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-rw-r--r--tracker-aruco/aruco-trackercontrols.ui93
-rw-r--r--tracker-aruco/ftnoir_tracker_aruco.cpp75
-rw-r--r--tracker-aruco/ftnoir_tracker_aruco.h39
3 files changed, 149 insertions, 58 deletions
diff --git a/tracker-aruco/aruco-trackercontrols.ui b/tracker-aruco/aruco-trackercontrols.ui
index 8e6b30a6..0d70d9ed 100644
--- a/tracker-aruco/aruco-trackercontrols.ui
+++ b/tracker-aruco/aruco-trackercontrols.ui
@@ -10,7 +10,7 @@
<x>0</x>
<y>0</y>
<width>453</width>
- <height>218</height>
+ <height>246</height>
</rect>
</property>
<property name="windowTitle">
@@ -81,6 +81,31 @@
</property>
</widget>
</item>
+ <item row="3" column="1">
+ <widget class="QComboBox" name="resolution">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <item>
+ <property name="text">
+ <string>640x480</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>320x240</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>Default (not recommended!)</string>
+ </property>
+ </item>
+ </widget>
+ </item>
<item row="1" column="1">
<widget class="QComboBox" name="cameraFPS">
<property name="sizePolicy">
@@ -140,32 +165,28 @@
</property>
</widget>
</item>
- <item row="3" column="1">
- <widget class="QComboBox" name="resolution">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_10">
+ <property name="text">
+ <string>Camera name</string>
</property>
- <item>
- <property name="text">
- <string>640x480</string>
- </property>
- </item>
- <item>
- <property name="text">
- <string>320x240</string>
- </property>
- </item>
- <item>
- <property name="text">
- <string>Default (not recommended!)</string>
- </property>
- </item>
</widget>
</item>
- <item row="4" column="1">
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_12">
+ <property name="text">
+ <string>Frames per second</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QLabel" name="label_11">
+ <property name="text">
+ <string>Resolution</string>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="1">
<widget class="QPushButton" name="camera_settings">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Maximum">
@@ -178,24 +199,20 @@
</property>
</widget>
</item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_12">
+ <item row="4" column="0">
+ <widget class="QLabel" name="label">
<property name="text">
- <string>Frames per second</string>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QLabel" name="label_10">
- <property name="text">
- <string>Camera name</string>
+ <string>Model rotation</string>
</property>
</widget>
</item>
- <item row="3" column="0">
- <widget class="QLabel" name="label_11">
- <property name="text">
- <string>Resolution</string>
+ <item row="4" column="1">
+ <widget class="QComboBox" name="model_rotation">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
</property>
</widget>
</item>
diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp
index 15955692..53907808 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.cpp
+++ b/tracker-aruco/ftnoir_tracker_aruco.cpp
@@ -24,36 +24,31 @@
#include <algorithm>
#include <iterator>
-struct resolution_tuple
-{
- int width;
- int height;
-};
+constexpr double aruco_tracker::timeout;
+constexpr double aruco_tracker::timeout_backoff_c;
+constexpr const int aruco_tracker::adaptive_sizes[];
-static constexpr const resolution_tuple resolution_choices[] =
-{
- { 640, 480 },
- { 320, 240 },
- { 0, 0 }
-};
+constexpr const aruco_tracker::resolution_tuple aruco_tracker::resolution_choices[];
constexpr const double aruco_tracker::RC;
constexpr const float aruco_tracker::size_min;
constexpr const float aruco_tracker::size_max;
aruco_tracker::aruco_tracker() :
+ pose{0,0,0, 0,0,0},
fps(0),
+ no_detection_timeout(0),
obj_points(4),
intrinsics(cv::Matx33d::eye()),
rmat(cv::Matx33d::eye()),
roi_points(4),
last_roi(65535, 65535, 0, 0),
- stop(false)
+ adaptive_size_pos(0),
+ stop(false),
+ use_otsu(false)
{
// param 2 ignored for Otsu thresholding. it's required to use our fork of Aruco.
