D 10
-#define VI_SECAM_G 11
-#define VI_SECAM_H 12
-#define VI_SECAM_K 13
-#define VI_SECAM_K1 14
-#define VI_SECAM_L 15
-#define VI_NTSC_M_J 16
-#define VI_NTSC_433 17
-
-
-//allows us to directShow classes here with the includes in the cpp
-struct ICaptureGraphBuilder2;
-struct IGraphBuilder;
-struct IBaseFilter;
-struct IAMCrossbar;
-struct IMediaControl;
-struct ISampleGrabber;
-struct IMediaEventEx;
-struct IAMStreamConfig;
-struct _AMMediaType;
-class SampleGrabberCallback;
-typedef _AMMediaType AM_MEDIA_TYPE;
-
-//keeps track of how many instances of VI are being used
-//don't touch
-static int comInitCount = 0;
-
-
-//////////////////////////////////////// VIDEO DEVICE ///////////////////////////////////
-
-class videoDevice{
-
-
- public:
-
- videoDevice();
- void setSize(int w, int h);
- void NukeDownstream(IBaseFilter *pBF);
- void destroyGraph();
- ~videoDevice();
-
- int videoSize;
- int width;
- int height;
- int tryWidth;
- int tryHeight;
-
- ICaptureGraphBuilder2 *pCaptureGraph; // Capture graph builder object
- IGraphBuilder *pGraph; // Graph builder object
- IMediaControl *pControl; // Media control object
- IBaseFilter *pVideoInputFilter; // Video Capture filter
- IBaseFilter *pGrabberF;
- IBaseFilter * pDestFilter;
- IAMStreamConfig *streamConf;
- ISampleGrabber * pGrabber; // Grabs frame
- AM_MEDIA_TYPE * pAmMediaType;
-
- IMediaEventEx * pMediaEvent;
-
- GUID videoType;
- long formatType;
-
- SampleGrabberCallback * sgCallback;
-
- bool tryDiffSize;
- bool useCrossbar;
- bool readyToCapture;
- bool sizeSet;
- bool setupStarted;
- bool specificFormat;
- bool autoReconnect;
- int nFramesForReconnect;
- unsigned long nFramesRunning;
- int connection;
- int storeConn;
- int myID;
- long requestedFrameTime; //ie fps
-
- char nDeviceName[255];
- WCHAR wDeviceName[255];
-
- unsigned char * pixels;
- char * pBuffer;
-
-};
-
-
-
-
-////////////////////////////////////// VIDEO INPUT /////////////////////////////////////
-
-
-
-class videoInput{
-
- public:
- videoInput();
- ~videoInput();
-
- //turns off console messages - default is to print messages
- static void setVerbose(bool _verbose);
-
- //Functions in rough order they should be used.
- static int listDevices(bool silent = false);
-
- //needs to be called after listDevices - otherwise returns NULL
- static char * getDeviceName(int deviceID);
-
- //choose to use callback based capture - or single threaded
- void setUseCallback(bool useCallback);
-
- //call before setupDevice
- //directshow will try and get the closest possible framerate to what is requested
- void setIdealFramerate(int deviceID, int idealFramerate);
-
- //some devices will stop delivering frames after a while - this method gives you the option to try and reconnect
- //to a device if videoInput detects that a device has stopped delivering frames.
- //you MUST CALL isFrameNew every app loop for this to have any effect
- void setAutoReconnectOnFreeze(int deviceNumber, bool doReconnect, int numMissedFramesBeforeReconnect);
-
- //Choose one of these four to setup your device
- bool setupDevice(int deviceID);
- bool setupDevice(int deviceID, int w, int h);
-
- //These two are only for capture cards
- //USB and Firewire cameras souldn't specify connection
- bool setupDevice(int deviceID, int connection);
- bool setupDevice(int deviceID, int w, int h, int connection);
-
- //If you need to you can set your NTSC/PAL/SECAM
- //preference here. if it is available it will be used.
- //see #defines above for available formats - eg VI_NTSC_M or VI_PAL_B
- //should be called after setupDevice
- //can be called multiple times
- bool setFormat(int deviceNumber, int format);
-
- //Tells you when a new frame has arrived - you should call this if you have specified setAutoReconnectOnFreeze to true
- bool isFrameNew(int deviceID);
-
- bool isDeviceSetup(int deviceID);
-
- //Returns the pixels - flipRedAndBlue toggles RGB/BGR flipping - and you can flip the image too
- unsigned char * getPixels(int deviceID, bool flipRedAndBlue = true, bool flipImage = false);
-
- //Or pass in a buffer for getPixels to fill returns true if successful.
