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-rw-r--r--ftnoir_tracker_aruco/aruco-trackercontrols.ui449
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp24
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.h7
3 files changed, 190 insertions, 290 deletions
diff --git a/ftnoir_tracker_aruco/aruco-trackercontrols.ui b/ftnoir_tracker_aruco/aruco-trackercontrols.ui
index be237e3c..e5654bd5 100644
--- a/ftnoir_tracker_aruco/aruco-trackercontrols.ui
+++ b/ftnoir_tracker_aruco/aruco-trackercontrols.ui
@@ -10,7 +10,7 @@
<x>0</x>
<y>0</y>
<width>636</width>
- <height>346</height>
+ <height>368</height>
</rect>
</property>
<property name="sizePolicy">
@@ -19,243 +19,239 @@
<verstretch>0</verstretch>
</sizepolicy>
</property>
- <property name="maximumSize">
- <size>
- <width>6666</width>
- <height>6666</height>
- </size>
- </property>
<property name="windowTitle">
- <string>HT tracker settings</string>
+ <string>Tracker settings</string>
</property>
- <layout class="QGridLayout" name="gridLayout">
- <property name="spacing">
- <number>7</number>
- </property>
- <item row="9" column="1" rowspan="3">
- <widget class="QGroupBox" name="groupBox_2">
+ <layout class="QGridLayout" name="gridLayout_3">
+ <item row="0" column="0" rowspan="2" colspan="2">
+ <widget class="QGroupBox" name="groupBox">
<property name="title">
- <string>Head position</string>
+ <string/>
</property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
+ <property name="flat">
+ <bool>true</bool>
</property>
- <layout class="QGridLayout" name="gridLayout_2">
- <item row="2" column="0">
- <widget class="QLabel" name="label_7">
- <property name="text">
- <string>TY</string>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_5">
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="0" column="0">
+ <widget class="QLabel" name="label">
<property name="text">
- <string>TX</string>
+ <string>Horizontal FOV</string>
</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>
+ <item row="0" column="1">
+ <widget class="QDoubleSpinBox" name="cameraFOV">
+ <property name="locale">
+ <locale language="English" country="UnitedStates"/>
</property>
<property name="minimum">
- <double>-10000.000000000000000</double>
+ <double>35.000000000000000</double>
</property>
<property name="maximum">
- <double>10000.000000000000000</double>
+ <double>180.000000000000000</double>
+ </property>
+ <property name="value">
+ <double>52.000000000000000</double>
</property>
</widget>
</item>
- <item row="3" column="0">
- <widget class="QLabel" name="label_8">
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_2">
<property name="text">
- <string>TZ</string>
+ <string>Frames per second</string>
</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>
+ <item row="1" column="1">
+ <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="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>
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_3">
+ <property name="text">
+ <string>Camera name</string>
</property>
</widget>
</item>
- <item row="4" column="1">
- <widget class="QPushButton" name="btn_calibrate">
+ <item row="2" column="1">
+ <widget class="QComboBox" name="cameraName"/>
+ </item>
+ <item row="3" column="0">
+ <widget class="QLabel" name="label_4">
<property name="text">
- <string>Calibrate</string>
+ <string>Resolution</string>
</property>
</widget>
</item>
- </layout>
- </widget>
- </item>
- <item row="0" column="3" rowspan="3" colspan="2">
- <widget class="QGroupBox" name="groupBox">
- <property name="title">
- <string>Enable axes</string>
- </property>
- <layout class="QFormLayout" name="formLayout">
- <property name="horizontalSpacing">
- <number>7</number>
- </property>
- <property name="leftMargin">
- <number>6</number>
- </property>
- <property name="topMargin">
- <number>0</number>
- </property>
- <property name="rightMargin">
- <number>6</number>
- </property>
- <property name="bottomMargin">
- <number>0</number>
- </property>
- <item row="0" column="0">
- <widget class="QCheckBox" name="rx">
- <property name="text">
- <string>RX</string>
- </property>
+ <item row="3" 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="0" column="1">
- <widget class="QCheckBox" name="tx">
+ <item row="4" column="0">
+ <widget class="QLabel" name="label_10">
<property name="text">
- <string>TX</string>
+ <string>Red channel only</string>
</property>
</widget>
</item>
- <item row="1" column="0">
