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-rw-r--r--ftnoir_tracker_pt/Resources/icon.icobin0 -> 4286 bytes
-rw-r--r--ftnoir_tracker_pt/camera.cpp58
-rw-r--r--ftnoir_tracker_pt/camera.h20
-rw-r--r--ftnoir_tracker_pt/ftnoir_pt_controls.ui21
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.cpp82
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.h28
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp11
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h6
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp8
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h7
-rw-r--r--ftnoir_tracker_pt/point_extractor.cpp15
-rw-r--r--ftnoir_tracker_pt/point_tracker.cpp22
-rw-r--r--ftnoir_tracker_pt/point_tracker.h4
-rw-r--r--ftnoir_tracker_pt/timer.cpp3
-rw-r--r--ftnoir_tracker_pt/video_widget.cpp60
-rw-r--r--ftnoir_tracker_pt/video_widget.h17
16 files changed, 196 insertions, 166 deletions
diff --git a/ftnoir_tracker_pt/Resources/icon.ico b/ftnoir_tracker_pt/Resources/icon.ico
new file mode 100644
index 00000000..c4b2aedc
--- /dev/null
+++ b/ftnoir_tracker_pt/Resources/icon.ico
Binary files differ
diff --git a/ftnoir_tracker_pt/camera.cpp b/ftnoir_tracker_pt/camera.cpp
index fc11c738..96ba3b89 100644
--- a/ftnoir_tracker_pt/camera.cpp
+++ b/ftnoir_tracker_pt/camera.cpp
@@ -68,45 +68,33 @@ bool Camera::get_frame(float dt, cv::Mat* frame)
}
// ----------------------------------------------------------------------------
-/*
void CVCamera::start()
{
- cap = cvCreateCameraCapture(desired_index);
- // extract camera info
- if (cap)
- {
- active = true;
- active_index = desired_index;
- cam_info.res_x = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_WIDTH);
- cam_info.res_y = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_HEIGHT);
- }
+ cap = new VideoCapture(desired_index);
+// extract camera info
+ active = true;
+ active_index = desired_index;
+ cam_info.res_x = cap->get(CV_CAP_PROP_FRAME_WIDTH);
+ cam_info.res_y = cap->get(CV_CAP_PROP_FRAME_HEIGHT);
}
void CVCamera::stop()
{
- if (cap) cvReleaseCapture(&cap);
+ if (cap) {
+ cap->release();
+ delete cap;
+ cap = NULL;
+ }
active = false;
}
bool CVCamera::_get_frame(Mat* frame)
{
- if (cap && cvGrabFrame(cap) != 0)
- {
- // retrieve frame
- IplImage* _img = cvRetrieveFrame(cap, 0);
- if(_img)
- {
- if(_img->origin == IPL_ORIGIN_TL)
- *frame = Mat(_img);
- else
- {
- Mat temp(_img);
- flip(temp, *frame, 0);
- }
- return true;
- }
- }
- return false;
+ Mat tmp;
+ bool ret = cap->read(tmp);
+ if (ret)
+ flip(tmp, *frame, 0);
+ return ret;
}
void CVCamera::_set_index()
@@ -121,21 +109,21 @@ void CVCamera::_set_f()
void CVCamera::_set_fps()
{
- if (cap) cvSetCaptureProperty(cap, CV_CAP_PROP_FPS, cam_desired.fps);
+ if (cap) cap->set(CV_CAP_PROP_FPS, cam_desired.fps);
}
void CVCamera::_set_res()
{
if (cap)
{
- cvSetCaptureProperty(cap, CV_CAP_PROP_FRAME_WIDTH, cam_desired.res_x);
- cvSetCaptureProperty(cap, CV_CAP_PROP_FRAME_HEIGHT, cam_desired.res_y);
- cam_info.res_x = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_WIDTH);
- cam_info.res_y = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_HEIGHT);
+ cap->set(CV_CAP_PROP_FRAME_WIDTH, cam_desired.res_x);
+ cap->set(CV_CAP_PROP_FRAME_HEIGHT, cam_desired.res_y);
+ cam_info.res_x = cap->get(CV_CAP_PROP_FRAME_WIDTH);
+ cam_info.res_y = cap->get(CV_CAP_PROP_FRAME_HEIGHT);
}
}
-*/
+#if 0
// ----------------------------------------------------------------------------
