summaryrefslogtreecommitdiffhomepage
path: root/ftnoir_tracker_aruco
diff options
context:
space:
mode:
Diffstat (limited to 'ftnoir_tracker_aruco')
-rw-r--r--ftnoir_tracker_aruco/aruco-trackercontrols.ui326
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp21
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.h4
3 files changed, 189 insertions, 162 deletions
diff --git a/ftnoir_tracker_aruco/aruco-trackercontrols.ui b/ftnoir_tracker_aruco/aruco-trackercontrols.ui
index 3f5a1d2a..e699eccc 100644
--- a/ftnoir_tracker_aruco/aruco-trackercontrols.ui
+++ b/ftnoir_tracker_aruco/aruco-trackercontrols.ui
@@ -32,158 +32,6 @@
<property name="spacing">
<number>7</number>
</property>
- <item row="2" column="1" colspan="2">
- <widget class="QComboBox" name="cameraName"/>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_2">
- <property name="text">
- <string>Frames per second</string>
- </property>
- </widget>
- </item>
- <item row="0" column="1" colspan="2">
- <widget class="QDoubleSpinBox" name="cameraFOV">
- <property name="locale">
- <locale language="English" country="UnitedStates"/>
- </property>
- <property name="minimum">
- <double>35.000000000000000</double>
- </property>
- <property name="maximum">
- <double>180.000000000000000</double>
- </property>
- <property name="value">
- <double>52.000000000000000</double>
- </property>
- </widget>
- </item>
- <item row="7" column="1">
- <widget class="QCheckBox" name="red_only">
- <property name="text">
- <string>Recommended!</string>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QLabel" name="label_3">
- <property name="text">
- <string>Camera name</string>
- </property>
- </widget>
- </item>
- <item row="1" column="1" colspan="2">
- <widget class="QComboBox" name="cameraFPS">
- <item>
- <property name="text">
- <string notr="true">Default</string>
- </property>
- </item>
- <item>
- <property name="text">
- <string>30</string>
- </property>
- </item>
- <item>
- <property name="text">
- <string>60</string>
- </property>
- </item>
- <item>
- <property name="text">
- <string>120</string>
- </property>
- </item>
- <item>
- <property name="text">
- <string>180</string>
- </property>
- </item>
- </widget>
- </item>
- <item row="6" column="2" rowspan="4" colspan="3">
- <widget class="QLabel" name="label_6">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;The ARUCO Library has been developed by the Ava group of the Univeristy of Cordoba, Spain&lt;/p&gt;&lt;p&gt;Rafael Muñoz Salinas &amp;lt;&lt;a href=&quot;mailto:rmsalinas@uco.es&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0057ae;&quot;&gt;rmsalinas@uco.es&lt;/span&gt;&lt;/a&gt;&amp;gt;&lt;/p&gt;&lt;p&gt;&amp;lt;&lt;a href=&quot;https://github.com/rmsalinas/aruco&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0057ae;&quot;&gt;https://github.com/rmsalinas/aruco&lt;/span&gt;&lt;/a&gt;&amp;gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
- </property>
- <property name="textFormat">
- <enum>Qt::RichText</enum>
- </property>
- <property name="alignment">
- <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
- </property>
- <property name="wordWrap">
- <bool>true</bool>
- </property>
- <property name="margin">
- <number>4</number>
- </property>
- <property name="openExternalLinks">
- <bool>true</bool>
- </property>
- <property name="textInteractionFlags">
- <set>Qt::LinksAccessibleByKeyboard|Qt::LinksAccessibleByMouse|Qt::TextBrowserInteraction|Qt::TextSelectableByKeyboard|Qt::TextSelectableByMouse</set>
- </property>
- </widget>
- </item>
- <item row="6" column="1">
- <widget class="QComboBox" name="resolution">
- <item>
- <property name="text">
- <string>640x480</string>
- </property>
- </item>
- <item>
- <property name="text">
- <string>320x240</string>
- </property>
- </item>
- <item>
- <property name="text">
- <string>320x200</string>
- </property>
- </item>
- <item>
- <property name="text">
- <string>Default (not recommended!)</string>
