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-rw-r--r--tracker-neuralnet/ftnoir_tracker_neuralnet.cpp206
-rw-r--r--tracker-neuralnet/ftnoir_tracker_neuralnet.h44
-rw-r--r--tracker-neuralnet/lang/nl_NL.ts8
-rw-r--r--tracker-neuralnet/lang/ru_RU.ts8
-rw-r--r--tracker-neuralnet/lang/stub.ts8
-rw-r--r--tracker-neuralnet/lang/zh_CN.ts8
-rw-r--r--tracker-neuralnet/neuralnet-trackercontrols.ui787
7 files changed, 664 insertions, 405 deletions
diff --git a/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp b/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp
index f849f4e1..352baf29 100644
--- a/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp
+++ b/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp
@@ -15,6 +15,7 @@
#include <opencv2/calib3d.hpp>
#include <opencv2/imgcodecs.hpp>
#include "compat/timer.hpp"
+#include "compat/check-visible.hpp"
#include <omp.h>
#ifdef _MSC_VER
@@ -54,6 +55,18 @@ std::string convert(const QString &s) { return s.toStdString(); }
#endif
+template<class F>
+struct OnScopeExit
+{
+ explicit OnScopeExit(F&& f) : f_{ f } {}
+ ~OnScopeExit() noexcept
+ {
+ f_();
+ }
+ F f_;
+};
+
+
float sigmoid(float x)
{
return 1.f/(1.f + std::exp(-x));
@@ -88,7 +101,6 @@ cv::Rect make_crop_rect_multiple_of(const cv::Size &size, int multiple)
);
}
-
template<class T>
cv::Rect_<T> squarize(const cv::Rect_<T> &r)
{
@@ -592,12 +604,20 @@ double PoseEstimator::last_inference_time_millis() const
bool neuralnet_tracker::detect()
{
+ double inference_time = 0.;
+
+ OnScopeExit update_inference_time{ [&]() {
+
+ QMutexLocker lck{ &stats_mtx_ };
+ inference_time_ = inference_time;
+ } };
+
// Note: BGR colors!
if (!last_localizer_roi || !last_roi ||
iou(*last_localizer_roi,*last_roi)<0.25)
{
- auto [p, rect] = localizer->run(grayscale);
- last_inference_time += localizer->last_inference_time_millis();
+ auto [p, rect] = localizer->run(grayscale_);
+ inference_time += localizer->last_inference_time_millis();
if (p > 0.5 || rect.height < 5 || rect.width < 5)
{
last_localizer_roi = rect;
@@ -612,17 +632,17 @@ bool neuralnet_tracker::detect()
if (!last_roi)
{
- draw_gizmos(frame, {}, {});
+ draw_gizmos({}, {});
return false;
}
- auto face = poseestimator->run(grayscale, *last_roi);
- last_inference_time += poseestimator->last_inference_time_millis();
+ auto face = poseestimator->run(grayscale_, *last_roi);
+ inference_time += poseestimator->last_inference_time_millis();
if (!face)
{
last_roi.reset();
- draw_gizmos(frame, *face, {});
+ draw_gizmos(*face, {});
return false;
}
@@ -646,7 +666,7 @@ bool neuralnet_tracker::detect()
Affine pose = compute_pose(*face);
- draw_gizmos(frame, *face, pose);
+ draw_gizmos(*face, pose);
{
QMutexLocker lck(&mtx);
@@ -657,12 +677,31 @@ bool neuralnet_tracker::detect()
}
+void neuralnet_tracker::draw_gizmos(
+ const std::optional<PoseEstimator::Face> &face,
+ const Affine& pose)
+{
+ if (!is_visible_)
+ return;
+
+ preview_.draw_gizmos(face, pose, last_roi, last_localizer_roi, world_to_image(pose.t, grayscale_.size(), intrinsics));
+
+ if (settings.show_network_input)
+ {
+ cv::Mat netinput = poseestimator->last_network_input();
+ preview_.overlay_netinput(netinput);
+ }
+
+ //preview_.draw_fps(fps, last_inference_time);
+}
+
+
Affine neuralnet_tracker::compute_pose(const PoseEstimator::Face &face) const
{
// Compute the location the network outputs in 3d space.