VICamera::VICamera() : frame_buffer(NULL)
{
@@ -223,4 +211,4 @@ void VICamera::_set_res()
{
if (active) restart();
}
-
+#endif
diff --git a/ftnoir_tracker_pt/camera.h b/ftnoir_tracker_pt/camera.h
index cd1f0842..9977431b 100644
--- a/ftnoir_tracker_pt/camera.h
+++ b/ftnoir_tracker_pt/camera.h
@@ -9,7 +9,7 @@
#define CAMERA_H
#include <opencv2/opencv.hpp>
-#include "videoInput/videoInput.h"
+//#include "videoInput/videoInput.h"
// ----------------------------------------------------------------------------
struct CamInfo
@@ -27,7 +27,7 @@ struct CamInfo
class Camera
{
public:
- Camera() : dt_valid(0), dt_mean(0), desired_index(0), active_index(-1), active(false) {}
+ Camera() : desired_index(0), active_index(-1), active(false), dt_valid(0), dt_mean(0) {}
virtual ~Camera() {}
// start/stop capturing
@@ -57,19 +57,19 @@ protected:
virtual void _set_fps() = 0;
virtual void _set_res() = 0;
+ int desired_index;
+ int active_index;
bool active;
- int desired_index;
- int active_index;
+ float dt_valid;
+ float dt_mean;
CamInfo cam_info;
CamInfo cam_desired;
- float dt_valid;
- float dt_mean;
};
// ----------------------------------------------------------------------------
// OpenCV camera
-/*
+
class CVCamera : public Camera
{
public:
@@ -86,12 +86,13 @@ protected:
void _set_fps();
void _set_res();
- CvCapture* cap;
+ cv::VideoCapture* cap;
};
-*/
+
// ----------------------------------------------------------------------------
// videoInput camera
+#if 0
class VICamera : public Camera
{
public:
@@ -112,5 +113,6 @@ protected:
cv::Mat new_frame;
unsigned char* frame_buffer;
};
+#endif
#endif //CAMERA_H
diff --git a/ftnoir_tracker_pt/ftnoir_pt_controls.ui b/ftnoir_tracker_pt/ftnoir_pt_controls.ui
index 0174df23..0934a4fb 100644
--- a/ftnoir_tracker_pt/ftnoir_pt_controls.ui
+++ b/ftnoir_tracker_pt/ftnoir_pt_controls.ui
@@ -9,7 +9,7 @@
<rect>
<x>0</x>
<y>0</y>
- <width>405</width>
+ <width>451</width>
<height>489</height>
</rect>
</property>
@@ -23,8 +23,8 @@
<string>PointTracker Settings</string>
</property>
<property name="windowIcon">
- <iconset resource="ftnoir_tracker_pt.qrc">
- <normaloff>:/Resources/icon.ico</normaloff>:/Resources/icon.ico</iconset>
+ <iconset>
+ <normaloff>:/Resources/icon.png</normaloff>:/Resources/icon.png</iconset>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
@@ -54,7 +54,7 @@
<locale language="English" country="UnitedStates"/>
</property>
<property name="currentIndex">
- <number>0</number>
+ <number>1</number>
</property>
<widget class="QWidget" name="tab">
<attribute name="title">
@@ -561,6 +561,9 @@
<property name="toolTip">
<string>Desired capture framerate</string>
</property>
+ <property name="maximum">
+ <number>300</number>
+ </property>
</widget>
</item>
</layout>
@@ -959,7 +962,7 @@
<string/>
</property>
<property name="pixmap">
- <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/clip_side.png</pixmap>
+ <pixmap resource="ftnoir_tracker_pt.qrc">:/resources/clip_side.png</pixmap>
</property>
</widget>
<widget class="QSpinBox" name="clip_theight_spin">
@@ -1082,7 +1085,7 @@
<string/>
</property>
<property name="pixmap">
- <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/clip_front.png</pixmap>
+ <pixmap resource="ftnoir_tracker_pt.qrc">:/resources/clip_front.png</pixmap>
</property>
</widget>
<widget class="QLabel" name="label_53">
@@ -1137,7 +1140,7 @@
<string/>
</property>
<property name="pixmap">
- <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/cap_side.png</pixmap>
