diff options
Diffstat (limited to 'tracker-easy/tracker-easy.cpp')
| -rw-r--r-- | tracker-easy/tracker-easy.cpp | 56 |
1 files changed, 27 insertions, 29 deletions
diff --git a/tracker-easy/tracker-easy.cpp b/tracker-easy/tracker-easy.cpp index c30bb40f..1783ef51 100644 --- a/tracker-easy/tracker-easy.cpp +++ b/tracker-easy/tracker-easy.cpp @@ -31,9 +31,7 @@ EasyTracker::EasyTracker(pointer<pt_runtime_traits> const& traits) : traits { traits }, s { traits->get_module_name() }, point_extractor { traits->make_point_extractor() }, - camera { traits->make_camera() }, - frame { traits->make_frame() }, - preview_frame { traits->make_preview(preview_width, preview_height) } + iPreview{ preview_width, preview_height } { cv::setBreakOnError(true); cv::setNumThreads(1); @@ -107,26 +105,31 @@ void EasyTracker::run() maybe_reopen_camera(); while(!isInterruptionRequested()) - { - pt_camera_info info; + { bool new_frame = false; { QMutexLocker l(&camera_mtx); if (camera) - std::tie(new_frame, info) = camera->get_frame(*frame); + std::tie(iFrame, new_frame) = camera->get_frame(); } if (new_frame) { + //TODO: We should not assume channel size of 1 byte + iMatFrame = cv::Mat(iFrame.height, iFrame.width, CV_MAKETYPE(CV_8U,iFrame.channels), iFrame.data, iFrame.stride); + const bool preview_visible = check_is_visible(); if (preview_visible) - *preview_frame = *frame; + { + iPreview = iMatFrame; + } + iImagePoints.clear(); - point_extractor->extract_points(*frame, *preview_frame, points, iImagePoints); + point_extractor->extract_points(iMatFrame, iPreview, points, iImagePoints); point_count.store(points.size(), std::memory_order_relaxed); const bool success = points.size() >= KPointCount; @@ -208,23 +211,23 @@ void EasyTracker::run() cv::Mat cameraMatrix; cameraMatrix.create(3, 3, CV_64FC1); cameraMatrix.setTo(cv::Scalar(0)); - cameraMatrix.at<double>(0, 0) = camera->info.focalLengthX; - cameraMatrix.at<double>(1, 1) = camera->info.focalLengthY; - cameraMatrix.at<double>(0, 2) = camera->info.principalPointX; - cameraMatrix.at<double>(1, 2) = camera->info.principalPointY; + cameraMatrix.at<double>(0, 0) = iCameraInfo.focalLengthX; + cameraMatrix.at<double>(1, 1) = iCameraInfo.focalLengthY; + cameraMatrix.at<double>(0, 2) = iCameraInfo.principalPointX; + cameraMatrix.at<double>(1, 2) = iCameraInfo.principalPointY; cameraMatrix.at<double>(2, 2) = 1; // Create distortion cooefficients cv::Mat distCoeffs = cv::Mat::zeros(8, 1, CV_64FC1); // As per OpenCV docs they should be thus: k1, k2, p1, p2, k3, k4, k5, k6 distCoeffs.at<double>(0, 0) = 0; // Radial first order - distCoeffs.at<double>(1, 0) = camera->info.radialDistortionSecondOrder; // Radial second order + distCoeffs.at<double>(1, 0) = iCameraInfo.radialDistortionSecondOrder; // Radial second order distCoeffs.at<double>(2, 0) = 0; // Tangential first order distCoeffs.at<double>(3, 0) = 0; // Tangential second order distCoeffs.at<double>(4, 0) = 0; // Radial third order - distCoeffs.at<double>(5, 0) = camera->info.radialDistortionFourthOrder; // Radial fourth order + distCoeffs.at<double>(5, 0) = iCameraInfo.radialDistortionFourthOrder; // Radial fourth order distCoeffs.at<double>(6, 0) = 0; // Radial fith order - distCoeffs.at<double>(7, 0) = camera->info.radialDistortionSixthOrder; // Radial sixth order + distCoeffs.at<double>(7, 0) = iCameraInfo.radialDistortionSixthOrder; // Radial sixth order // Define our solution arrays // They will receive up to 4 solutions for our P3P problem @@ -287,16 +290,17 @@ void EasyTracker::run() if (topPointIndex != -1) { // Render a cross to indicate which point is the head - preview_frame->draw_head_center(points[topPointIndex][0], points[topPointIndex][1]); + iPreview.draw_head_center(points[topPointIndex][0], points[topPointIndex][1]); } - widget->update_image(preview_frame->get_bitmap()); + widget->update_image(iPreview.get_bitmap()); auto [ w, h ] = widget->preview_size(); if (w != preview_width || h != preview_height) { + // Resize preivew if widget size has changed preview_width = w; preview_height = h; - preview_frame = traits->make_preview(w, h); + iPreview = Preview(w, h); } } } @@ -307,14 +311,13 @@ bool EasyTracker::maybe_reopen_camera() { QMutexLocker l(&camera_mtx); - return camera->start(s.camera_name, - s.cam_fps, s.cam_res_x, s.cam_res_y); + return camera->start(iCameraInfo); } void EasyTracker::set_fov(int value) { QMutexLocker l(&camera_mtx); - camera->set_fov(value); + } module_status EasyTracker::start_tracker(QFrame* video_frame) @@ -329,6 +332,9 @@ module_status EasyTracker::start_tracker(QFrame* video_frame) //video_widget->resize(video_frame->width(), video_frame->height()); video_frame->show(); + // Create our camera + camera = video::make_camera(s.camera_name); + start(QThread::HighPriority); return {}; @@ -361,14 +367,6 @@ int EasyTracker::get_n_points() return (int)point_count.load(std::memory_order_relaxed); } -bool EasyTracker::get_cam_info(pt_camera_info& info) -{ - QMutexLocker l(&camera_mtx); - bool ret; - - std::tie(ret, info) = camera->get_info(); - return ret; -} } // ns pt_impl |