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Diffstat (limited to 'ftnoir_tracker_ht/ftnoir_tracker_ht.cpp')
-rw-r--r--ftnoir_tracker_ht/ftnoir_tracker_ht.cpp106
1 files changed, 75 insertions, 31 deletions
diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
index 336ede2d..5785b21a 100644
--- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
+++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
@@ -1,13 +1,11 @@
#include "stdafx.h"
-#include "../ftnoir_tracker_base/ftnoir_tracker_base.h"
+#include "ftnoir_tracker_base/ftnoir_tracker_base.h"
#include "headtracker-ftnoir.h"
#include "ftnoir_tracker_ht.h"
#include "ftnoir_tracker_ht_dll.h"
#include "ui_trackercontrols.h"
-#include "../facetracknoir/global-settings.h"
-
-#define WIDGET_WIDTH 250
-#define WIDGET_HEIGHT 188
+#include "facetracknoir/global-settings.h"
+#include <cmath>
#if defined(_WIN32) || defined(__WIN32)
#include <dshow.h>
@@ -98,31 +96,48 @@ static void load_settings(ht_config_t* config, Tracker* tracker)
QSettings iniFile( currentFile, QSettings::IniFormat );
iniFile.beginGroup( "HT-Tracker" );
- config->classification_delay = 4000;
- config->field_of_view = iniFile.value("fov", 69).toFloat();
+ config->classification_delay = 500;
+ config->field_of_view = iniFile.value("fov", 52).toFloat();
config->pyrlk_pyramids = 3;
- config->pyrlk_win_size_w = config->pyrlk_win_size_h = 21;
- config->max_keypoints = 250;
- config->keypoint_quality = 12;
- config->keypoint_distance = 2.3f;
- config->keypoint_3distance = 6;
- //config->force_width = 640;
- //config->force_height = 480;
- config->force_fps = iniFile.value("fps", 0).toInt();
- config->camera_index = iniFile.value("camera-index", -1).toInt();
- config->ransac_num_iters = 100;
- config->ransac_max_reprojection_error = 6.5f;
- config->ransac_max_inlier_error = 6.5f;
- config->ransac_max_mean_error = 4.0f;
- config->ransac_abs_max_mean_error = 7.0f;
- config->debug = 0;
- config->ransac_min_features = 0.75f;
+ config->pyrlk_win_size_w = config->pyrlk_win_size_h = 21;
+ config->max_keypoints = 300;
+ config->keypoint_quality = 2;
+ config->keypoint_distance = 2.5;
+ config->keypoint_3distance = 6;
+ //config->force_width = 640;
+ //config->force_height = 480;
+ config->force_fps = iniFile.value("fps", 0).toInt();
+ config->camera_index = iniFile.value("camera-index", -1).toInt();
+ config->ransac_num_iters = 100;
+ config->ransac_max_reprojection_error = 3.63637;
+ config->ransac_max_inlier_error = 3;
+ config->ransac_max_mean_error = 3.5;
+ config->ransac_abs_max_mean_error = 7;
+ config->debug = 1;
+ config->ransac_min_features = 0.80;
int res = iniFile.value("resolution", 0).toInt();
if (res < 0 || res >= (int)(sizeof(*resolution_choices) / sizeof(resolution_tuple)))
res = 0;
resolution_tuple r = resolution_choices[res];
config->force_width = r.width;
- config->force_height = r.height;
+ config->force_height = r.height;
+ config->user_landmarks = iniFile.value("use-bashed-coords").toBool();
+ if (config->user_landmarks)
+ {
+ config->user_landmark_locations[0][0] = iniFile.value("b1").toDouble();
+ config->user_landmark_locations[1][0] = iniFile.value("b2").toDouble();
+ config->user_landmark_locations[2][0] = iniFile.value("b3").toDouble();
+ config->user_landmark_locations[0][1] = iniFile.value("b4").toDouble();
+ config->user_landmark_locations[1][1] = iniFile.value("b5").toDouble();
+ config->user_landmark_locations[2][1] = iniFile.value("b6").toDouble();
+ config->user_landmark_locations[0][2] = iniFile.value("b7").toDouble();
+ config->user_landmark_locations[1][2] = iniFile.value("b8").toDouble();
+ config->user_landmark_locations[2][2] = iniFile.value("b9").toDouble();
+ config->user_landmark_locations[0][3] = iniFile.value("b10").toDouble();
+ config->user_landmark_locations[1][3] = iniFile.value("b11").toDouble();
+ config->user_landmark_locations[2][3] = iniFile.value("b12").toDouble();
+ }
+ qDebug() << "width" << r.width << "height" << r.height;
if (tracker)
{
tracker->enableRX = iniFile.value("enable-rx", true).toBool();
@@ -159,7 +174,6 @@ Tracker::~Tracker()
void Tracker::StartTracker(QFrame* videoframe)
{
- videoframe->setAttribute(Qt::WA_NativeWindow);
videoframe->show();
videoWidget = new VideoWidget(videoframe);
QHBoxLayout* layout = new QHBoxLayout();
@@ -168,7 +182,6 @@ void Tracker::StartTracker(QFrame* videoframe)
if (videoframe->layout())
delete videoframe->layout();
videoframe->setLayout(layout);
- videoWidget->resize(WIDGET_WIDTH, WIDGET_HEIGHT);