- </property>
- </item>
- </widget>
- </item>
- <item row="7" column="0">
- <widget class="QLabel" name="label_10">
- <property name="text">
- <string>Red channel only</string>
- </property>
- </widget>
- </item>
- <item row="10" column="4">
- <widget class="QDialogButtonBox" name="buttonBox">
- <property name="standardButtons">
- <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
- </property>
- </widget>
- </item>
- <item row="0" column="0">
- <widget class="QLabel" name="label">
- <property name="text">
- <string>Horizontal FOV</string>
- </property>
- </widget>
- </item>
- <item row="6" column="0">
- <widget class="QLabel" name="label_4">
- <property name="text">
- <string>Resolution</string>
- </property>
- </widget>
- </item>
<item row="0" column="3" rowspan="3" colspan="2">
<widget class="QGroupBox" name="groupBox">
<property name="title">
@@ -250,7 +98,7 @@
</layout>
</widget>
</item>
- <item row="8" column="1" rowspan="3">
+ <item row="9" column="1" rowspan="3">
<widget class="QGroupBox" name="groupBox_2">
<property name="title">
<string>Head position</string>
@@ -331,6 +179,175 @@
</layout>
</widget>
</item>
+ <item row="2" column="1" colspan="2">
+ <widget class="QComboBox" name="cameraName"/>
+ </item>
+ <item row="0" column="1" colspan="2">
+ <widget class="QDoubleSpinBox" name="cameraFOV">
+ <property name="locale">
+ <locale language="English" country="UnitedStates"/>
+ </property>
+ <property name="minimum">
+ <double>35.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>180.000000000000000</double>
+ </property>
+ <property name="value">
+ <double>52.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="1">
+ <widget class="QCheckBox" name="red_only">
+ <property name="text">
+ <string>Recommended!</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_2">
+ <property name="text">
+ <string>Frames per second</string>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="2" rowspan="5" colspan="3">
+ <widget class="QLabel" name="label_6">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;The ARUCO Library has been developed by the Ava group of the Univeristy of Cordoba, Spain&lt;/p&gt;&lt;p&gt;Rafael Muñoz Salinas &amp;lt;&lt;a href=&quot;mailto:rmsalinas@uco.es&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0057ae;&quot;&gt;rmsalinas@uco.es&lt;/span&gt;&lt;/a&gt;&amp;gt;&lt;/p&gt;&lt;p&gt;&amp;lt;&lt;a href=&quot;https://github.com/rmsalinas/aruco&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0057ae;&quot;&gt;https://github.com/rmsalinas/aruco&lt;/span&gt;&lt;/a&gt;&amp;gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+ </property>
+ <property name="textFormat">
+ <enum>Qt::RichText</enum>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+ </property>
+ <property name="wordWrap">
+ <bool>true</bool>
+ </property>
+ <property name="margin">
+ <number>4</number>
+ </property>
+ <property name="openExternalLinks">
+ <bool>true</bool>
+ </property>
+ <property name="textInteractionFlags">
+ <set>Qt::LinksAccessibleByKeyboard|Qt::LinksAccessibleByMouse|Qt::TextBrowserInteraction|Qt::TextSelectableByKeyboard|Qt::TextSelectableByMouse</set>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1" colspan="2">
+ <widget class="QComboBox" name="cameraFPS">
+ <item>
+ <property name="text">
+ <string notr="true">Default</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>30</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>60</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>120</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>180</string>
+ </property>
+ </item>
+ </widget>
+ </item>
+ <item row="6" column="1">
+ <widget class="QComboBox" name="resolution">
+ <item>
+ <property name="text">
+ <string>640x480</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>320x240</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>320x200</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>Default (not recommended!)</string>
