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-rw-r--r--ftnoir_tracker_pt/camera.cpp10
-rw-r--r--ftnoir_tracker_pt/camera.h4
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.cpp50
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.h1
-rw-r--r--ftnoir_tracker_pt/point_extractor.cpp3
-rw-r--r--ftnoir_tracker_pt/pt_video_widget.cpp3
-rw-r--r--ftnoir_tracker_pt/pt_video_widget.h11
7 files changed, 58 insertions, 24 deletions
diff --git a/ftnoir_tracker_pt/camera.cpp b/ftnoir_tracker_pt/camera.cpp
index 9168a3e4..2e745f2a 100644
--- a/ftnoir_tracker_pt/camera.cpp
+++ b/ftnoir_tracker_pt/camera.cpp
@@ -61,6 +61,16 @@ void Camera::set_res(int x_res, int y_res)
}
}
+CamInfo Camera::get_info()
+{
+ if (cam_info.res_x == 0 || cam_info.res_y == 0)
+ {
+ cv::Mat tmp;
+ _get_frame(&tmp);
+ }
+ return cam_info;
+}
+
bool Camera::get_frame(float dt, cv::Mat* frame)
{
bool new_frame = _get_frame(frame);
diff --git a/ftnoir_tracker_pt/camera.h b/ftnoir_tracker_pt/camera.h
index 63614ded..2c42652a 100644
--- a/ftnoir_tracker_pt/camera.h
+++ b/ftnoir_tracker_pt/camera.h
@@ -54,8 +54,8 @@ public:
bool get_frame(float dt, cv::Mat* frame);
// WARNING: returned references are valid as long as object
- const CamInfo& get_info() const { return cam_info; }
- const CamInfo& get_desired() const { return cam_desired; }
+ CamInfo get_info();
+ CamInfo get_desired() const { return cam_desired; }
protected:
// get a frame from the camera
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 474123d0..716fddfd 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -12,6 +12,7 @@
#include <QFile>
#include <QCoreApplication>
#include "opentrack/camera-names.hpp"
+#include "opentrack/opencv-calibration.hpp"
using namespace std;
using namespace cv;
@@ -67,11 +68,14 @@ float Tracker_PT::get_focal_length()
}
const float diag_fov = static_cast<int>(fov_) * pi / 180.f;
+ QMutexLocker l(&camera_mtx);
+ if (!intrinsics.empty())
+ return intrinsics.at<float>(0, 0);
CamInfo info = camera.get_info();
const int w = info.res_x, h = info.res_y;
const double diag = sqrt(w * w + h * h)/w;
const double fov = 2.*atan(tan(diag_fov/2.0)/sqrt(1. + diag*diag));
- return .5 / tan(.5 * fov);
+ return w*.5 / tan(.5 * fov);
}
void Tracker_PT::run()
@@ -105,7 +109,18 @@ void Tracker_PT::run()
ever_success |= success;
if (success)
- point_tracker.track(points, PointModel(s), get_focal_length(), s.dynamic_pose, s.init_phase_timeout);
+ {
+ if (!intrinsics.empty())
+ {
+ std::vector<cv::Vec2f> points_;
+ cv::undistortPoints(points, points_, intrinsics, dist_coeffs);
+ point_tracker.track(points_, PointModel(s), get_focal_length(), s.dynamic_pose, s.init_phase_timeout);
+ }
+ else
+ {
+ point_tracker.track(points, PointModel(s), get_focal_length(), s.dynamic_pose, s.init_phase_timeout);
+ }
+ }
{
Affine X_CM = pose();
@@ -114,25 +129,23 @@ void Tracker_PT::run()
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_);
}
for (unsigned i = 0; i < points.size(); i++)
{
auto& p = points[i];
- auto p2 = cv::Point(p[0] * frame.cols + frame.cols/2, -p[1] * frame.cols + frame.rows/2);
cv::Scalar color(0, 255, 0);
if (i == points.size()-1)
color = cv::Scalar(0, 0, 255);
cv::line(frame,
- cv::Point(p2.x - 20, p2.y),
