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Diffstat (limited to 'ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp')
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp148
1 files changed, 74 insertions, 74 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index e216d319..a1e15721 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -8,13 +8,13 @@
#include "ftnoir_tracker_aruco.h"
#include "ui_aruco-trackercontrols.h"
#include "facetracknoir/plugin-api.hpp"
-#include <cmath>
#include <QMutexLocker>
-#include <aruco.h>
-#include <opencv2/opencv.hpp>
-#include <opencv/highgui.h>
+#include "include/markerdetector.h"
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
#include <vector>
#include <cstdio>
+#include <cmath>
#if defined(_WIN32)
# undef NOMINMAX
@@ -29,51 +29,51 @@
static QList<QString> get_camera_names(void) {
QList<QString> ret;
#if defined(_WIN32)
- // Create the System Device Enumerator.
- HRESULT hr;
- ICreateDevEnum *pSysDevEnum = NULL;
- hr = CoCreateInstance(CLSID_SystemDeviceEnum, NULL, CLSCTX_INPROC_SERVER, IID_ICreateDevEnum, (void **)&pSysDevEnum);
- if (FAILED(hr))
- {
- return ret;
- }
- // Obtain a class enumerator for the video compressor category.
- IEnumMoniker *pEnumCat = NULL;
- hr = pSysDevEnum->CreateClassEnumerator(CLSID_VideoInputDeviceCategory, &pEnumCat, 0);
-
- if (hr == S_OK) {
- // Enumerate the monikers.
- IMoniker *pMoniker = NULL;
- ULONG cFetched;
- while (pEnumCat->Next(1, &pMoniker, &cFetched) == S_OK) {
- IPropertyBag *pPropBag;
- hr = pMoniker->BindToStorage(0, 0, IID_IPropertyBag, (void **)&pPropBag);
- if (SUCCEEDED(hr)) {
- // To retrieve the filter's friendly name, do the following:
- VARIANT varName;
- VariantInit(&varName);
- hr = pPropBag->Read(L"FriendlyName", &varName, 0);
- if (SUCCEEDED(hr))
- {
- // Display the name in your UI somehow.
- QString str((QChar*)varName.bstrVal, wcslen(varName.bstrVal));
- ret.append(str);
- }
- VariantClear(&varName);
-
- ////// To create an instance of the filter, do the following:
- ////IBaseFilter *pFilter;
- ////hr = pMoniker->BindToObject(NULL, NULL, IID_IBaseFilter,
- //// (void**)&pFilter);
- // Now add the filter to the graph.
- //Remember to release pFilter later.
- pPropBag->Release();
- }
- pMoniker->Release();
- }
- pEnumCat->Release();
- }
- pSysDevEnum->Release();
+ // Create the System Device Enumerator.
+ HRESULT hr;
+ ICreateDevEnum *pSysDevEnum = NULL;
+ hr = CoCreateInstance(CLSID_SystemDeviceEnum, NULL, CLSCTX_INPROC_SERVER, IID_ICreateDevEnum, (void **)&pSysDevEnum);
+ if (FAILED(hr))
+ {
+ return ret;
+ }
+ // Obtain a class enumerator for the video compressor category.
+ IEnumMoniker *pEnumCat = NULL;
+ hr = pSysDevEnum->CreateClassEnumerator(CLSID_VideoInputDeviceCategory, &pEnumCat, 0);
+
+ if (hr == S_OK) {
+ // Enumerate the monikers.
+ IMoniker *pMoniker = NULL;
+ ULONG cFetched;
+ while (pEnumCat->Next(1, &pMoniker, &cFetched) == S_OK) {
+ IPropertyBag *pPropBag;
+ hr = pMoniker->BindToStorage(0, 0, IID_IPropertyBag, (void **)&pPropBag);
+ if (SUCCEEDED(hr)) {
+ // To retrieve the filter's friendly name, do the following:
+ VARIANT varName;
+ VariantInit(&varName);
+ hr = pPropBag->Read(L"FriendlyName", &varName, 0);
+ if (SUCCEEDED(hr))
+ {
+ // Display the name in your UI somehow.
+ QString str((QChar*)varName.bstrVal, wcslen(varName.bstrVal));
+ ret.append(str);
+ }
+ VariantClear(&varName);
+
+ ////// To create an instance of the filter, do the following:
+ ////IBaseFilter *pFilter;
+ ////hr = pMoniker->BindToObject(NULL, NULL, IID_IBaseFilter,
+ //// (void**)&pFilter);
+ // Now add the filter to the graph.
+ //Remember to release pFilter later.