- detector.setThresholdParams(7, -1);
- detector.setDesiredSpeed(3);
- detector._thresMethod = aruco::MarkerDetector::FIXED_THRES;
+ set_detector_params();
}
aruco_tracker::~aruco_tracker()
@@ -75,8 +70,6 @@ void aruco_tracker::start_tracker(QFrame* videoframe)
videoframe->setLayout(layout.data());
videoWidget->show();
start();
- for (int i = 0; i < 6; i++)
- pose[i] = 0;
}
void aruco_tracker::getRT(cv::Matx33d& r_, cv::Vec3d& t_)
@@ -323,6 +316,35 @@ void aruco_tracker::set_roi_from_projection()
clamp_last_roi();
}
+void aruco_tracker::set_detector_params()
+{
+ detector.setDesiredSpeed(3);
+ detector.setThresholdParams(adaptive_sizes[adaptive_size_pos], adaptive_thres);
+ if (use_otsu)
+ detector._thresMethod = aruco::MarkerDetector::FIXED_THRES;
+ else
+ detector._thresMethod = aruco::MarkerDetector::ADPT_THRES;
+}
+
+void aruco_tracker::cycle_detection_params()
+{
+ if (!use_otsu)
+ use_otsu = true;
+ else
+ {
+ use_otsu = false;
+
+ adaptive_size_pos++;
+ adaptive_size_pos %= sizeof(adaptive_sizes)/sizeof(*adaptive_sizes);
+ }
+
+ set_detector_params();
+
+ qDebug() << "aruco: switched thresholding params"
+ << "otsu:" << use_otsu
+ << "size:" << adaptive_sizes[adaptive_size_pos];
+}
+
void aruco_tracker::run()
{
cv::setNumThreads(0);
@@ -336,6 +358,7 @@ void aruco_tracker::run()
return;
fps_timer.start();
+ last_detection_timer.start();
while (!stop)
{
@@ -365,15 +388,33 @@ void aruco_tracker::run()
if (!cv::solvePnP(obj_points, markers[0], intrinsics, cv::noArray(), rvec, tvec, false, cv::SOLVEPNP_ITERATIVE))
goto fail;
+ {
+ const double dt = last_detection_timer.elapsed_seconds();
+ last_detection_timer.start();
+ no_detection_timeout -= dt * timeout_backoff_c;
+ no_detection_timeout = std::max(0., no_detection_timeout);
+ }
+
set_last_roi();
draw_centroid();
set_rmat();
}
else
+ {
fail:
// no marker found, reset search region
last_roi = cv::Rect(65535, 65535, 0, 0);
+ const double dt = last_detection_timer.elapsed_seconds();
+ last_detection_timer.start();
+ no_detection_timeout += dt;
+ if (no_detection_timeout > timeout)
+ {
+ no_detection_timeout = 0;
+ cycle_detection_params();
+ }
+ }
+
draw_ar(ok);
if (frame.rows > 0)
diff --git a/tracker-aruco/ftnoir_tracker_aruco.h b/tracker-aruco/ftnoir_tracker_aruco.h
index aa3c59f7..6e7db3f6 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.h
+++ b/tracker-aruco/ftnoir_tracker_aruco.h
@@ -28,6 +28,7 @@
#include <opencv2/core.hpp>
#include <opencv2/videoio.hpp>
+
using namespace options;
struct settings : opts {
@@ -83,6 +84,10 @@ private:
void set_last_roi();
void set_rmat();
void set_roi_from_projection();
+ void set_detector_params();
+ void cycle_detection_params();
+
+ cv::Point3f rotate_model(float x, float y, settings::rot mode);
cv::VideoCapture camera;
QMutex camera_mtx;
@@ -90,7 +95,7 @@ private:
qshared<cv_video_widget> videoWidget;
qshared<QHBoxLayout> layout;
settings s;
- double pose[6], fps;
+ double pose[6], fps, no_detection_timeout;
cv::Mat frame, grayscale, color;
cv::Matx33d r;
std::vector<cv::Point3f> obj_points;
@@ -105,9 +110,37 @@ private:
cv::Vec3d euler;
std::vector<cv::Point3f> roi_points;
cv::Rect last_roi;
- Timer fps_timer;
-
+ Timer fps_timer, last_detection_timer;
+ unsigned adaptive_size_pos;
volatile bool stop;
+ bool use_otsu;
+
+ struct resolution_tuple
+ {
+ int width;
+ int height;
+ };
+
+ static constexpr const int adaptive_sizes[] =
+ {
+ 7,
+ 9,
+ //11,
+ 13,
+ //5,
+ };
+
+ static constexpr int adaptive_thres = 6;
+
+ static constexpr const resolution_tuple resolution_choices[] =
+ {
+ { 640, 480 },
+ { 320, 240 },
+ { 0, 0 }
+ };
+
+ static constexpr double timeout = 1;
+ static constexpr double timeout_backoff_c = 4./11;
static constexpr const float size_min = 0.05;
static constexpr const float size_max = 0.3;
generated by cgit v1.2.3 (git 2.39.1) at 2024-12-27 05:50:02 +0000