+ <pixmap resource="ftnoir_tracker_pt.qrc">:/resources/cap_side.png</pixmap>
</property>
</widget>
<widget class="QSpinBox" name="cap_height_spin">
@@ -1247,7 +1250,7 @@
<string/>
</property>
<property name="pixmap">
- <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/cap_front.png</pixmap>
+ <pixmap resource="ftnoir_tracker_pt.qrc">:/resources/cap_front.png</pixmap>
</property>
</widget>
<widget class="QSpinBox" name="cap_width_spin">
@@ -1656,7 +1659,7 @@
<string/>
</property>
<property name="pixmap">
- <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/Logo_IR.png</pixmap>
+ <pixmap resource="ftnoir_tracker_pt.qrc">:/resources/logo_ir.png</pixmap>
</property>
</widget>
</widget>
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 5b77da69..db863e3a 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -11,23 +11,22 @@
#include <QDebug>
#include <QFile>
#include <QCoreApplication>
+#include "facetracknoir/global-settings.h"
using namespace std;
using namespace cv;
-using namespace boost;
//#define PT_PERF_LOG //log performance
//-----------------------------------------------------------------------------
Tracker::Tracker()
- : frame_count(0), commands(0), video_widget(NULL), tracking_valid(false)
+ : tracking_valid(false), frame_count(0), commands(0), video_widget(NULL), fresh(false)
{
+ should_quit = false;
qDebug()<<"Tracker::Tracker";
TrackerSettings settings;
- settings.load_ini();
+ settings.load_ini();
apply(settings);
- camera.start();
- start();
}
Tracker::~Tracker()
@@ -66,8 +65,12 @@ void Tracker::run()
forever
{
{
+
+ refreshVideo();
QMutexLocker lock(&mutex);
-
+ if (should_quit)
+ break;
+
if (commands & ABORT) break;
if (commands & PAUSE) continue;
commands = 0;
@@ -105,7 +108,7 @@ void Tracker::apply(const TrackerSettings& settings)
point_extractor.threshold_val = settings.threshold;
point_extractor.min_size = settings.min_point_size;
point_extractor.max_size = settings.max_point_size;
- point_tracker.point_model = boost::shared_ptr<PointModel>(new PointModel(settings.M01, settings.M02));
+ point_tracker.point_model = std::auto_ptr<PointModel>(new PointModel(settings.M01, settings.M02));
point_tracker.dynamic_pose_resolution = settings.dyn_pose_res;
sleep_time = settings.sleep_time;
point_tracker.dt_reset = settings.reset_time / 1000.0;
@@ -138,57 +141,60 @@ void Tracker::center()
X_CH_0 = X_CM_0 * X_MH;
}
-//-----------------------------------------------------------------------------
-// ITracker interface
-void Tracker::Initialize(QFrame *videoframe)
-{
- const int VIDEO_FRAME_WIDTH = 252;
- const int VIDEO_FRAME_HEIGHT = 189;
-
- qDebug("Tracker::Initialize");
- // setup video frame
- videoframe->setAttribute(Qt::WA_NativeWindow);
- videoframe->show();
- video_widget = new VideoWidget(videoframe);
- QHBoxLayout* layout = new QHBoxLayout();
- layout->setContentsMargins(0, 0, 0, 0);
- layout->addWidget(video_widget);
- if (videoframe->layout()) delete videoframe->layout();
- videoframe->setLayout(layout);
- video_widget->resize(VIDEO_FRAME_WIDTH, VIDEO_FRAME_HEIGHT);
-}
-
void Tracker::refreshVideo()
{
if (video_widget)
{
Mat frame_copy;
- shared_ptr< vector<Vec2f> > points;
+ std::auto_ptr< vector<Vec2f> > points;
{
QMutexLocker lock(&mutex);
if (!draw_frame || frame.empty()) return;
// copy the frame and points from the tracker thread
frame_copy = frame.clone();
- points = shared_ptr< vector<Vec2f> >(new vector<Vec2f>(point_extractor.get_points()));