- <widget class="QCheckBox" name="ry">
+ <item row="4" column="1">
+ <widget class="QCheckBox" name="red_only">
<property name="text">
- <string>RY</string>
+ <string>Mileage may vary</string>
</property>
</widget>
</item>
- <item row="1" column="1">
- <widget class="QCheckBox" name="ty">
+ <item row="5" column="0">
+ <widget class="QLabel" name="label_9">
<property name="text">
- <string>TY</string>
+ <string>Marker pitch</string>
</property>
</widget>
</item>
- <item row="2" column="0">
- <widget class="QCheckBox" name="rz">
- <property name="text">
- <string>RZ</string>
+ <item row="5" 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>
- <item row="2" column="1">
- <widget class="QCheckBox" name="tz">
- <property name="text">
- <string>TZ</string>
+ <item row="6" column="1">
+ <widget class="QGroupBox" name="groupBox_2">
+ <property name="title">
+ <string>Head center</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="1" column="0">
- <widget class="QLabel" name="label_2">
- <property name="text">
- <string>Frames per second</string>
- </property>
- </widget>
- </item>
- <item row="2" column="1" colspan="2">
- <widget class="QComboBox" name="cameraName"/>
- </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="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="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="6" column="2" rowspan="5" colspan="3">
+ <item row="0" column="2">
<widget class="QLabel" name="label_6">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Preferred">
@@ -270,7 +266,7 @@
<enum>Qt::RichText</enum>
</property>
<property name="alignment">
- <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+ <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -286,93 +282,16 @@
</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="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="0" column="0">
- <widget class="QLabel" name="label">
- <property name="text">
- <string>Horizontal FOV</string>
- </property>
- </widget>
- </item>
- <item row="11" column="4">
+ <item row="1" column="2">
<widget class="QDialogButtonBox" name="buttonBox">
<property name="standardButtons">
<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
</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>
- <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>
</layout>
</widget>
<tabstops>
- <tabstop>cameraFOV</tabstop>
- <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>
- <tabstop>rx</tabstop>
- <tabstop>ry</tabstop>
- <tabstop>rz</tabstop>
- <tabstop>tx</tabstop>
- <tabstop>ty</tabstop>
- <tabstop>tz</tabstop>
<tabstop>buttonBox</tabstop>
</tabstops>
<resources/>
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index b70bef09..f469c7a4 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -380,18 +380,12 @@ void Tracker::GetHeadPoseData(double *data)
{
QMutexLocker lck(&mtx);
- if (s.eyaw)
- data[Yaw] = pose[Yaw];
- if (s.epitch)
- data[Pitch] = pose[Pitch];
- if (s.eroll)
- data[Roll] = pose[Roll];
- if (s.ex)
- data[TX] = pose[TX] * .1;
- if (s.ey)
- data[TY] = pose[TY] * .1;
- if (s.ez)
- data[TZ] = pose[TZ] * .1;
+ data[Yaw] = pose[Yaw];
+ data[Pitch] = pose[Pitch];
+ data[Roll] = pose[Roll];
+ data[TX] = pose[TX] * .1;
+ data[TY] = pose[TY] * .1;
+ data[TZ] = pose[TZ] * .1;
}
class TrackerDll : public Metadata
@@ -456,12 +450,6 @@ TrackerControls::TrackerControls()
tie_setting(s.resolution, ui.resolution);
tie_setting(s.force_fps, ui.cameraFPS);
tie_setting(s.fov, ui.cameraFOV);
- tie_setting(s.eyaw, ui.rx);
- tie_setting(s.epitch, ui.ry);
- tie_setting(s.eroll, ui.rz);
- tie_setting(s.ex, ui.tx);
- tie_setting(s.ey, ui.ty);
- tie_setting(s.ez, ui.tz);
tie_setting(s.headpos_x, ui.cx);
tie_setting(s.headpos_y, ui.cy);
tie_setting(s.headpos_z, ui.cz);
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
index f2207aef..c431d27a 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<bool> eyaw, epitch, eroll, ex, ey, ez;
value<double> marker_pitch;
settings() :
b(bundle("aruco-tracker")),
@@ -40,12 +39,6 @@ struct settings {
force_fps(b, "force-fps", 0),
resolution(b, "force-resolution", 0),
red_only(b, "red-only", false),
- eyaw(b, "enable-y", true),
- epitch(b, "enable-p", true),
- eroll(b, "enable-r", true),
- ex(b, "enable-x", true),
- ey(b, "enable-y", true),
- ez(b, "enable-z", true),
marker_pitch(b, "marker-pitch", 0)
{}
};
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-10 22:08:04 +0000