const mat33 rot_correction = compute_rotation_correction(
- normalize(face.center, frame.rows, frame.cols),
+ normalize(face.center, grayscale_.rows, grayscale_.cols),
intrinsics.focal_length_w);
const mat33 m = rot_correction * quaternion_to_mat33(
@@ -683,16 +722,15 @@ Affine neuralnet_tracker::compute_pose(const PoseEstimator::Face &face) const
const vec3 face_world_pos = image_to_world(
face.center.x, face.center.y, face.size, head_size_mm,
- frame.size(),
+ grayscale_.size(),
intrinsics);
// But this is in general not the location of the rotation joint in the neck.
// So we need an extra offset. Which we determine by solving
// z,y,z-pos = head_joint_loc + R_face * offset
-
const vec3 pos = face_world_pos
+ m * vec3{
- static_cast<float>(settings.offset_fwd),
+ static_cast<float>(settings.offset_fwd),
static_cast<float>(settings.offset_up),
static_cast<float>(settings.offset_right)};
@@ -700,27 +738,50 @@ Affine neuralnet_tracker::compute_pose(const PoseEstimator::Face &face) const
}
-void neuralnet_tracker::draw_gizmos(
- cv::Mat frame,
+void Preview::init(const cv_video_widget& widget)
+{
+ auto [w,h] = widget.preview_size();
+ preview_size_ = { w, h };
+}
+
+
+void Preview::copy_video_frame(const cv::Mat& frame)
+{
+ cv::Rect roi = make_crop_rect_for_aspect(frame.size(), preview_size_.width, preview_size_.height);
+
+ cv::resize(frame(roi), preview_image_, preview_size_, 0, 0, cv::INTER_NEAREST);
+
+ offset_ = { (float)-roi.x, (float)-roi.y };
+ scale_ = float(preview_image_.cols) / float(roi.width);
+}
+
+
+void Preview::draw_gizmos(
const std::optional<PoseEstimator::Face> &face,
- const Affine& pose) const
+ const Affine& pose,
+ const std::optional<cv::Rect2f>& last_roi,
+ const std::optional<cv::Rect2f>& last_localizer_roi,
+ const cv::Point2f& neckjoint_position)
{
+ if (preview_image_.empty())
+ return;
+
if (last_roi)
{
const int col = 255;
- cv::rectangle(frame, *last_roi, cv::Scalar(0, col, 0), /*thickness=*/1);
+ cv::rectangle(preview_image_, transform(*last_roi), cv::Scalar(0, col, 0), /*thickness=*/1);
}
if (last_localizer_roi)
{
const int col = 255;
- cv::rectangle(frame, *last_localizer_roi, cv::Scalar(col, 0, 255-col), /*thickness=*/1);
+ cv::rectangle(preview_image_, transform(*last_localizer_roi), cv::Scalar(col, 0, 255-col), /*thickness=*/1);
}
if (face)
{
if (face->size>=1.f)
- cv::circle(frame, static_cast<cv::Point>(face->center), int(face->size), cv::Scalar(255,255,255), 2);
- cv::circle(frame, static_cast<cv::Point>(face->center), 3, cv::Scalar(255,255,255), -1);
+ cv::circle(preview_image_, static_cast<cv::Point>(transform(face->center)), int(transform(face->size)), cv::Scalar(255,255,255), 2);
+ cv::circle(preview_image_, static_cast<cv::Point>(transform(face->center)), 3, cv::Scalar(255,255,255), -1);
auto draw_coord_line = [&](int i, const cv::Scalar& color)
{
@@ -728,32 +789,57 @@ void neuralnet_tracker::draw_gizmos(
const float vy = -pose.R(1,i);
static constexpr float len = 100.f;
cv::Point q = face->center + len*cv::Point2f{vx, vy};
- cv::line(frame, static_cast<cv::Point>(face->center), static_cast<cv::Point>(q), color, 2);
+ cv::line(preview_image_, static_cast<cv::Point>(transform(face->center)), static_cast<cv::Point>(transform(q)), color, 2);
};
draw_coord_line(0, {0, 0, 255});
draw_coord_line(1, {0, 255, 0});
draw_coord_line(2, {255, 0, 0});
// Draw the computed joint position
- auto xy = world_to_image(pose.t, frame.size(), intrinsics);
- cv::circle(frame, cv::Point(xy[0],xy[1]), 5, cv::Scalar(0,0,255), -1);
+ auto xy = transform(neckjoint_position);