+ points = std::auto_ptr< vector<Vec2f> >(new vector<Vec2f>(point_extractor.get_points()));
}
- video_widget->update(frame_copy, points);
+ video_widget->update_image(frame_copy, points);
+ fresh = true;
}
}
-void Tracker::StartTracker(HWND parent_window)
+void Tracker::StartTracker(QFrame* videoframe)
{
+ const int VIDEO_FRAME_WIDTH = 252;
+ const int VIDEO_FRAME_HEIGHT = 189;
+ TrackerSettings settings;
+ settings.load_ini();
+ apply(settings);
+ camera.start();
+ start();
+ qDebug("Tracker::Initialize");
+ // setup video frame
+ video_widget = new VideoWidget(videoframe);
+ QHBoxLayout* layout = new QHBoxLayout();
+ layout->setContentsMargins(0, 0, 0, 0);
+ layout->addWidget(video_widget);
+ if (videoframe->layout()) delete videoframe->layout();
+ videoframe->setLayout(layout);
+ video_widget->resize(VIDEO_FRAME_WIDTH, VIDEO_FRAME_HEIGHT);
+ videoframe->show();
reset_command(PAUSE);
+ connect(&timer, SIGNAL(timeout()), this, SLOT(paint_widget()), Qt::QueuedConnection);
+ timer.start(40);
}
-void Tracker::StopTracker(bool exit)
-{
- set_command(PAUSE);
+void Tracker::paint_widget() {
+ if (fresh) {
+ fresh = false;
+ video_widget->update();
+ }
}
bool Tracker::GiveHeadPoseData(THeadPoseData *data)
{
+ refreshVideo();
const float rad2deg = 180.0/3.14159265;
const float deg2rad = 1.0/rad2deg;
{
@@ -249,9 +255,9 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data)
}
//-----------------------------------------------------------------------------
-#pragma comment(linker, "/export:GetTracker=_GetTracker@0")
+//#pragma comment(linker, "/export:GetTracker=_GetTracker@0")
-FTNOIR_TRACKER_BASE_EXPORT ITrackerPtr __stdcall GetTracker()
+extern "C" FTNOIR_TRACKER_BASE_EXPORT void* CALLING_CONVENTION GetConstructor()
{
- return new Tracker;
-} \ No newline at end of file
+ return (ITracker*) new Tracker;
+}
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
index 2533a39b..49881b69 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
@@ -8,7 +8,7 @@
#ifndef FTNOIR_TRACKER_PT_H
#define FTNOIR_TRACKER_PT_H
-#include "..\ftnoir_tracker_base\ftnoir_tracker_base.h"
+#include "ftnoir_tracker_base/ftnoir_tracker_base.h"
#include "ftnoir_tracker_pt_settings.h"
#include "camera.h"
#include "point_extractor.h"
@@ -20,18 +20,19 @@
#include <QMutex>
#include <QTime>
#include <opencv2/opencv.hpp>
+#include <QFrame>
+#include <QTimer>
//-----------------------------------------------------------------------------
-class Tracker : public ITracker, QThread
+class Tracker : public QThread, public ITracker
{
+ Q_OBJECT
public:
Tracker();
~Tracker();
// ITracker interface
- void Initialize(QFrame *videoframe);
- void StartTracker(HWND parent_window);
- void StopTracker(bool exit);
+ void StartTracker(QFrame* videoFrame);
bool GiveHeadPoseData(THeadPoseData *data);
void refreshVideo();
@@ -40,6 +41,10 @@ public:
void center();
void reset(); // reset the trackers internal state variables
void run();
+ void WaitForExit() {
+ should_quit = true;
+ wait();
+ }
void get_pose(FrameTrafo* X_CM) { QMutexLocker lock(&mutex); *X_CM = point_tracker.get_pose(); }
int get_n_points() { QMutexLocker lock(&mutex); return point_extractor.get_points().size(); }
@@ -47,8 +52,6 @@ public:
protected:
FrameTrafo X_CH_0; // for centering
-
- QMutex mutex;
cv::Mat frame; // the output frame for display
enum Command {
@@ -57,9 +60,8 @@ protected:
};
void set_command(Command command);
void reset_command(Command command);