- bool getPixels(int id, unsigned char * pixels, bool flipRedAndBlue = true, bool flipImage = false);
-
- //Launches a pop up settings window
- //For some reason in GLUT you have to call it twice each time.
- void showSettingsWindow(int deviceID);
-
- //Manual control over settings thanks.....
- //These are experimental for now.
- bool setVideoSettingFilter(int deviceID, long Property, long lValue, long Flags = NULL, bool useDefaultValue = false);
- bool setVideoSettingFilterPct(int deviceID, long Property, float pctValue, long Flags = NULL);
- bool getVideoSettingFilter(int deviceID, long Property, long &min, long &max, long &SteppingDelta, long ¤tValue, long &flags, long &defaultValue);
-
- bool setVideoSettingCamera(int deviceID, long Property, long lValue, long Flags = NULL, bool useDefaultValue = false);
- bool setVideoSettingCameraPct(int deviceID, long Property, float pctValue, long Flags = NULL);
- bool getVideoSettingCamera(int deviceID, long Property, long &min, long &max, long &SteppingDelta, long ¤tValue, long &flags, long &defaultValue);
-
- //bool setVideoSettingCam(int deviceID, long Property, long lValue, long Flags = NULL, bool useDefaultValue = false);
-
- //get width, height and number of pixels
- int getWidth(int deviceID);
- int getHeight(int deviceID);
- int getSize(int deviceID);
-
- //completely stops and frees a device
- void stopDevice(int deviceID);
-
- //as above but then sets it up with same settings
- bool restartDevice(int deviceID);
-
- //number of devices available
- int devicesFound;
-
- long propBrightness;
- long propContrast;
- long propHue;
- long propSaturation;
- long propSharpness;
- long propGamma;
- long propColorEnable;
- long propWhiteBalance;
- long propBacklightCompensation;
- long propGain;
-
- long propPan;
- long propTilt;
- long propRoll;
- long propZoom;
- long propExposure;
- long propIris;
- long propFocus;
-
-
- private:
- void setPhyCon(int deviceID, int conn);
- void setAttemptCaptureSize(int deviceID, int w, int h);
- bool setup(int deviceID);
- void processPixels(unsigned char * src, unsigned char * dst, int width, int height, bool bRGB, bool bFlip);
- int start(int deviceID, videoDevice * VD);
- int getDeviceCount();
- void getMediaSubtypeAsString(GUID type, char * typeAsString);
-
- HRESULT getDevice(IBaseFilter **pSrcFilter, int deviceID, WCHAR * wDeviceName, char * nDeviceName);
- static HRESULT ShowFilterPropertyPages(IBaseFilter *pFilter);
- HRESULT SaveGraphFile(IGraphBuilder *pGraph, WCHAR *wszPath);
- HRESULT routeCrossbar(ICaptureGraphBuilder2 **ppBuild, IBaseFilter **pVidInFilter, int conType, GUID captureMode);
-
- //don't touch
- static bool comInit();
- static bool comUnInit();
-
- int connection;
- int callbackSetCount;
- bool bCallback;
-
- GUID CAPTURE_MODE;
-
- //Extra video subtypes
- GUID MEDIASUBTYPE_Y800;
- GUID MEDIASUBTYPE_Y8;
- GUID MEDIASUBTYPE_GREY;
-
- videoDevice * VDList[VI_MAX_CAMERAS];
- GUID mediaSubtypes[VI_NUM_TYPES];
- long formatTypes[VI_NUM_FORMATS];
-
- static void __cdecl basicThread(void * objPtr);
-
- static char deviceNames[VI_MAX_CAMERAS][255];
-
-};
-
- #endif
diff --git a/FTNoIR_Tracker_PT/videoInput/videoInput_vc8.lib b/FTNoIR_Tracker_PT/videoInput/videoInput_vc8.lib Binary files differdeleted file mode 100644 index 15ca9cf3..00000000 --- a/FTNoIR_Tracker_PT/videoInput/videoInput_vc8.lib +++ /dev/null diff --git a/FTNoIR_Tracker_PT/videoInput/videoInput_vc9.lib b/FTNoIR_Tracker_PT/videoInput/videoInput_vc9.lib Binary files differdeleted file mode 100644 index 32637cc9..00000000 --- a/FTNoIR_Tracker_PT/videoInput/videoInput_vc9.lib +++ /dev/null diff --git a/FTNoIR_Tracker_PT/video_widget.cpp b/FTNoIR_Tracker_PT/video_widget.cpp deleted file mode 100644 index c2b41da1..00000000 --- a/FTNoIR_Tracker_PT/video_widget.cpp +++ /dev/null @@ -1,98 +0,0 @@ -/* 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.
