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-rw-r--r--cv/export.hpp28
-rw-r--r--cv/translation-calibrator.cpp41
-rw-r--r--cv/translation-calibrator.hpp36
-rw-r--r--cv/video-widget.cpp71
-rw-r--r--cv/video-widget.hpp39
5 files changed, 187 insertions, 28 deletions
diff --git a/cv/export.hpp b/cv/export.hpp
deleted file mode 100644
index 6636e56b..00000000
--- a/cv/export.hpp
+++ /dev/null
@@ -1,28 +0,0 @@
-#pragma once
-
-#ifdef BUILD_cv
-# ifdef _WIN32
-# define OPENTRACK_CV_LINKAGE __declspec(dllexport)
-# else
-# define OPENTRACK_CV_LINKAGE
-# endif
-
-# ifndef _MSC_VER
-# define OPENTRACK_CV_EXPORT __attribute__ ((visibility ("default"))) OPENTRACK_CV_LINKAGE
-# else
-# define OPENTRACK_CV_EXPORT OPENTRACK_CV_LINKAGE
-# endif
-
-#else
- #ifdef _WIN32
- # define OPENTRACK_CV_LINKAGE __declspec(dllimport)
- #else
- # define OPENTRACK_CV_LINKAGE
- #endif
-
- #ifndef _MSC_VER
- # define OPENTRACK_CV_EXPORT __attribute__ ((visibility ("default"))) OPENTRACK_CV_LINKAGE
- #else
- # define OPENTRACK_CV_EXPORT OPENTRACK_CV_LINKAGE
- #endif
-#endif
diff --git a/cv/translation-calibrator.cpp b/cv/translation-calibrator.cpp
new file mode 100644
index 00000000..1287b408
--- /dev/null
+++ b/cv/translation-calibrator.cpp
@@ -0,0 +1,41 @@
+/* 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 "translation-calibrator.hpp"
+
+TranslationCalibrator::TranslationCalibrator()
+{
+ reset();
+}
+
+void TranslationCalibrator::reset()
+{
+ P = cv::Matx66f::zeros();
+ y = cv::Vec6f(0,0,0, 0,0,0);
+}
+
+void TranslationCalibrator::update(const cv::Matx33d& R_CM_k, const cv::Vec3d& t_CM_k)
+{
+ cv::Matx<double, 6,3> H_k_T = cv::Matx<double, 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;
+}
+
+cv::Vec3f TranslationCalibrator::get_estimate()
+{
+ cv::Vec6f x = P.inv() * y;
+ return cv::Vec3f(x[0], x[1], x[2]);
+}
diff --git a/cv/translation-calibrator.hpp b/cv/translation-calibrator.hpp
new file mode 100644
index 00000000..cfde0051
--- /dev/null
+++ b/cv/translation-calibrator.hpp
@@ -0,0 +1,36 @@
+/* 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.
+ */
+
+#pragma once
+
+#include <opencv2/core/core.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::Matx33d& R_CM_k, const cv::Vec3d& t_CM_k);
+
+ // get the current estimate for t_MH
+ cv::Vec3f get_estimate();
+
+private:
+ cv::Matx66f P; // normalized precision matrix = inverse covariance
+ cv::Vec6f y; // P*(-t_MH, t_CH)
+};
diff --git a/cv/video-widget.cpp b/cv/video-widget.cpp
new file mode 100644
index 00000000..b514dc8f
--- /dev/null
+++ b/cv/video-widget.cpp
@@ -0,0 +1,71 @@
+/* Copyright (c) 2012 Patrick Ruoff
+ * Copyright (c) 2014-2016 Stanislaw Halik <sthalik@misaki.pl>
+ *
+ * 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 "video-widget.hpp"
+#include <opencv2/imgproc.hpp>
+
+#include "opentrack/is-window-visible.hpp"
+
+cv_video_widget::cv_video_widget(QWidget* parent) :
+ QWidget(parent),
+ freshp(false),
+ visible(true)
+{
+ connect(&timer, SIGNAL(timeout()), this, SLOT(update_and_repaint()));
+ timer.start(50);
+}
+
+void cv_video_widget::update_image(const cv::Mat& frame)
+{
+ QMutexLocker foo(&mtx);
+
+ if (!freshp)
+ {
+ if (_frame.cols != frame.cols || _frame.rows != frame.rows)
+ {
+ _frame = cv::Mat(frame.rows, frame.cols, CV_8U);
+ _frame2 = cv::Mat(frame.rows, frame.cols, CV_8U);
+ }
+ frame.copyTo(_frame);
+ freshp = true;
+ }
+}
+
+void cv_video_widget::paintEvent(QPaintEvent*)
+{
+ QMutexLocker foo(&mtx);
+ QPainter painter(this);
+ painter.drawImage(rect(), texture);
+}
+
+void cv_video_widget::update_and_repaint()
+{
+ QMutexLocker l(&mtx);
+
+ if (window_check_timer.elapsed_ms() > 250)
+ {
+ visible = is_window_visible(this);
+ window_check_timer.start();
+ }
+
+ if (visible)
+ {
+ if (_frame.empty() || !freshp)
+ return;
+ cv::cvtColor(_frame, _frame2, cv::COLOR_RGB2BGR);
+
+ if (_frame3.cols != width() || _frame3.rows != height())
+ _frame3 = cv::Mat(height(), width(), CV_8U);
+
+ cv::resize(_frame2, _frame3, cv::Size(width(), height()), 0, 0, cv::INTER_NEAREST);
+
+ texture = QImage((const unsigned char*) _frame3.data, _frame3.cols, _frame3.rows, QImage::Format_RGB888);
+ freshp = false;
+ update();
+ }
+}
diff --git a/cv/video-widget.hpp b/cv/video-widget.hpp
new file mode 100644
index 00000000..2d5d673f
--- /dev/null
+++ b/cv/video-widget.hpp
@@ -0,0 +1,39 @@
+/* Copyright (c) 2012 Patrick Ruoff
+ * Copyright (c) 2014-2016 Stanislaw Halik <sthalik@misaki.pl>
+ *
+ * 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.
+ */
+
+#pragma once
+
+#include "opentrack-compat/timer.hpp"
+#include <opencv2/core/core.hpp>
+#include <memory>
+#include <QObject>
+#include <QWidget>
+#include <QPainter>
+#include <QPaintEvent>
+#include <QTimer>
+#include <QMutex>
+#include <QMutexLocker>
+#include <QDebug>
+
+class cv_video_widget final : public QWidget
+{
+ Q_OBJECT
+public:
+ cv_video_widget(QWidget *parent);
+ void update_image(const cv::Mat &frame);
+protected slots:
+ void paintEvent(QPaintEvent*) override;
+ void update_and_repaint();
+private:
+ QMutex mtx;
+ QImage texture;
+ QTimer timer;
+ Timer window_check_timer;
+ cv::Mat _frame, _frame2, _frame3;
+ bool freshp, visible;
+};
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-28 21:23:49 +0000