+ </property>
+ </item>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_3">
+ <property name="text">
+ <string>Camera name</string>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="0">
+ <widget class="QLabel" name="label_10">
+ <property name="text">
+ <string>Red channel only</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label">
+ <property name="text">
+ <string>Horizontal FOV</string>
+ </property>
+ </widget>
+ </item>
+ <item row="11" column="4">
+ <widget class="QDialogButtonBox" name="buttonBox">
+ <property name="standardButtons">
+ <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="0">
+ <widget class="QLabel" name="label_4">
+ <property name="text">
+ <string>Resolution</string>
+ </property>
+ </widget>
+ </item>
+ <item row="8" column="0">
+ <widget class="QLabel" name="label_9">
+ <property name="text">
+ <string>Marker pitch</string>
+ </property>
+ </widget>
+ </item>
+ <item row="8" column="1">
+ <widget class="QDoubleSpinBox" name="marker_pitch">
+ <property name="minimum">
+ <double>-180.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>180.000000000000000</double>
+ </property>
+ </widget>
+ </item>
</layout>
</widget>
<tabstops>
@@ -338,6 +355,8 @@
<tabstop>cameraFPS</tabstop>
<tabstop>cameraName</tabstop>
<tabstop>resolution</tabstop>
+ <tabstop>red_only</tabstop>
+ <tabstop>marker_pitch</tabstop>
<tabstop>cx</tabstop>
<tabstop>cy</tabstop>
<tabstop>cz</tabstop>
@@ -347,6 +366,7 @@
<tabstop>tx</tabstop>
<tabstop>ty</tabstop>
<tabstop>tz</tabstop>
+ <tabstop>buttonBox</tabstop>
</tabstops>
<resources/>
<connections/>
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index 9c8cd52b..776d443a 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -282,19 +282,23 @@ void Tracker::run()
const aruco::Marker& m = markers.at(0);
const float size = 7;
+ const double p = s.marker_pitch;
+ const double sq = sin(p * HT_PI / 180);
+ const double cq = cos(p * HT_PI / 180);
+
cv::Mat obj_points(4,3,CV_32FC1);
obj_points.at<float>(1,0)=-size + s.headpos_x;
- obj_points.at<float>(1,1)=-size + s.headpos_y;
- obj_points.at<float>(1,2)=0 + s.headpos_z;
+ obj_points.at<float>(1,1)=-size * cq + s.headpos_y;
+ obj_points.at<float>(1,2)=-size * sq + s.headpos_z;
obj_points.at<float>(2,0)=size + s.headpos_x;
- obj_points.at<float>(2,1)=-size + s.headpos_y;
- obj_points.at<float>(2,2)=0 + s.headpos_z;
+ obj_points.at<float>(2,1)=-size * cq + s.headpos_y;
+ obj_points.at<float>(2,2)=-size * sq + s.headpos_z;
obj_points.at<float>(3,0)=size + s.headpos_x;
- obj_points.at<float>(3,1)=size + s.headpos_y;
- obj_points.at<float>(3,2)=0 + s.headpos_z;
+ obj_points.at<float>(3,1)=size * cq + s.headpos_y;
+ obj_points.at<float>(3,2)=size * sq + s.headpos_z;
obj_points.at<float>(0,0)=-size + s.headpos_x;
- obj_points.at<float>(0,1)=size + s.headpos_y;
- obj_points.at<float>(0,2)=0 + s.headpos_z;
+ obj_points.at<float>(0,1)=size * cq + s.headpos_y;
+ obj_points.at<float>(0,2)=size * sq + s.headpos_z;
last_roi = cv::Rect(65535, 65535, 0, 0);
@@ -468,6 +472,7 @@ TrackerControls::TrackerControls()
tie_setting(s.headpos_y, ui.cy);
tie_setting(s.headpos_z, ui.cz);
tie_setting(s.red_only, ui.red_only);
+ tie_setting(s.marker_pitch, ui.marker_pitch);
connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
ui.cameraName->addItems(get_camera_names());
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
index 91a5ae8e..4cab84b5 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
@@ -27,6 +27,7 @@ struct settings {
value<int> camera_index, force_fps, resolution;
value<bool> red_only;
value<bool> eyaw, epitch, eroll, ex, ey, ez;
+ value<double> marker_pitch;
settings() :
b(bundle("aruco-tracker")),
fov(b, "field-of-view", 56),
@@ -42,7 +43,8 @@ struct settings {
eroll(b, "enable-r", true),
ex(b, "enable-x", true),
ey(b, "enable-y", true),
- ez(b, "enable-z", true)
+ ez(b, "enable-z", true),
+ marker_pitch(b, "marker-pitch", 0)
{}
};