+ pPropBag->Release();
+ }
+ pMoniker->Release();
+ }
+ pEnumCat->Release();
+ }
+ pSysDevEnum->Release();
#else
for (int i = 0; i < 16; i++) {
char buf[128];
@@ -89,15 +89,15 @@ static QList<QString> get_camera_names(void) {
}
typedef struct {
- int width;
- int height;
+ int width;
+ int height;
} resolution_tuple;
static resolution_tuple resolution_choices[] = {
- { 640, 480 },
- { 320, 240 },
- { 320, 200 },
- { 0, 0 }
+ { 640, 480 },
+ { 320, 240 },
+ { 320, 200 },
+ { 0, 0 }
};
Tracker::Tracker() : stop(false), layout(nullptr), videoWidget(nullptr)
@@ -108,8 +108,8 @@ Tracker::~Tracker()
{
stop = true;
wait();
- if (videoWidget)
- delete videoWidget;
+ if (videoWidget)
+ delete videoWidget;
if(layout)
delete layout;
qDebug() << "releasing camera, brace for impact";
@@ -178,7 +178,7 @@ void Tracker::run()
}
if (fps)
camera.set(CV_CAP_PROP_FPS, fps);
-
+
aruco::MarkerDetector detector;
detector.setDesiredSpeed(3);
@@ -187,7 +187,7 @@ void Tracker::run()
cv::Mat color, color_, grayscale, rvec, tvec;
const double stateful_coeff = 0.88;
-
+
if (!camera.isOpened())
{
fprintf(stderr, "aruco tracker: can't open camera\n");
@@ -214,7 +214,7 @@ void Tracker::run()
grayscale = channel[2];
} else
cv::cvtColor(color, grayscale, cv::COLOR_BGR2GRAY);
-
+
gain.tick(camera, grayscale);
const int scale = frame.cols > 480 ? 2 : 1;
@@ -280,11 +280,11 @@ void Tracker::run()
cv::putText(frame, buf, cv::Point(10, 32), cv::FONT_HERSHEY_PLAIN, scale, cv::Scalar(0, 255, 0), scale);
::sprintf(buf, "Jiffies: %ld", (long) (10000 * (time - tm) / freq));
cv::putText(frame, buf, cv::Point(10, 54), cv::FONT_HERSHEY_PLAIN, scale, cv::Scalar(80, 255, 0), scale);
-
+
if (markers.size() == 1 && markers[0].size() == 4) {
const auto& m = markers.at(0);
const float size = 40;
-
+
const double p = s.marker_pitch;
const double sq = sin(p * HT_PI / 180);
const double cq = cos(p * HT_PI / 180);
@@ -380,7 +380,7 @@ void Tracker::run()
void Tracker::GetHeadPoseData(double *data)
{
QMutexLocker lck(&mtx);
-
+
data[Yaw] = pose[Yaw];
data[Pitch] = pose[Pitch];
data[Roll] = pose[Roll];
@@ -391,11 +391,11 @@ void Tracker::GetHeadPoseData(double *data)
class TrackerDll : public Metadata
{
- // ITrackerDll interface
- void getFullName(QString *strToBeFilled);
- void getShortName(QString *strToBeFilled);
- void getDescription(QString *strToBeFilled);
- void getIcon(QIcon *icon);
+ // ITrackerDll interface
+ void getFullName(QString *strToBeFilled);
+ void getShortName(QString *strToBeFilled);
+ void getDescription(QString *strToBeFilled);
+ void getIcon(QIcon *icon);
};
//-----------------------------------------------------------------------------
@@ -406,12 +406,12 @@ void TrackerDll::getFullName(QString *strToBeFilled)
void TrackerDll::getShortName(QString *strToBeFilled)
{
- *strToBeFilled = "aruco";
+ *strToBeFilled = "aruco";
}
void TrackerDll::getDescription(QString *strToBeFilled)
{
- *strToBeFilled = "";
+ *strToBeFilled = "";
}
void TrackerDll::getIcon(QIcon *icon)
@@ -425,7 +425,7 @@ void TrackerDll::getIcon(QIcon *icon)
extern "C" OPENTRACK_EXPORT Metadata* GetMetadata()
{
- return new TrackerDll;
+ return new TrackerDll;
}
//#pragma comment(linker, "/export:GetTracker=_GetTracker@0")
@@ -444,11 +444,11 @@ TrackerControls::TrackerControls()
{
tracker = nullptr;
calib_timer.setInterval(200);
- ui.setupUi(this);
+ ui.setupUi(this);
setAttribute(Qt::WA_NativeWindow, true);
ui.cameraName->addItems(get_camera_names());
tie_setting(s.camera_index, ui.cameraName);
- tie_setting(s.resolution, ui.resolution);
+ tie_setting(s.resolution, ui.resolution);
tie_setting(s.force_fps, ui.cameraFPS);
tie_setting(s.fov, ui.cameraFOV);
tie_setting(s.headpos_x, ui.cx);
@@ -500,7 +500,7 @@ void TrackerControls::doOK()
s.b->save();
if (tracker)
tracker->reload();
- this->close();
+ this->close();
}
void TrackerControls::doCancel()
generated by cgit v1.2.3 (git 2.39.1) at 2025-01-06 08:20:30 +0000