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-rw-r--r--ftnoir_tracker_aruco/aruco-trackercontrols.ui249
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp34
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.h4
3 files changed, 117 insertions, 170 deletions
diff --git a/ftnoir_tracker_aruco/aruco-trackercontrols.ui b/ftnoir_tracker_aruco/aruco-trackercontrols.ui
index e5654bd5..240ef5f8 100644
--- a/ftnoir_tracker_aruco/aruco-trackercontrols.ui
+++ b/ftnoir_tracker_aruco/aruco-trackercontrols.ui
@@ -9,8 +9,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>636</width>
- <height>368</height>
+ <width>560</width>
+ <height>214</height>
</rect>
</property>
<property name="sizePolicy">
@@ -22,16 +22,17 @@
<property name="windowTitle">
<string>Tracker settings</string>
</property>
- <layout class="QGridLayout" name="gridLayout_3">
- <item row="0" column="0" rowspan="2" colspan="2">
- <widget class="QGroupBox" name="groupBox">
- <property name="title">
- <string/>
- </property>
- <property name="flat">
- <bool>true</bool>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="1" column="1">
+ <widget class="QDialogButtonBox" name="buttonBox">
+ <property name="standardButtons">
+ <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
</property>
- <layout class="QGridLayout" name="gridLayout">
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <widget class="QFrame" name="frame">
+ <layout class="QGridLayout" name="gridLayout_3">
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="text">
@@ -41,6 +42,12 @@
</item>
<item row="0" column="1">
<widget class="QDoubleSpinBox" name="cameraFOV">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
<property name="locale">
<locale language="English" country="UnitedStates"/>
</property>
@@ -64,6 +71,12 @@
</item>
<item row="1" column="1">
<widget class="QComboBox" name="cameraFPS">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
<item>
<property name="text">
<string notr="true">Default</string>
@@ -99,7 +112,14 @@
</widget>
</item>
<item row="2" column="1">
- <widget class="QComboBox" name="cameraName"/>
+ <widget class="QComboBox" name="cameraName">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_4">
@@ -110,6 +130,12 @@
</item>
<item row="3" column="1">
<widget class="QComboBox" name="resolution">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
<item>
<property name="text">
<string>640x480</string>
@@ -146,154 +172,93 @@
</property>
</widget>
</item>
- <item row="5" column="0">
- <widget class="QLabel" name="label_9">
+ </layout>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QFrame" name="frame_2">
+ <layout class="QGridLayout" name="gridLayout_2">
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_5">
<property name="text">
- <string>Marker pitch</string>
+ <string>Head X</string>
</property>
</widget>
</item>
- <item row="5" column="1">
- <widget class="QDoubleSpinBox" name="marker_pitch">
+ <item row="2" column="1">
+ <widget class="QDoubleSpinBox" name="cy">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
<property name="minimum">
- <double>-180.000000000000000</double>
+ <double>-10000.000000000000000</double>
</property>
<property name="maximum">
- <double>180.000000000000000</double>
+ <double>10000.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QDoubleSpinBox" name="cx">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimum">
+ <double>-10000.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>10000.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1">
+ <widget class="QDoubleSpinBox" name="cz">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimum">
+ <double>-10000.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>10000.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QLabel" name="label_8">
+ <property name="text">
+ <string>Head Z </string>
</property>
</widget>
</item>
- <item row="6" column="1">
- <widget class="QGroupBox" name="groupBox_2">
- <property name="title">
- <string>Head center</string>
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_7">
+ <property name="text">
+ <string>Head Y</string>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="1">
+ <widget class="QPushButton" name="btn_calibrate">
+ <property name="text">
+ <string>Calibrate</string>
</property>
- <layout class="QGridLayout" name="gridLayout_2">
- <item row="4" column="1">
- <widget class="QPushButton" name="btn_calibrate">
- <property name="text">
- <string>Calibrate</string>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_5">
- <property name="text">
- <string>TX</string>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QDoubleSpinBox" name="cy">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimum">