+ cv::circle(preview_image_, cv::Point(xy.x,xy.y), 5, cv::Scalar(0,0,255), -1);
}
+}
- if (settings.show_network_input)
- {
- cv::Mat netinput = poseestimator->last_network_input();
- if (!netinput.empty())
- {
- const int w = std::min(netinput.cols, frame.cols);
- const int h = std::min(netinput.rows, frame.rows);
- cv::Rect roi(0, 0, w, h);
- netinput(roi).copyTo(frame(roi));
- }
- }
+void Preview::overlay_netinput(const cv::Mat& netinput)
+{
+ if (netinput.empty())
+ return;
+ const int w = std::min(netinput.cols, preview_image_.cols);
+ const int h = std::min(netinput.rows, preview_image_.rows);
+ cv::Rect roi(0, 0, w, h);
+ netinput(roi).copyTo(preview_image_(roi));
+}
+
+void Preview::draw_fps(double fps, double last_inference_time)
+{
char buf[128];
::snprintf(buf, sizeof(buf), "%d Hz, pose inference: %d ms", std::clamp(int(fps), 0, 9999), int(last_inference_time));
- cv::putText(frame, buf, cv::Point(10, frame.rows-10), cv::FONT_HERSHEY_PLAIN, 1, cv::Scalar(0, 255, 0), 1);
+ cv::putText(preview_image_, buf, cv::Point(10, preview_image_.rows-10), cv::FONT_HERSHEY_PLAIN, 1, cv::Scalar(0, 255, 0), 1);
+}
+
+
+void Preview::copy_to_widget(cv_video_widget& widget)
+{
+ if (preview_image_.rows > 0)
+ widget.update_image(preview_image_);
+}
+
+
+cv::Rect2f Preview::transform(const cv::Rect2f& r) const
+{
+ return { (r.x - offset_.x)*scale_, (r.y - offset_.y)*scale_, r.width*scale_, r.height*scale_ };
+}
+
+cv::Point2f Preview::transform(const cv::Point2f& p) const
+{
+ return { (p.x - offset_.x)*scale_ , (p.y - offset_.y)*scale_ };
+}
+
+float Preview::transform(float s) const
+{
+ return s * scale_;
}
@@ -856,13 +942,14 @@ bool neuralnet_tracker::open_camera()
qDebug() << "neuralnet tracker: can't open camera";
return false;
}
+
return true;
}
void neuralnet_tracker::set_intrinsics()
{
- const int w = grayscale.cols, h = grayscale.rows;
+ const int w = grayscale_.cols, h = grayscale_.rows;
const double diag_fov = settings.fov * M_PI / 180.;
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));
@@ -902,6 +989,8 @@ class GuardedThreadCountSwitch
void neuralnet_tracker::run()
{
+ preview_.init(*videoWidget);
+
GuardedThreadCountSwitch switch_num_threads_to(num_threads);
if (!open_camera())
@@ -914,7 +1003,7 @@ void neuralnet_tracker::run()
while (!isInterruptionRequested())
{
- last_inference_time = 0;
+ is_visible_ = check_is_visible();
auto t = clk.now();
{
QMutexLocker l(&camera_mtx);
@@ -928,18 +1017,24 @@ void neuralnet_tracker::run()
continue;
}
+ {
+ QMutexLocker lck{&stats_mtx_};
+ resolution_ = { img.width, img.height };
+ }
+
auto color = prepare_input_image(img);
- color.copyTo(frame);
+ if (is_visible_)
+ preview_.copy_video_frame(color);
switch (img.channels)
{
case 1:
- grayscale.create(img.height, img.width, CV_8UC1);
- color.copyTo(grayscale);
+ grayscale_.create(img.height, img.width, CV_8UC1);
+ color.copyTo(grayscale_);
break;
case 3:
- cv::cvtColor(color, grayscale, cv::COLOR_BGR2GRAY);
+ cv::cvtColor(color, grayscale_, cv::COLOR_BGR2GRAY);
break;
default:
qDebug() << "Can't handle" << img.channels << "color channels";
@@ -951,8 +1046,8 @@ void neuralnet_tracker::run()
detect();
- if (frame.rows > 0)
- videoWidget->update_image(frame);
+ if (is_visible_)
+ preview_.copy_to_widget(*videoWidget);
update_fps(
std::chrono::duration_cast<std::chrono::milliseconds>(
@@ -991,9 +1086,9 @@ cv::Mat neuralnet_tracker::prepare_input_image(const video::frame& frame)
void neuralnet_tracker::update_fps(double dt)
{
const double alpha = dt/(dt + RC);
-
if (dt > 1e-6)
{
+ QMutexLocker lck{&stats_mtx_};
fps *= 1 - alpha;
fps += alpha * 1./dt;
}
