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-rw-r--r--ftnoir_tracker_pt/FTNoIR_PT_Controls.ui116
-rw-r--r--ftnoir_tracker_pt/camera.cpp26
-rw-r--r--ftnoir_tracker_pt/camera.h14
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.cpp18
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.h1
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp7
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h6
7 files changed, 6 insertions, 182 deletions
diff --git a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
index 73b1f767..91cda5dd 100644
--- a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
+++ b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
@@ -277,119 +277,6 @@
</widget>
</item>
<item>
- <widget class="QGroupBox" name="groupBox_4">
- <property name="title">
- <string>Camera orientation</string>
- </property>
- <layout class="QGridLayout" name="gridLayout_3">
- <item row="0" column="0">
- <widget class="QLabel" name="label_18">
- <property name="text">
- <string>Roll</string>
- </property>
- <property name="buddy">
- <cstring>camroll_combo</cstring>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QComboBox" name="camroll_combo">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>0</height>
- </size>
- </property>
- <property name="toolTip">
- <string>Rotation of the camera image</string>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_4">
- <property name="text">
- <string>Pitch</string>
- </property>
- <property name="buddy">
- <cstring>campitch_spin</cstring>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QSpinBox" name="campitch_spin">
- <property name="contextMenuPolicy">
- <enum>Qt::DefaultContextMenu</enum>
- </property>
- <property name="toolTip">
- <string>The angle the camera is facing upwards</string>
- </property>
- <property name="suffix">
- <string> deg</string>
- </property>
- <property name="minimum">
- <number>-180</number>
- </property>
- <property name="maximum">
- <number>180</number>
- </property>
- </widget>
- </item>
- <item row="1" column="2">
- <widget class="QLabel" name="label_5">
- <property name="text">
- <string>positive = upwards</string>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QLabel" name="label_20">
- <property name="text">
- <string>Yaw</string>
- </property>
- <property name="buddy">
- <cstring>camyaw_spin</cstring>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QSpinBox" name="camyaw_spin">
- <property name="contextMenuPolicy">
- <enum>Qt::DefaultContextMenu</enum>
- </property>
- <property name="toolTip">
- <string>The angle the camera is facing leftwards</string>
- </property>
- <property name="suffix">
- <string> deg</string>
- </property>
- <property name="prefix">
- <string/>
- </property>
- <property name="minimum">
- <number>-180</number>
- </property>
- <property name="maximum">
- <number>180</number>
- </property>
- </widget>
- </item>
- <item row="2" column="2">
- <widget class="QLabel" name="label_21">
- <property name="text">
- <string>positve = left</string>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- </item>
- <item>
<widget class="QGroupBox" name="groupBox_2">
<property name="title">
<string>Point extraction</string>
@@ -1180,9 +1067,6 @@
<tabstop>tabWidget</tabstop>
<tabstop>camdevice_combo</tabstop>
<tabstop>res_x_spin</tabstop>
- <tabstop>camroll_combo</tabstop>
- <tabstop>campitch_spin</tabstop>
- <tabstop>camyaw_spin</tabstop>
<tabstop>threshold_slider</tabstop>
<tabstop>model_tabs</tabstop>
<tabstop>m1x_spin</tabstop>
diff --git a/ftnoir_tracker_pt/camera.cpp b/ftnoir_tracker_pt/camera.cpp
index fec503e1..e427f54e 100644
--- a/ftnoir_tracker_pt/camera.cpp
+++ b/ftnoir_tracker_pt/camera.cpp
@@ -302,29 +302,3 @@ void VICamera::_set_res()
if (active) restart();
}
#endif
-
-// ----------------------------------------------------------------------------
-Mat FrameRotation::rotate_frame(Mat frame)
-{
- switch (rotation)
- {
- case CLOCKWISE:
- {
- Mat dst;
- transpose(frame, dst);
- flip(dst, dst, 1);
- return dst;
- }
-
- case COUNTER_CLOCKWISE:
- {
- Mat dst;
- transpose(frame, dst);
- flip(dst, dst, 0);
- return dst;
- }
-
- default:
- return frame;
- }
-}
diff --git a/ftnoir_tracker_pt/camera.h b/ftnoir_tracker_pt/camera.h
index 889bf2d3..2bce6f35 100644
--- a/ftnoir_tracker_pt/camera.h
+++ b/ftnoir_tracker_pt/camera.h
@@ -5,8 +5,7 @@
* copyright notice and this permission notice appear in all copies.