- <double>-10000.000000000000000</double>
- </property>
- <property name="maximum">
- <double>10000.000000000000000</double>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QDoubleSpinBox" name="cx">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimum">
- <double>-10000.000000000000000</double>
- </property>
- <property name="maximum">
- <double>10000.000000000000000</double>
- </property>
- </widget>
- </item>
- <item row="3" column="1">
- <widget class="QDoubleSpinBox" name="cz">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimum">
- <double>-10000.000000000000000</double>
- </property>
- <property name="maximum">
- <double>10000.000000000000000</double>
- </property>
- </widget>
- </item>
- <item row="3" column="0">
- <widget class="QLabel" name="label_8">
- <property name="text">
- <string>TZ</string>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QLabel" name="label_7">
- <property name="text">
- <string>TY</string>
- </property>
- </widget>
- </item>
- </layout>
</widget>
</item>
</layout>
</widget>
</item>
- <item row="0" column="2">
- <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::AlignVCenter</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="2">
- <widget class="QDialogButtonBox" name="buttonBox">
- <property name="standardButtons">
- <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
- </property>
- </widget>
- </item>
</layout>
</widget>
- <tabstops>
- <tabstop>buttonBox</tabstop>
- </tabstops>
<resources/>
<connections/>
<designerdata>
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index 1787ef2b..31aa2372 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -198,7 +198,6 @@ void Tracker::run()
int cur_fps = 0;
int last_fps = 0;
cv::Point2f last_centroid;
- bool first = true;
while (!stop)
{
@@ -284,23 +283,19 @@ void Tracker::run()
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);
-
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 * cq + s.headpos_y;
- obj_points.at<float>(1,2)=-size * sq + s.headpos_z;
+ obj_points.at<float>(1,1)=-size + s.headpos_y;
+ obj_points.at<float>(1,2)=-size + s.headpos_z;
obj_points.at<float>(2,0)=size + s.headpos_x;
- 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>(2,1)=-size + s.headpos_y;
+ obj_points.at<float>(2,2)=-size + s.headpos_z;
obj_points.at<float>(3,0)=size + s.headpos_x;
- 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>(3,1)=size + s.headpos_y;
+ obj_points.at<float>(3,2)=size + s.headpos_z;
obj_points.at<float>(0,0)=-size + s.headpos_x;
- obj_points.at<float>(0,1)=size * cq + s.headpos_y;
- obj_points.at<float>(0,2)=size * sq + s.headpos_z;
+ obj_points.at<float>(0,1)=size + s.headpos_y;
+ obj_points.at<float>(0,2)=size + s.headpos_z;
last_roi = cv::Rect(65535, 65535, 0, 0);
@@ -325,8 +320,7 @@ void Tracker::run()
last_roi.height = std::min<int>(grayscale.rows - last_roi.y, last_roi.height);
}
- cv::solvePnP(obj_points, m, intrinsics, dist_coeffs, rvec, tvec, !first, cv::ITERATIVE);
- first = false;
+ cv::solvePnP(obj_points, m, intrinsics, dist_coeffs, rvec, tvec, false, cv::ITERATIVE);
cv::Mat rotation_matrix = cv::Mat::zeros(3, 3, CV_64FC1);
cv::Mat junk1(3, 3, CV_64FC1), junk2(3, 3, CV_64FC1);
cv::Rodrigues(rvec, rotation_matrix);
@@ -334,12 +328,6 @@ void Tracker::run()
{
cv::Vec3d euler = cv::RQDecomp3x3(rotation_matrix, junk1, junk2);
- if (fabs(euler[0]) + fabs(s.marker_pitch) > 60)
- {
- first = true;
- qDebug() << "reset levmarq due to pitch breakage";
- }
-
QMutexLocker lck(&mtx);
for (int i = 0; i < 3; i++)
@@ -366,10 +354,7 @@ void Tracker::run()
last_centroid = repr2[0];
}
else
- {
last_roi = cv::Rect(65535, 65535, 0, 0);
- first = true;
- }
if (frame.rows > 0)
videoWidget->update_image(frame);
@@ -454,7 +439,6 @@ 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()));
connect(ui.btn_calibrate, SIGNAL(clicked()), this, SLOT(toggleCalibrate()));
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
index 9ac57417..c53a49a4 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
@@ -28,7 +28,6 @@ struct settings {
value<double> fov, headpos_x, headpos_y, headpos_z;
value<int> camera_index, force_fps, resolution;
value<bool> red_only;
- value<double> marker_pitch;
settings() :
b(bundle("aruco-tracker")),
fov(b, "field-of-view", 56),
@@ -38,8 +37,7 @@ struct settings {
camera_index(b, "camera-index", 0),
force_fps(b, "force-fps", 0),
resolution(b, "force-resolution", 0),
- red_only(b, "red-only", false),
- marker_pitch(b, "marker-pitch", 0)
+ red_only(b, "red-only", false)
{}
};
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-20 18:49:20 +0000