- *
- * 20130312, WVR: Add 7 lines to resizeGL after resize_frame. This should lower CPU-load.
- */
-
-#include "video_widget.h"
-
-#include <QDebug>
-
-using namespace cv;
-using namespace std;
-using namespace boost;
-
-// ----------------------------------------------------------------------------
-void VideoWidget::initializeGL()
-{
- glClearColor(0.0, 0.0, 0.0, 0.0);
- glMatrixMode(GL_MODELVIEW);
- glLoadIdentity();
-}
-
-void VideoWidget::resizeGL(int w, int h)
-{
- // setup 1 to 1 projection
- glViewport(0, 0, w, h);
- glMatrixMode(GL_PROJECTION);
- glLoadIdentity();
- glOrtho(0, w, 0, h, -1, 1);
- resize_frame();
- glDisable(GL_DEPTH_TEST);
- glBegin(GL_QUADS);
- glVertex2f(0,0);
- glVertex2f(1,0);
- glVertex2f(1,1);
- glVertex2f(0,1);
- glEnd();
-}
-
-void VideoWidget::paintGL()
-{
- glClear(GL_COLOR_BUFFER_BIT);
- if (!resized_qframe.isNull())
- {
- glDrawPixels(resized_qframe.width(), resized_qframe.height(), GL_RGBA, GL_UNSIGNED_BYTE, resized_qframe.bits());
-
- const int crosshair_radius = 10;
- const int crosshair_thickness = 1;
-
- glColor3f(1.0, 0.0, 0.0);
- glLineWidth(crosshair_thickness);
- int x,y;
- for (vector<Vec2f>::iterator iter = points->begin();
- iter != points->end();
- ++iter)
- {
- x = (*iter)[0] * resized_qframe.width() + resized_qframe.width()/2.0 + 0.5;
- y = (*iter)[1] * resized_qframe.width() + resized_qframe.height()/2.0 + 0.5;
-
- glBegin(GL_LINES);
- glVertex2i(x-crosshair_radius, y);
- glVertex2i(x+crosshair_radius, y);
- glEnd();
- glBegin(GL_LINES);
- glVertex2i(x, y-crosshair_radius);
- glVertex2i(x, y+crosshair_radius);
- glEnd();
- }
- }
- glFlush();
-}
-
-
-void VideoWidget::resize_frame()
-{
- if (!qframe.isNull())
- resized_qframe = qframe.scaled(this->size(), Qt::KeepAspectRatio);
-}
-
-
-void VideoWidget::update(Mat frame, shared_ptr< vector<Vec2f> > points)
-{
- this->frame = frame;
- this->points = points;
-
- // convert to QImage
- if (frame.channels() == 3)
- qframe = QImage((const unsigned char*)(frame.data), frame.cols, frame.rows, frame.step, QImage::Format_RGB888).rgbSwapped();
- else if (frame.channels() == 1)
- qframe = QImage((const unsigned char*)(frame.data), frame.cols, frame.rows, frame.step, QImage::Format_Indexed8);
- qframe = QGLWidget::convertToGLFormat(qframe);
-
- resize_frame();
- updateGL();
-}
diff --git a/FTNoIR_Tracker_PT/video_widget.h b/FTNoIR_Tracker_PT/video_widget.h deleted file mode 100644 index f49fef18..00000000 --- a/FTNoIR_Tracker_PT/video_widget.h +++ /dev/null @@ -1,40 +0,0 @@ -/* 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.
- */
-
-#ifndef VIDEOWIDGET_H
-#define VIDEOWIDGET_H
-
-#include <QGLWidget>
-#include <QTime>
-#include <opencv2/opencv.hpp>
-#include <boost/shared_ptr.hpp>
-
-// ----------------------------------------------------------------------------
-class VideoWidget : public QGLWidget
-{
- Q_OBJECT
-
-public:
- VideoWidget(QWidget *parent) : QGLWidget(parent) {}
-
- void initializeGL();
- void resizeGL(int w, int h);
- void paintGL();
-
- void update(cv::Mat frame, boost::shared_ptr< std::vector<cv::Vec2f> > points);
-
-private:
- void resize_frame();
-
- cv::Mat frame;
- QImage qframe;
- QImage resized_qframe;
-
- boost::shared_ptr< std::vector<cv::Vec2f> > points;
-};
-
-#endif // VIDEOWIDGET_H
|