*/
-#ifndef CAMERA_H
-#define CAMERA_H
+#pragma once
#include <opencv2/core/core.hpp>
#ifndef OPENTRACK_API
@@ -128,14 +127,3 @@ enum RotationType
ZERO = 1,
COUNTER_CLOCKWISE = 2
};
-
-// ----------------------------------------------------------------------------
-class FrameRotation
-{
-public:
- RotationType rotation;
-
- cv::Mat rotate_frame(cv::Mat frame);
-};
-
-#endif //CAMERA_H
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 9b3795b9..a32288f4 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -66,7 +66,6 @@ void Tracker::run()
{
QMutexLocker lock(&mutex);
- frame = frame_rotation.rotate_frame(frame);
const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame);
for (auto p : points)
{
@@ -119,22 +118,15 @@ void Tracker::apply_inner()
camera.set_device_index(s.cam_index);
camera.set_res(s.cam_res_x, s.cam_res_y);
camera.set_fps(s.cam_fps);
- frame_rotation.rotation = static_cast<RotationType>(static_cast<int>(s.cam_roll));
point_extractor.threshold_val = s.threshold;
point_extractor.threshold_secondary_val = s.threshold_secondary;
point_extractor.min_size = s.min_point_size;
point_extractor.max_size = s.max_point_size;
t_MH = cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z);
- R_GC = Matx33f( cos(deg2rad*s.cam_yaw), 0, sin(deg2rad*s.cam_yaw),
- 0, 1, 0,
- -sin(deg2rad*s.cam_yaw), 0, cos(deg2rad*s.cam_yaw));
- R_GC = R_GC * Matx33f( 1, 0, 0,
- 0, cos(deg2rad*s.cam_pitch), sin(deg2rad*s.cam_pitch),
- 0, -sin(deg2rad*s.cam_pitch), cos(deg2rad*s.cam_pitch));
-
- FrameTrafo X_MH(Matx33f::eye(), t_MH);
- X_GH_0 = R_GC * X_MH;
- qDebug()<<"Tracker::apply ends";
+ R_GC = cv::Matx33f::eye();
+ FrameTrafo X_MH(Matx33f::eye(), t_MH);
+ X_GH_0 = R_GC * X_MH;
+ qDebug()<<"Tracker::apply ends";
}
void Tracker::reset()
@@ -145,7 +137,7 @@ void Tracker::reset()
void Tracker::center()
{
- point_tracker.reset(); // we also do a reset here since there is no reset shortkey yet
+ point_tracker.reset();
QMutexLocker lock(&mutex);
FrameTrafo X_CM_0 = point_tracker.pose();
FrameTrafo X_MH(Matx33f::eye(), t_MH);
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
index 921d61cf..33e03ea8 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
@@ -62,7 +62,6 @@ private:
volatile int commands;
CVCamera camera;
- FrameRotation frame_rotation;
PointExtractor point_extractor;
PointTracker point_tracker;
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
index a15e97b9..1b5b5910 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
@@ -34,17 +34,10 @@ TrackerDialog::TrackerDialog()
ui.camdevice_combo->addItem(iter->c_str());
}
- ui.camroll_combo->addItem("-90");
- ui.camroll_combo->addItem("0");
- ui.camroll_combo->addItem("90");
-
tie_setting(s.cam_index, ui.camdevice_combo);
tie_setting(s.cam_res_x, ui.res_x_spin);
tie_setting(s.cam_res_y, ui.res_y_spin);
tie_setting(s.cam_fps, ui.fps_spin);
- tie_setting(s.cam_roll, ui.camroll_combo);
- tie_setting(s.cam_pitch, ui.campitch_spin);
- tie_setting(s.cam_yaw, ui.camyaw_spin);
tie_setting(s.threshold_secondary, ui.threshold_secondary_slider);
tie_setting(s.threshold, ui.threshold_slider);
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
index 9365eb9a..b301db31 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
@@ -21,9 +21,6 @@ struct settings
cam_res_x,
cam_res_y,
cam_fps,
- cam_roll,
- cam_pitch,
- cam_yaw,
threshold,
threshold_secondary,
min_point_size,
@@ -45,9 +42,6 @@ struct settings
cam_res_x(b, "camera-res-width", 640),
cam_res_y(b, "camera-res-height", 480),
cam_fps(b, "camera-fps", 30),
- cam_roll(b, "camera-roll", 1),
- cam_pitch(b, "camera-pitch", 0),
- cam_yaw(b, "camera-yaw", 0),
threshold(b, "threshold-primary", 128),
threshold_secondary(b, "threshold-secondary", 128),
min_point_size(b, "min-point-size", 10),
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-19 20:14:32 +0000