- int commands;
- VICamera camera;
+ CVCamera camera;
PointExtractor point_extractor;
PointTracker point_tracker;
bool tracking_valid;
@@ -78,9 +80,17 @@ protected:
bool bEnableZ;
long frame_count;
+ int commands;
VideoWidget* video_widget;
Timer time;
+ QMutex mutex;
+ volatile bool should_quit;
+ volatile bool fresh;
+ QTimer timer;
+
+protected slots:
+ void paint_widget();
};
#endif // FTNOIR_TRACKER_PT_H
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
index a1531dd7..c1067ba7 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
@@ -9,10 +9,11 @@
#include <QMessageBox>
#include <QDebug>
+#include "facetracknoir/global-settings.h"
//-----------------------------------------------------------------------------
TrackerDialog::TrackerDialog()
- : settings_dirty(false), tracker(NULL), timer(this), trans_calib_running(false)
+ : settings_dirty(false), tracker(NULL), trans_calib_running(false), timer(this)
{
qDebug()<<"TrackerDialog::TrackerDialog";
setAttribute(Qt::WA_DeleteOnClose, false);
@@ -328,9 +329,9 @@ void TrackerDialog::unRegisterTracker()
}
//-----------------------------------------------------------------------------
-#pragma comment(linker, "/export:GetTrackerDialog=_GetTrackerDialog@0")
+//#pragma comment(linker, "/export:GetTrackerDialog=_GetTrackerDialog@0")
-FTNOIR_TRACKER_BASE_EXPORT ITrackerDialogPtr __stdcall GetTrackerDialog( )
+extern "C" FTNOIR_TRACKER_BASE_EXPORT void* CALLING_CONVENTION GetDialog( )
{
- return new TrackerDialog;
-} \ No newline at end of file
+ return (ITrackerDialog*) new TrackerDialog;
+}
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h
index 0f836dfe..28120692 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h
@@ -8,10 +8,10 @@
#ifndef FTNOIR_TRACKER_PT_DIALOG_H
#define FTNOIR_TRACKER_PT_DIALOG_H
-#include "..\ftnoir_tracker_base\ftnoir_tracker_base.h"
+#include "ftnoir_tracker_base/ftnoir_tracker_base.h"
#include "ftnoir_tracker_pt_settings.h"
#include "ftnoir_tracker_pt.h"
-#include "ui_FTNoIR_PT_Controls.h"
+#include "ui_ftnoir_pt_controls.h"
#include "trans_calib.h"
#include <QTimer>
@@ -99,4 +99,4 @@ protected:
Ui::UICPTClientControls ui;
};
-#endif //FTNOIR_TRACKER_PT_DIALOG_H \ No newline at end of file
+#endif //FTNOIR_TRACKER_PT_DIALOG_H
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp
index 7f58d77d..22c4a33d 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp
@@ -6,8 +6,8 @@
*/
#include "ftnoir_tracker_pt_dll.h"
-
#include <QIcon>
+#include "facetracknoir/global-settings.h"
//-----------------------------------------------------------------------------
void TrackerDll::getFullName(QString *strToBeFilled)
@@ -27,14 +27,14 @@ void TrackerDll::getDescription(QString *strToBeFilled)
void TrackerDll::getIcon(QIcon *icon)
{
- *icon = QIcon(":/Resources/icon.ico");
+ *icon = QIcon(":/resources/icon.png");
}
//-----------------------------------------------------------------------------
-#pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0")
+//#pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0")
-FTNOIR_TRACKER_BASE_EXPORT ITrackerDllPtr __stdcall GetTrackerDll()
+extern "C" FTNOIR_TRACKER_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata()
{
return new TrackerDll;
}
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h
index 15ad63aa..f684c55b 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h
@@ -5,10 +5,11 @@
* copyright notice and this permission notice appear in all copies.