@@ -1035,6 +1130,11 @@ Affine neuralnet_tracker::pose()
return pose_;
}
+std::tuple<cv::Size,double, double> neuralnet_tracker::stats() const
+{
+ QMutexLocker lck(&stats_mtx_);
+ return { resolution_, fps, inference_time_ };
+}
void neuralnet_dialog::make_fps_combobox()
{
@@ -1094,6 +1194,10 @@ neuralnet_dialog::neuralnet_dialog() :
connect(&calib_timer, &QTimer::timeout, this, &neuralnet_dialog::trans_calib_step);
calib_timer.setInterval(35);
connect(ui.tcalib_button,SIGNAL(toggled(bool)), this, SLOT(startstop_trans_calib(bool)));
+
+ connect(&tracker_status_poll_timer, &QTimer::timeout, this, &neuralnet_dialog::status_poll);
+ tracker_status_poll_timer.setInterval(250);
+ tracker_status_poll_timer.start();
}
@@ -1143,6 +1247,22 @@ void neuralnet_dialog::unregister_tracker()
}
+void neuralnet_dialog::status_poll()
+{
+ QString status;
+ if (!tracker)
+ {
+ status = tr("Tracker Offline");
+ }
+ else
+ {
+ auto [ res, fps, inference_time ] = tracker->stats();
+ status = tr("%1x%2 @ %3 FPS / Inference: %4 ms").arg(res.width).arg(res.height).arg(int(fps)).arg(int(inference_time));
+ }
+ ui.resolution_display->setText(status);
+}
+
+
void neuralnet_dialog::trans_calib_step()
{
if (tracker)
diff --git a/tracker-neuralnet/ftnoir_tracker_neuralnet.h b/tracker-neuralnet/ftnoir_tracker_neuralnet.h
index ace16528..00b5f220 100644
--- a/tracker-neuralnet/ftnoir_tracker_neuralnet.h
+++ b/tracker-neuralnet/ftnoir_tracker_neuralnet.h
@@ -159,6 +159,32 @@ class PoseEstimator
};
+class Preview
+{
+public:
+ void init(const cv_video_widget& widget);
+ void copy_video_frame(const cv::Mat& frame);
+ void draw_gizmos(
+ const std::optional<PoseEstimator::Face> &face,
+ const Affine& pose,
+ const std::optional<cv::Rect2f>& last_roi,
+ const std::optional<cv::Rect2f>& last_localizer_roi,
+ const cv::Point2f& neckjoint_position);
+ void overlay_netinput(const cv::Mat& netinput);
+ void draw_fps(double fps, double last_inference_time);
+ void copy_to_widget(cv_video_widget& widget);
+private:
+ // Transform from camera frame to preview
+ cv::Rect2f transform(const cv::Rect2f& r) const;
+ cv::Point2f transform(const cv::Point2f& p) const;
+ float transform(float s) const;
+
+ cv::Mat preview_image_;
+ cv::Size preview_size_ = { 0, 0 };
+ float scale_ = 1.f;
+ cv::Point2f offset_ = { 0.f, 0.f};
+};
+
class neuralnet_tracker : protected virtual QThread, public ITracker
{
@@ -170,6 +196,7 @@ public:
void data(double *data) override;
void run() override;
Affine pose();
+ std::tuple<cv::Size, double, double> stats() const;
QMutex camera_mtx;
std::unique_ptr<video::impl::camera> camera;
@@ -181,11 +208,9 @@ private:
cv::Mat prepare_input_image(const video::frame& frame);
bool load_and_initialize_model();
void draw_gizmos(
- cv::Mat frame,
const std::optional<PoseEstimator::Face> &face,
- const Affine& pose) const;
+ const Affine& pose);
void update_fps(double dt);
-
Affine compute_pose(const PoseEstimator::Face &face) const;
Settings settings;
@@ -195,20 +220,25 @@ private:
Ort::MemoryInfo allocator_info{nullptr};
CamIntrinsics intrinsics{};
- cv::Mat frame, grayscale;
+ cv::Mat grayscale_;
std::array<cv::Mat,2> downsized_original_images_ = {}; // Image pyramid
std::optional<cv::Rect2f> last_localizer_roi;
std::optional<cv::Rect2f> last_roi;
static constexpr float head_size_mm = 200.f;
+ mutable QMutex stats_mtx_;
double fps = 0;
- double last_inference_time = 0;
+ double inference_time_ = 0;
+ cv::Size resolution_ = {};
+
static constexpr double RC = .25;
int num_threads = 1;
+ bool is_visible_ = true;
QMutex mtx; // Protects the pose
Affine pose_;
+ Preview preview_;