videoWidget->show();
this->layout = layout;
load_settings(&shm->config, this);
@@ -181,8 +194,8 @@ void Tracker::StartTracker(QFrame* videoframe)
#else
subprocess.start(QCoreApplication::applicationDirPath() + "/tracker-ht/headtracker-ftnoir");
#endif
- connect(&timer, SIGNAL(timeout()), this, SLOT(paint_widget()));
- timer.start(15);
+ connect(&timer, SIGNAL(timeout()), this, SLOT(paint_widget()), Qt::QueuedConnection);
+ timer.start(40);
}
void Tracker::paint_widget() {
@@ -209,8 +222,12 @@ bool Tracker::GiveHeadPoseData(THeadPoseData* data)
data->yaw = shm->result.rotx;
if (enableRY)
data->pitch = shm->result.roty;
- if (enableRZ)
+ if (enableRZ) {
data->roll = shm->result.rotz;
+ double sign = data->roll >= 0 ? 1 : -1;
+ if (fabs(fabs(data->roll) - 180) < fabs(data->roll))
+ data->roll = fabs(fabs(data->roll) - 180) * sign;
+ }
if (enableTX)
data->x = shm->result.tx;
if (enableTY)
@@ -227,7 +244,7 @@ bool Tracker::GiveHeadPoseData(THeadPoseData* data)
//-----------------------------------------------------------------------------
void TrackerDll::getFullName(QString *strToBeFilled)
{
- *strToBeFilled = "HT 0.7";
+ *strToBeFilled = "HT 0.8";
}
void TrackerDll::getShortName(QString *strToBeFilled)
@@ -278,7 +295,6 @@ extern "C" FTNOIR_TRACKER_BASE_EXPORT void* CALLING_CONVENTION GetDialog( )
TrackerControls::TrackerControls()
{
ui.setupUi(this);
- loadSettings();
connect(ui.cameraName, SIGNAL(currentIndexChanged(int)), this, SLOT(settingChanged(int)));
connect(ui.cameraFPS, SIGNAL(currentIndexChanged(int)), this, SLOT(settingChanged(int)));
connect(ui.cameraFOV, SIGNAL(valueChanged(double)), this, SLOT(settingChanged(double)));
@@ -290,6 +306,7 @@ TrackerControls::TrackerControls()
connect(ui.tz, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
connect(ui.buttonCancel, SIGNAL(clicked()), this, SLOT(doCancel()));
connect(ui.buttonOK, SIGNAL(clicked()), this, SLOT(doOK()));
+ loadSettings();
settingsDirty = false;
}
@@ -303,6 +320,7 @@ void TrackerControls::showEvent(QShowEvent *event)
void TrackerControls::Initialize(QWidget* parent)
{
+ loadSettings();
show();
}
@@ -343,6 +361,19 @@ void TrackerControls::loadSettings()
ui.ty->setCheckState(iniFile.value("enable-ty", true).toBool() ? Qt::Checked : Qt::Unchecked);
ui.tz->setCheckState(iniFile.value("enable-tz", true).toBool() ? Qt::Checked : Qt::Unchecked);
ui.resolution->setCurrentIndex(iniFile.value("resolution", 0).toInt());
+ ui.groupBox_2->setChecked(iniFile.value("use-bashed-coords").toBool());
+ ui.doubleSpinBox_1->setValue(iniFile.value("b1", 0).toDouble());
+ ui.doubleSpinBox_2->setValue(iniFile.value("b2", 0).toDouble());
+ ui.doubleSpinBox_3->setValue(iniFile.value("b3", 0).toDouble());
+ ui.doubleSpinBox_4->setValue(iniFile.value("b4", 0).toDouble());
+ ui.doubleSpinBox_5->setValue(iniFile.value("b5", 0).toDouble());
+ ui.doubleSpinBox_6->setValue(iniFile.value("b6", 0).toDouble());
+ ui.doubleSpinBox_7->setValue(iniFile.value("b7", 0).toDouble());
+ ui.doubleSpinBox_8->setValue(iniFile.value("b8", 0).toDouble());
+ ui.doubleSpinBox_9->setValue(iniFile.value("b9", 0).toDouble());
+ ui.doubleSpinBox_10->setValue(iniFile.value("b10", 0).toDouble());
+ ui.doubleSpinBox_11->setValue(iniFile.value("b11", 0).toDouble());
+ ui.doubleSpinBox_12->setValue(iniFile.value("b12", 0).toDouble());
iniFile.endGroup();
settingsDirty = false;
}
@@ -381,6 +412,19 @@ void TrackerControls::save()
iniFile.setValue("enable-ty", ui.ty->checkState() != Qt::Unchecked ? true : false);
iniFile.setValue("enable-tz", ui.tz->checkState() != Qt::Unchecked ? true : false);
iniFile.setValue("resolution", ui.resolution->currentIndex());
+ iniFile.setValue("b1", ui.doubleSpinBox_1->value());
+ iniFile.setValue("b2", ui.doubleSpinBox_2->value());
+ iniFile.setValue("b3", ui.doubleSpinBox_3->value());
+ iniFile.setValue("b4", ui.doubleSpinBox_4->value());
+ iniFile.setValue("b5", ui.doubleSpinBox_5->value());
+ iniFile.setValue("b6", ui.doubleSpinBox_6->value());
+ iniFile.setValue("b7", ui.doubleSpinBox_7->value());
+ iniFile.setValue("b8", ui.doubleSpinBox_8->value());
+ iniFile.setValue("b9", ui.doubleSpinBox_9->value());
+ iniFile.setValue("b10", ui.doubleSpinBox_10->value());
+ iniFile.setValue("b11", ui.doubleSpinBox_11->value());
+ iniFile.setValue("b12", ui.doubleSpinBox_12->value());
+ iniFile.setValue("use-bashed-coords", ui.groupBox_2->isChecked());
iniFile.endGroup();
settingsDirty = false;
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-11 15:41:34 +0000