*/
-#include "..\ftnoir_tracker_base\ftnoir_tracker_base.h"
+#include "ftnoir_tracker_base/ftnoir_tracker_base.h"
+#include "facetracknoir/global-settings.h"
//-----------------------------------------------------------------------------
-class TrackerDll : public ITrackerDll
+class TrackerDll : public Metadata
{
// ITrackerDll interface
void Initialize() {}
@@ -16,4 +17,4 @@ class TrackerDll : public ITrackerDll
void getShortName(QString *strToBeFilled);
void getDescription(QString *strToBeFilled);
void getIcon(QIcon *icon);
-}; \ No newline at end of file
+};
diff --git a/ftnoir_tracker_pt/point_extractor.cpp b/ftnoir_tracker_pt/point_extractor.cpp
index 4aa1a658..b6e9ad3a 100644
--- a/ftnoir_tracker_pt/point_extractor.cpp
+++ b/ftnoir_tracker_pt/point_extractor.cpp
@@ -11,6 +11,14 @@
using namespace cv;
using namespace std;
+struct BlobInfo
+{
+ BlobInfo() : m00(0), m10(0), m01(0) {}
+ long m00;
+ long m10;
+ long m01;
+};
+
// ----------------------------------------------------------------------------
const vector<Vec2f>& PointExtractor::extract_points(Mat frame, float dt, bool draw_output)
{
@@ -39,13 +47,6 @@ const vector<Vec2f>& PointExtractor::extract_points(Mat frame, float dt, bool dr
// find connected components...
// extract blobs with floodfill
- struct BlobInfo
- {
- BlobInfo() : m00(0), m10(0), m01(0) {}
- long m00;
- long m10;
- long m01;
- };
vector<BlobInfo> blobs;
int blob_count = 1;
diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp
index d617de19..c08d6d83 100644
--- a/ftnoir_tracker_pt/point_tracker.cpp
+++ b/ftnoir_tracker_pt/point_tracker.cpp
@@ -14,7 +14,6 @@
#include <QDebug>
using namespace cv;
-using namespace boost;
using namespace std;
const float PI = 3.14159265358979323846f;
@@ -68,26 +67,27 @@ PointModel::PointModel(Vec3f M01, Vec3f M02)
get_d_order(points, d_order);
}
+static bool d_vals_sort(const pair<float,int> a, const pair<float,int> b)
+{
+ return a.first < b.first;
+}
+
void PointModel::get_d_order(const std::vector<cv::Vec2f>& points, int d_order[]) const
{
// get sort indices with respect to d scalar product
vector< pair<float,int> > d_vals;
- for (int i = 0; i<points.size(); ++i)
+ for (int i = 0; i<(int)points.size(); ++i)
d_vals.push_back(pair<float, int>(d.dot(points[i]), i));
- struct
- {
- bool operator()(const pair<float, int>& a, const pair<float, int>& b) { return a.first < b.first; }
- } comp;
- sort(d_vals.begin(), d_vals.end(), comp);
+ sort(d_vals.begin(), d_vals.end(), d_vals_sort);
- for (int i = 0; i<points.size(); ++i)
+ for (int i = 0; i<(int)points.size(); ++i)
d_order[i] = d_vals[i].second;
}
// ----------------------------------------------------------------------------
-PointTracker::PointTracker() : init_phase(true), dt_valid(0), dt_reset(1), v_t(0,0,0), v_r(0,0,0), dynamic_pose_resolution(true)
+PointTracker::PointTracker() : dynamic_pose_resolution(true), dt_reset(1), init_phase(true), dt_valid(0), v_t(0,0,0), v_r(0,0,0)
{
X_CM.t[2] = 1000; // default position: 1 m away from cam;
}
@@ -120,7 +120,7 @@ bool PointTracker::track(const vector<Vec2f>& points, float f, float dt)
}
// if there is a pointtracking problem, reset the velocities