std::unique_ptr<cv_video_widget> videoWidget;
std::unique_ptr<QHBoxLayout> layout;
};
@@ -232,8 +262,9 @@ private:
QTimer calib_timer;
TranslationCalibrator trans_calib;
QMutex calibrator_mutex;
-
+ QTimer tracker_status_poll_timer;
neuralnet_tracker* tracker = nullptr;
+
private Q_SLOTS:
void doOK();
@@ -242,6 +273,7 @@ private Q_SLOTS:
void update_camera_settings_state(const QString& name);
void startstop_trans_calib(bool start);
void trans_calib_step();
+ void status_poll();
};
diff --git a/tracker-neuralnet/lang/nl_NL.ts b/tracker-neuralnet/lang/nl_NL.ts
index cb6d1da0..92ad65f1 100644
--- a/tracker-neuralnet/lang/nl_NL.ts
+++ b/tracker-neuralnet/lang/nl_NL.ts
@@ -139,5 +139,13 @@ Don&apos;t roll or change position.</source>
<source>Start calibration</source>
<translation type="unfinished"></translation>
</message>
+ <message>
+ <source>Tracker Offline</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>%1x%2 @ %3 FPS / Inference: %4 ms</source>
+ <translation type="unfinished"></translation>
+ </message>
</context>
</TS>
diff --git a/tracker-neuralnet/lang/ru_RU.ts b/tracker-neuralnet/lang/ru_RU.ts
index ed69e9a7..dfa7d042 100644
--- a/tracker-neuralnet/lang/ru_RU.ts
+++ b/tracker-neuralnet/lang/ru_RU.ts
@@ -139,5 +139,13 @@ Don&apos;t roll or change position.</source>
<source>Start calibration</source>
<translation type="unfinished"></translation>
</message>
+ <message>
+ <source>Tracker Offline</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>%1x%2 @ %3 FPS / Inference: %4 ms</source>
+ <translation type="unfinished"></translation>
+ </message>
</context>
</TS>
diff --git a/tracker-neuralnet/lang/stub.ts b/tracker-neuralnet/lang/stub.ts
index db45f47a..a74d272f 100644
--- a/tracker-neuralnet/lang/stub.ts
+++ b/tracker-neuralnet/lang/stub.ts
@@ -139,5 +139,13 @@ Don&apos;t roll or change position.</source>
<source>Start calibration</source>
<translation type="unfinished"></translation>
</message>
+ <message>
+ <source>Tracker Offline</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>%1x%2 @ %3 FPS / Inference: %4 ms</source>
+ <translation type="unfinished"></translation>
+ </message>
</context>
</TS>
diff --git a/tracker-neuralnet/lang/zh_CN.ts b/tracker-neuralnet/lang/zh_CN.ts
index d13219f0..9c936e5c 100644
--- a/tracker-neuralnet/lang/zh_CN.ts
+++ b/tracker-neuralnet/lang/zh_CN.ts
@@ -139,5 +139,13 @@ Don&apos;t roll or change position.</source>
<source>Start calibration</source>
<translation type="unfinished"></translation>
</message>
+ <message>
+ <source>Tracker Offline</source>
+ <translation type="unfinished"></translation>
+ </message>
+ <message>
+ <source>%1x%2 @ %3 FPS / Inference: %4 ms</source>
+ <translation type="unfinished"></translation>
+ </message>
</context>
</TS>
diff --git a/tracker-neuralnet/neuralnet-trackercontrols.ui b/tracker-neuralnet/neuralnet-trackercontrols.ui
index 43b316e9..750e6ef3 100644
--- a/tracker-neuralnet/neuralnet-trackercontrols.ui
+++ b/tracker-neuralnet/neuralnet-trackercontrols.ui
@@ -9,387 +9,223 @@
<rect>
<x>0</x>
<y>0</y>
- <width>647</width>
- <height>305</height>
+ <width>671</width>
+ <height>357</height>
</rect>
</property>
<property name="windowTitle">
<string>Tracker settings</string>
</property>
<layout class="QGridLayout" name="gridLayout">
- <item row="9" column="0">
- <widget class="QDialogButtonBox" name="buttonBox">
- <property name="standardButtons">
- <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+ <item row="2" column="0">
+ <widget class="QGroupBox" name="groupBox">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
</property>
