diff options
Diffstat (limited to 'tracker-neuralnet/ftnoir_tracker_neuralnet.cpp')
| -rw-r--r-- | tracker-neuralnet/ftnoir_tracker_neuralnet.cpp | 69 |
1 files changed, 63 insertions, 6 deletions
diff --git a/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp b/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp index 59e17063..797febd8 100644 --- a/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp +++ b/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp @@ -13,6 +13,7 @@ #include "compat/math-imports.hpp" #include "compat/timer.hpp" #include "compat/check-visible.hpp" +#include "compat/camera-names.hpp" #include "cv/init.hpp" #include <omp.h> @@ -83,7 +84,8 @@ struct OnScopeExit CamIntrinsics make_intrinsics(const cv::Mat& img, const Settings& settings) { const int w = img.cols, h = img.rows; - const double diag_fov = settings.fov * M_PI / 180.; + //const double diag_fov = settings.fov * M_PI / 180.; + const double diag_fov = 60 * M_PI / 180.; (void)settings; const double fov_w = 2.*atan(tan(diag_fov/2.)/sqrt(1. + h/(double)w * h/(double)w)); const double fov_h = 2.*atan(tan(diag_fov/2.)/sqrt(1. + w/(double)h * w/(double)h)); const double focal_length_w = 1. / tan(.5 * fov_w); @@ -351,7 +353,7 @@ bool NeuralNetTracker::detect() last_pose_affine_ = pose_affine; } - draw_gizmos(*face, last_pose_affine_); + draw_gizmos(*face, pose_affine); return true; } @@ -501,17 +503,38 @@ bool NeuralNetTracker::load_and_initialize_model() bool NeuralNetTracker::open_camera() { +#if 0 int rint = std::clamp(*settings_.resolution, 0, (int)std::size(resolution_choices)-1); resolution_tuple res = resolution_choices[rint]; int fps = enum_to_fps(settings_.force_fps); +#endif + + video::impl::camera::info args {}; + args.width = 640; + args.height = 480; + args.fps = 60; + args.use_mjpeg = true; QMutexLocker l(&camera_mtx_); - camera_ = video::make_camera(settings_.camera_name); + camera_ = nullptr; + const QString name = settings_.camera_name; + + if (name.isEmpty() || name == "TrackHat sensor") + { + camera_ = video::make_camera_("TrackHat sensor"); + if (camera_ && camera_->start(args)) + return true; + if (!name.isEmpty()) + return false; + } + + camera_ = video::make_camera(name); if (!camera_) return false; +#if 0 video::impl::camera::info args {}; if (res.width) @@ -523,6 +546,7 @@ bool NeuralNetTracker::open_camera() args.fps = fps; args.use_mjpeg = settings_.use_mjpeg; +#endif if (!camera_->start(args)) { @@ -600,6 +624,8 @@ void NeuralNetTracker::run() std::chrono::duration_cast<std::chrono::milliseconds>( clk.now() - t).count()*1.e-3); } + + camera_ = nullptr; } @@ -644,19 +670,23 @@ void NeuralNetTracker::update_fps(double dt) void NeuralNetTracker::data(double *data) { - Affine tmp = [&]() + auto tmp2 = [&]() { QMutexLocker lck(&mtx_); return last_pose_affine_; }(); + if (!tmp2) + return; + const auto& tmp = *tmp2; + const auto& mx = tmp.R.col(0); const auto& my = tmp.R.col(1); const auto& mz = -tmp.R.col(2); const float yaw = std::atan2(mx(2), mx(0)); const float pitch = -std::atan2(-mx(1), std::sqrt(mx(2)*mx(2)+mx(0)*mx(0))); - const float roll = std::atan2(-my(2), mz(2)); + const float roll = -std::atan2(-my(2), mz(2)); { constexpr double rad2deg = 180/M_PI; data[Yaw] = rad2deg * yaw; @@ -674,7 +704,7 @@ void NeuralNetTracker::data(double *data) Affine NeuralNetTracker::pose() { QMutexLocker lck(&mtx_); - return last_pose_affine_; + return last_pose_affine_ ? *last_pose_affine_ : Affine{}; } std::tuple<cv::Size,double, double> NeuralNetTracker::stats() const @@ -685,16 +715,19 @@ std::tuple<cv::Size,double, double> NeuralNetTracker::stats() const void NeuralNetDialog::make_fps_combobox() { +#if 0 for (int k = 0; k < fps_MAX; k++) { const int hz = enum_to_fps(k); const QString name = (hz == 0) ? tr("Default") : QString::number(hz); ui_.cameraFPS->addItem(name, k); } +#endif } void NeuralNetDialog::make_resolution_combobox() { +#if 0 int k=0; for (const auto [w, h] : resolution_choices) { @@ -703,6 +736,7 @@ void NeuralNetDialog::make_resolution_combobox() : QString::number(w) + " x " + QString::number(h); ui_.resolution->addItem(s, k++); } +#endif } @@ -714,14 +748,18 @@ NeuralNetDialog::NeuralNetDialog() : make_fps_combobox(); make_resolution_combobox(); + ui_.cameraName->addItem(QString{}); for (const auto& str : video::camera_names()) ui_.cameraName->addItem(str); tie_setting(settings_.camera_name, ui_.cameraName); +#if 0 tie_setting(settings_.fov, ui_.cameraFOV); +#endif tie_setting(settings_.offset_fwd, ui_.tx_spin); tie_setting(settings_.offset_up, ui_.ty_spin); tie_setting(settings_.offset_right, ui_.tz_spin); +#if 0 tie_setting(settings_.show_network_input, ui_.showNetworkInput); tie_setting(settings_.roi_filter_alpha, ui_.roiFilterAlpha); tie_setting(settings_.use_mjpeg, ui_.use_mjpeg); @@ -729,6 +767,23 @@ NeuralNetDialog::NeuralNetDialog() : tie_setting(settings_.num_threads, ui_.threadCount); tie_setting(settings_.resolution, ui_.resolution); tie_setting(settings_.force_fps, ui_.cameraFPS); +#endif + + { + const struct { + QString label; + exposure_preset preset; + } presets[] = { + { QStringLiteral("Near (1-4ft)"), exposure_preset::near }, + { QStringLiteral("Far (4-8ft)"), exposure_preset::far }, + { QStringLiteral("Custom"), exposure_preset::ignored }, + }; + + for (const auto& [label, preset] : presets) + ui_.exposure_preset->addItem(label, int(preset)); + + tie_setting(cs_.exposure, ui_.exposure_preset); + } connect(ui_.buttonBox, SIGNAL(accepted()), this, SLOT(doOK())); connect(ui_.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel())); @@ -750,11 +805,13 @@ NeuralNetDialog::NeuralNetDialog() : void NeuralNetDialog::save() { settings_.b->save(); + cs_.b->save(); } void NeuralNetDialog::reload() { settings_.b->reload(); + cs_.b->reload(); } void NeuralNetDialog::doOK() |