- if (!point_model || points.size() != PointModel::N_POINTS)
+ if (!point_model.get() || (int) points.size() != PointModel::N_POINTS)
{
//qDebug()<<"Wrong number of points!";
reset_velocities();
@@ -141,7 +141,7 @@ bool PointTracker::track(const vector<Vec2f>& points, float f, float dt)
return false;
}
- int n_iter = POSIT(f);
+ (void) POSIT(f);
//qDebug()<<"Number of POSIT iterations: "<<n_iter;
if (!init_phase)
diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h
index 21baad19..7eee580d 100644
--- a/ftnoir_tracker_pt/point_tracker.h
+++ b/ftnoir_tracker_pt/point_tracker.h
@@ -8,8 +8,8 @@
#ifndef POINTTRACKER_H
#define POINTTRACKER_H
+#include <memory>
#include <opencv2/opencv.hpp>
-#include <boost/shared_ptr.hpp>
#include <list>
// ----------------------------------------------------------------------------
@@ -76,7 +76,7 @@ public:
// f : (focal length)/(sensor width)
// dt : time since last call
bool track(const std::vector<cv::Vec2f>& points, float f, float dt);
- boost::shared_ptr<PointModel> point_model;
+ std::auto_ptr<PointModel> point_model;
bool dynamic_pose_resolution;
float dt_reset;
diff --git a/ftnoir_tracker_pt/timer.cpp b/ftnoir_tracker_pt/timer.cpp
index 363b5b09..9e6ca8b8 100644
--- a/ftnoir_tracker_pt/timer.cpp
+++ b/ftnoir_tracker_pt/timer.cpp
@@ -55,8 +55,7 @@ double Timer::elapsed()
startTime = startCount.QuadPart * (1e3 / frequency.QuadPart);
endTime = endCount.QuadPart * (1e3 / frequency.QuadPart);
#else
- if(!stopped)
- gettimeofday(&endCount, NULL);
+ (void) gettimeofday(&endCount, NULL);
startTime = (startCount.tv_sec * 1e3) + startCount.tv_usec;
endTime = (endCount.tv_sec * 1e3) + endCount.tv_usec;
diff --git a/ftnoir_tracker_pt/video_widget.cpp b/ftnoir_tracker_pt/video_widget.cpp
index c2b41da1..c297c455 100644
--- a/ftnoir_tracker_pt/video_widget.cpp
+++ b/ftnoir_tracker_pt/video_widget.cpp
@@ -3,8 +3,6 @@
* Permission to use, copy, modify, and/or distribute this software for any
* purpose with or without fee is hereby granted, provided that the above
* copyright notice and this permission notice appear in all copies.
- *
- * 20130312, WVR: Add 7 lines to resizeGL after resize_frame. This should lower CPU-load.
*/
#include "video_widget.h"
@@ -13,7 +11,6 @@
using namespace cv;
using namespace std;
-using namespace boost;
// ----------------------------------------------------------------------------
void VideoWidget::initializeGL()
@@ -31,21 +28,20 @@ void VideoWidget::resizeGL(int w, int h)
glLoadIdentity();
glOrtho(0, w, 0, h, -1, 1);
resize_frame();
- glDisable(GL_DEPTH_TEST);
- glBegin(GL_QUADS);
- glVertex2f(0,0);
- glVertex2f(1,0);
- glVertex2f(1,1);
- glVertex2f(0,1);
- glEnd();
+ glDisable(GL_DEPTH_TEST);
+ glBegin(GL_QUADS);
+ glVertex2f(0,0);
+ glVertex2f(1,0);
+ glVertex2f(1,1);
+ glVertex2f(0,1);
+ glEnd();
}
void VideoWidget::paintGL()
{
- glClear(GL_COLOR_BUFFER_BIT);
- if (!resized_qframe.isNull())
- {
- glDrawPixels(resized_qframe.width(), resized_qframe.height(), GL_RGBA, GL_UNSIGNED_BYTE, resized_qframe.bits());
+ QMutexLocker lck(&mtx);
+ if (resized_qframe.size() == size() || (resized_qframe.width() <= width() && resized_qframe.height() <= height())) {
