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-rw-r--r--ftnoir_tracker_pt/camera.cpp37
-rw-r--r--ftnoir_tracker_pt/camera.h29
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.cpp27
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.h4
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp5
-rw-r--r--ftnoir_tracker_pt/point_tracker.h6
6 files changed, 44 insertions, 64 deletions
diff --git a/ftnoir_tracker_pt/camera.cpp b/ftnoir_tracker_pt/camera.cpp
index 9e11b815..78a37b71 100644
--- a/ftnoir_tracker_pt/camera.cpp
+++ b/ftnoir_tracker_pt/camera.cpp
@@ -43,14 +43,14 @@ void Camera::set_res(int x_res, int y_res)
}
}
-CamInfo Camera::get_info()
+bool Camera::get_info(CamInfo& ret)
{
if (cam_info.res_x == 0 || cam_info.res_y == 0)
{
- cv::Mat tmp;
- _get_frame(&tmp);
+ return false;
}
- return cam_info;
+ ret = cam_info;
+ return true;
}
bool Camera::get_frame(float dt, cv::Mat* frame)
@@ -65,26 +65,25 @@ bool Camera::get_frame(float dt, cv::Mat* frame)
cam_info.fps = dt_mean > 1e-3 ? 1.0 / dt_mean : 0;
dt_valid = 0;
}
+ else
+ qDebug() << "pt camera: can't get frame";
return new_frame;
}
void CVCamera::start()
{
- if (cap)
- delete cap;
+ stop();
cap = new cv::VideoCapture(desired_index);
_set_res();
_set_fps();
// extract camera info
if (cap->isOpened())
{
- active = true;
active_index = desired_index;
cam_info.res_x = 0;
cam_info.res_y = 0;
} else {
- delete cap;
- cap = nullptr;
+ stop();
}
}
@@ -92,13 +91,19 @@ void CVCamera::stop()
{
if (cap)
{
- cap->release();
+ const bool opened = cap->isOpened();
+ if (opened)
+ {
+ qDebug() << "pt: freeing camera";
+ cap->release();
+ }
delete cap;
cap = nullptr;
// give opencv time to exit camera threads, etc.
- portable::sleep(500);
+ if (opened)
+ portable::sleep(500);
+ qDebug() << "camera: assuming stopped";
}
- active = false;
}
bool CVCamera::_get_frame(cv::Mat* frame)
@@ -135,10 +140,6 @@ void CVCamera::_set_res()
}
void CVCamera::_set_device_index()
{
- if (cap)
- {
- cap->release();
- delete cap;
- }
- cap = new cv::VideoCapture(desired_index);
+ if (desired_index != active_index)
+ stop();
}
diff --git a/ftnoir_tracker_pt/camera.h b/ftnoir_tracker_pt/camera.h
index 343446ac..e73d9dff 100644
--- a/ftnoir_tracker_pt/camera.h
+++ b/ftnoir_tracker_pt/camera.h
@@ -26,7 +26,7 @@ struct CamInfo
class Camera
{
public:
- Camera() : dt_valid(0), dt_mean(0), desired_index(0), active_index(-1), active(false) {}
+ Camera() : dt_valid(0), dt_mean(0), desired_index(0), active_index(-1) {}
virtual ~Camera() = 0;
// start/stop capturing
@@ -43,7 +43,7 @@ public:
bool get_frame(float dt, cv::Mat* frame);
// WARNING: returned references are valid as long as object
- CamInfo get_info();
+ bool get_info(CamInfo &ret);
CamInfo get_desired() const { return cam_desired; }
protected:
@@ -60,7 +60,6 @@ private:
protected:
int desired_index;
int active_index;
- bool active;
CamInfo cam_info;
CamInfo cam_desired;
};
@@ -68,7 +67,6 @@ inline Camera::~Camera() {}
// ----------------------------------------------------------------------------
// camera based on OpenCV's videoCapture
-#ifdef OPENTRACK_API
class CVCamera : public Camera
{
public:
@@ -88,29 +86,6 @@ protected:
private:
cv::VideoCapture* cap;
};
-#else
-// ----------------------------------------------------------------------------
-// Camera based on the videoInput library
-class VICamera : public Camera
-{
-public:
- VICamera();
- ~VICamera() { stop(); }
-
- virtual void start();
- virtual void stop();
-
-protected:
- virtual bool _get_frame(cv::Mat* frame);
- virtual void _set_device_index();
- virtual void _set_fps();
- virtual void _set_res();
-
- videoInput VI;
- cv::Mat new_frame;
- unsigned char* frame_buffer;
-};
-#endif