- cv::Point(p2.x + 20, p2.y),
+ cv::Point(p[0] - 20, p[1]),
+ cv::Point(p[0] + 20, p[1]),
color,
4);
cv::line(frame,
- cv::Point(p2.x, p2.y - 20),
- cv::Point(p2.x, p2.y + 20),
+ cv::Point(p[0], p[1] - 20),
+ cv::Point(p[0], p[1] + 20),
color,
4);
}
@@ -152,7 +165,6 @@ void Tracker_PT::apply_settings()
{
qDebug()<<"Tracker:: Applying settings";
QMutexLocker l(&camera_mtx);
- QMutexLocker lock(&mutex);
camera.set_device_index(camera_name_to_index("PS3Eye Camera"));
int res_x, res_y, cam_fps;
switch (s.camera_mode)
@@ -182,6 +194,26 @@ void Tracker_PT::apply_settings()
camera.set_res(res_x, res_y);
camera.set_fps(cam_fps);
+ cv::Mat intrinsics_ = cv::Mat::eye(3, 3, CV_32FC1);
+ cv::Mat dist_coeffs_ = cv::Mat::zeros(5, 1, CV_32FC1);
+ intrinsics = cv::Mat();
+ dist_coeffs = cv::Mat();
+ int fov;
+ switch (s.fov)
+ {
+ default:
+ case 0: fov = 56; break;
+ case 1: fov = 75; break;
+ }
+ if (get_camera_calibration("PS3Eye Camera", intrinsics_, dist_coeffs_, res_x, res_y, fov))
+ {
+ intrinsics = intrinsics_.clone();
+ dist_coeffs = dist_coeffs_.clone();
+ qDebug() << "calibrated";
+ }
+ else
+ qDebug() << "not calibrated!";
+
qDebug()<<"Tracker::apply ends";
}
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
index 21da9a2c..aeda7dd7 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
@@ -78,6 +78,7 @@ private:
Timer time;
volatile bool ever_success;
+ cv::Mat intrinsics, dist_coeffs;
static constexpr double rad2deg = 180.0/3.14159265;
static constexpr double deg2rad = 3.14159265/180.0;
diff --git a/ftnoir_tracker_pt/point_extractor.cpp b/ftnoir_tracker_pt/point_extractor.cpp
index e81e3aa0..cc9dbce1 100644
--- a/ftnoir_tracker_pt/point_extractor.cpp
+++ b/ftnoir_tracker_pt/point_extractor.cpp
@@ -211,8 +211,7 @@ std::vector<Vec2f> PointExtractor::extract_points(Mat& frame)
for (auto& b : simple_blob::merge(blobs))
{
auto pos = b.effective_pos();
- Vec2f p((pos[0] - W/2)/W, -(pos[1] - H/2)/W);
- points.push_back(p);
+ points.push_back(pos);
}
vector<Mat> channels_;
diff --git a/ftnoir_tracker_pt/pt_video_widget.cpp b/ftnoir_tracker_pt/pt_video_widget.cpp
index 12f01413..15fc5a86 100644
--- a/ftnoir_tracker_pt/pt_video_widget.cpp
+++ b/ftnoir_tracker_pt/pt_video_widget.cpp
@@ -9,9 +9,6 @@
#include "pt_video_widget.h"
-#include <QDebug>
-#include <QHBoxLayout>
-
using namespace cv;
using namespace std;
diff --git a/ftnoir_tracker_pt/pt_video_widget.h b/ftnoir_tracker_pt/pt_video_widget.h
index 09818254..af1d60fd 100644
--- a/ftnoir_tracker_pt/pt_video_widget.h
+++ b/ftnoir_tracker_pt/pt_video_widget.h
@@ -1,4 +1,5 @@
/* Copyright (c) 2012 Patrick Ruoff
+ * Copyright (c) 2014 Stanislaw Halik <sthalik@misaki.pl>
*
* Permission to use, copy, modify, and/or distribute this software for any
* purpose with or without fee is hereby granted, provided that the above
@@ -8,15 +9,9 @@
#pragma once
#include <QObject>
-#include <QTime>
-#include <QDialog>
+#include <QWidget>
#include <opencv2/core/core.hpp>
-#ifndef OPENTRACK_API
-# include <QGLWidget>
-# include <boost/shared_ptr.hpp>
-#else
-# include <memory>
-#endif
+#include <memory>
#include <QPainter>
#include <QPaintEvent>
#include <QTimer>
generated by cgit v1.2.3 (git 2.39.1) at 2025-02-14 21:01:09 +0000