+ glDrawPixels(resized_qframe.width(), resized_qframe.height(), GL_RGB, GL_UNSIGNED_BYTE, resized_qframe.bits());
const int crosshair_radius = 10;
const int crosshair_thickness = 1;
@@ -69,30 +65,44 @@ void VideoWidget::paintGL()
glVertex2i(x, y+crosshair_radius);
glEnd();
}
- }
- glFlush();
+
+ } else {
+ glClear(GL_DEPTH_BUFFER_BIT);
+ }
+ glFlush();
}
void VideoWidget::resize_frame()
{
- if (!qframe.isNull())
- resized_qframe = qframe.scaled(this->size(), Qt::KeepAspectRatio);
+ QMutexLocker lck(&mtx);
+#ifdef _WIN32
+ if (qframe.size() == size() || (qframe.width() <= width() && qframe.height() <= height()))
+ resized_qframe = qframe.mirrored();
+ else
+ resized_qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation).mirrored();
+#else
+ if (qframe.size() == size() || (qframe.width() <= width() && qframe.height() <= height()))
+ resized_qframe = qframe.copy();
+ else
+ resized_qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation);
+#endif
}
+void VideoWidget::update()
+{
+ updateGL();
+}
-void VideoWidget::update(Mat frame, shared_ptr< vector<Vec2f> > points)
+void VideoWidget::update_image(Mat frame, std::auto_ptr< vector<Vec2f> > points)
{
this->frame = frame;
this->points = points;
- // convert to QImage
+ // convert to QImage
if (frame.channels() == 3)
- qframe = QImage((const unsigned char*)(frame.data), frame.cols, frame.rows, frame.step, QImage::Format_RGB888).rgbSwapped();
+ qframe = QImage((const unsigned char*)(frame.data), frame.cols, frame.rows, frame.cols * 3, QImage::Format_RGB888).rgbSwapped();
else if (frame.channels() == 1)
- qframe = QImage((const unsigned char*)(frame.data), frame.cols, frame.rows, frame.step, QImage::Format_Indexed8);
- qframe = QGLWidget::convertToGLFormat(qframe);
-
+ qframe = QImage((const unsigned char*)(frame.data), frame.cols, frame.rows, frame.cols, QImage::Format_Indexed8);
resize_frame();
- updateGL();
}
diff --git a/ftnoir_tracker_pt/video_widget.h b/ftnoir_tracker_pt/video_widget.h
index f49fef18..2425603b 100644
--- a/ftnoir_tracker_pt/video_widget.h
+++ b/ftnoir_tracker_pt/video_widget.h
@@ -11,7 +11,10 @@
#include <QGLWidget>
#include <QTime>
#include <opencv2/opencv.hpp>
-#include <boost/shared_ptr.hpp>
+#include <memory>
+#include <QWidget>
+#include <QMutex>
+#include <QMutexLocker>
// ----------------------------------------------------------------------------
class VideoWidget : public QGLWidget
@@ -19,13 +22,18 @@ class VideoWidget : public QGLWidget
Q_OBJECT
public:
- VideoWidget(QWidget *parent) : QGLWidget(parent) {}
+ VideoWidget(QWidget *parent) : QGLWidget(parent) {
+#if !defined(_WIN32)
+ setAttribute(Qt::WA_NativeWindow, true);
+#endif
+ }
void initializeGL();
void resizeGL(int w, int h);
void paintGL();
- void update(cv::Mat frame, boost::shared_ptr< std::vector<cv::Vec2f> > points);
+ void update_image(cv::Mat frame, std::auto_ptr< std::vector<cv::Vec2f> > points);
+ void update();
private:
void resize_frame();
@@ -34,7 +42,8 @@ private:
QImage qframe;
QImage resized_qframe;
- boost::shared_ptr< std::vector<cv::Vec2f> > points;
+ std::auto_ptr< std::vector<cv::Vec2f> > points;
+ QMutex mtx;
};
#endif // VIDEOWIDGET_H
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-11 12:21:02 +0000