enum RotationType
{
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index d3b43503..e10cfea0 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -48,15 +48,21 @@ void Tracker_PT::reset_command(Command command)
commands &= ~command;
}
-float Tracker_PT::get_focal_length()
+bool Tracker_PT::get_focal_length(float& ret)
{
QMutexLocker l(&camera_mtx);
- CamInfo info = camera.get_info();
- const int w = info.res_x, h = info.res_y;
- static constexpr double pi = 3.1415926f;
- const double diag = sqrt(w * w + h * h)/w, diag_fov = static_cast<int>(s.fov) * pi / 180.;
- const double fov = 2.*atan(tan(diag_fov/2.0)/sqrt(1. + diag*diag));
- return .5 / tan(.5 * fov);
+ CamInfo info;
+ const bool res = camera.get_info(info);
+ if (res)
+ {
+ static constexpr double pi = 3.14159265359;
+ const int w = info.res_x, h = info.res_y;
+ const double diag = sqrt(w * w + h * h)/w, diag_fov = static_cast<int>(s.fov) * pi / 180.;
+ const double fov = 2.*atan(tan(diag_fov/2.0)/sqrt(1. + diag*diag));
+ ret = .5 / tan(.5 * fov);
+ return true;
+ }
+ return false;
}
void Tracker_PT::run()
@@ -90,10 +96,14 @@ void Tracker_PT::run()
bool success = points.size() == PointModel::N_POINTS;
ever_success |= success;
+
+ float fx;
+ if (!get_focal_length(fx))
+ continue;
if (success)
{
- point_tracker.track(points, PointModel(s), get_focal_length(), s.dynamic_pose, s.init_phase_timeout);
+ point_tracker.track(points, PointModel(s), fx, s.dynamic_pose, s.init_phase_timeout);
}
{
@@ -101,7 +111,6 @@ void Tracker_PT::run()
Affine X_MH(cv::Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z)); // just copy pasted these lines from below
Affine X_GH = X_CM * X_MH;
cv::Vec3f p = X_GH.t; // head (center?) position in global space
- float fx = get_focal_length();
cv::Vec2f p_(p[0] / p[2] * fx, p[1] / p[2] * fx); // projected to screen
points.push_back(p_);
}
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
index 3291c7fc..f73d106b 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
@@ -42,7 +42,7 @@ public:
Affine pose() { QMutexLocker lock(&mutex); return point_tracker.pose(); }
int get_n_points() { QMutexLocker lock(&mutex); return point_extractor.get_points().size(); }
- void get_cam_info(CamInfo* info) { QMutexLocker lock(&camera_mtx); *info = camera.get_info(); }
+ bool get_cam_info(CamInfo* info) { QMutexLocker lock(&camera_mtx); return camera.get_info(*info); }
public slots:
void apply_settings();
protected:
@@ -56,7 +56,7 @@ private:
void set_command(Command command);
void reset_command(Command command);
- float get_focal_length();
+ bool get_focal_length(float &ret);
volatile int commands;
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
index 07ee4f1b..12d108ac 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
@@ -106,13 +106,12 @@ void TrackerDialog_PT::startstop_trans_calib(bool start)
void TrackerDialog_PT::poll_tracker_info()
{
- if (tracker)
+ CamInfo info;
+ if (tracker && tracker->get_cam_info(&info))
{
QString to_print;
- CamInfo info;
{
// display caminfo
- tracker->get_cam_info(&info);
to_print = QString::number(info.res_x)+"x"+QString::number(info.res_y)+" @ "+QString::number(info.fps)+" FPS";
}
ui.caminfo_label->setText(to_print);
diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h
index 323eade4..cdcf2998 100644
--- a/ftnoir_tracker_pt/point_tracker.h
+++ b/ftnoir_tracker_pt/point_tracker.h
@@ -9,11 +9,7 @@
#define POINTTRACKER_H
#include <opencv2/core/core.hpp>
-#ifndef OPENTRACK_API
-# include <boost/shared_ptr.hpp>
-#else
-# include <memory>
-#endif
+#include <memory>
#include <vector>
#include "opentrack-compat/timer.hpp"
#include "ftnoir_tracker_pt_settings.h"
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-08 21:10:43 +0000