- </widget>
- </item>
- <item row="3" column="0">
- <widget class="QFrame" name="frame_3">
- <property name="frameShape">
- <enum>QFrame::StyledPanel</enum>
+ <property name="autoFillBackground">
+ <bool>true</bool>
</property>
- <property name="frameShadow">
- <enum>QFrame::Raised</enum>
+ <property name="title">
+ <string>Camera Configuration</string>
+ </property>
+ <property name="flat">
+ <bool>false</bool>
+ </property>
+ <property name="checkable">
+ <bool>false</bool>
</property>
<layout class="QHBoxLayout" name="horizontalLayout">
<property name="spacing">
- <number>0</number>
- </property>
- <property name="leftMargin">
- <number>0</number>
- </property>
- <property name="topMargin">
- <number>0</number>
- </property>
- <property name="rightMargin">
- <number>0</number>
+ <number>10</number>
</property>
<property name="bottomMargin">
- <number>0</number>
+ <number>8</number>
</property>
<item>
- <widget class="QGroupBox" name="groupBox">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
+ <layout class="QGridLayout" name="gridLayout_3">
+ <property name="sizeConstraint">
+ <enum>QLayout::SetDefaultConstraint</enum>
</property>
- <property name="title">
- <string>Camera Configuration</string>
+ <property name="leftMargin">
+ <number>0</number>
</property>
- <layout class="QGridLayout" name="gridLayout_4">
- <item row="4" column="0">
- <widget class="QLabel" name="resolution_label">
- <property name="text">
- <string>Resolution</string>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QSpinBox" name="cameraFOV">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="toolTip">
- <string>Field of view. Needed to transform the pose to world coordinates.</string>
- </property>
- <property name="locale">
- <locale language="English" country="UnitedStates"/>
- </property>
- <property name="minimum">
- <number>35</number>
- </property>
- <property name="maximum">
- <number>90</number>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_12">
- <property name="text">
- <string>Frames per second</string>
- </property>
- </widget>
- </item>
- <item row="0" column="0">
- <widget class="QLabel" name="label_9">
- <property name="text">
- <string>Diagonal FOV</string>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QComboBox" name="cameraFPS">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="toolTip">
- <string>Requested video frame rate. Actual setting may not be supported by the camera.</string>
- </property>
- </widget>
- </item>
- <item row="7" column="1">
- <widget class="QPushButton" name="camera_settings">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Camera settings</string>
- </property>
- </widget>
- </item>
- <item row="4" column="1">
- <widget class="QComboBox" name="resolution">
- <property name="toolTip">
- <string>The requested resolution for cases where the camera delivers maximum frame rate only for a particular resolution. The image may still be downscaled to the internal resolution.</string>
- </property>
- </widget>
- </item>
- <item row="6" column="1">
- <widget class="QComboBox" name="cameraName">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- <item row="6" column="0">
- <widget class="QLabel" name="label_10">
- <property name="text">
- <string>Camera name</string>
- </property>
- </widget>
- </item>
- <item row="5" column="1">
- <widget class="QCheckBox" name="use_mjpeg">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- <item row="5" column="0">
- <widget class="QLabel" name="label_11">
- <property name="text">
- <string>MJPEG</string>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
+ <property name="topMargin">
+ <number>0</number>
+ </property>
+ <property name="rightMargin">
+ <number>0</number>
+ </property>
+ <property name="bottomMargin">
+ <number>0</number>
+ </property>
+ <property name="horizontalSpacing">
+ <number>0</number>
+ </property>
+ <property name="verticalSpacing">
+ <number>2</number>
+ </property>
+ <item row="0" column="1">
+ <widget class="QComboBox" name="cameraName">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_9">
+ <property name="text">
+ <string>Diagonal FOV</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_10">
+ <property name="text">
+ <string>Camera name</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QSpinBox" name="cameraFOV">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="toolTip">
+ <string>Field of view. Needed to transform the pose to world coordinates.</string>
+ </property>
+ <property name="locale">
+ <locale language="English" country="UnitedStates"/>
+ </property>
+ <property name="minimum">
+ <number>35</number>
+ </property>
+ <property name="maximum">
+ <number>90</number>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QComboBox" name="resolution">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="toolTip">
+ <string>The requested resolution for cases where the camera delivers maximum frame rate only for a particular resolution. The image may still be downscaled to the internal resolution.</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="resolution_label">
+ <property name="text">
+ <string>Resolution</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
</item>
<item>
- <widget class="QGroupBox" name="groupBox_10">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
+ <layout class="QGridLayout" name="gridLayout_6">
+ <property name="leftMargin">
+ <number>0</number>
</property>
- <property name="title">
- <string>Head Center Offset</string>
+ <property name="topMargin">
+ <number>0</number>
</property>
- <layout class="QGridLayout" name="gridLayout_5">
- <item row="0" column="0">
- <widget class="QFrame" name="frame_4">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="frameShape">
- <enum>QFrame::NoFrame</enum>
- </property>
- <property name="frameShadow">
- <enum>QFrame::Raised</enum>
- </property>
- <layout class="QGridLayout" name="gridLayout_11">
- <property name="sizeConstraint">
- <enum>QLayout::SetDefaultConstraint</enum>
- </property>
- <property name="verticalSpacing">
- <number>0</number>
- </property>
- <item row="1" column="1">
- <widget class="QSpinBox" name="ty_spin">
- <property name="maximumSize">
- <size>
- <width>150</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="suffix">
- <string> mm</string>
- </property>
- <property name="minimum">
- <number>-65535</number>
- </property>
- <property name="maximum">
- <number>65536</number>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QLabel" name="label_66">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Right</string>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QSpinBox" name="tz_spin">
- <property name="maximumSize">
- <size>
- <width>150</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="suffix">
- <string> mm</string>
- </property>
- <property name="minimum">
- <number>-65535</number>
- </property>
- <property name="maximum">
- <number>65536</number>
- </property>
- </widget>
- </item>
- <item row="0" column="0">
- <widget class="QLabel" name="label_61">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Forward</string>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QSpinBox" name="tx_spin">
- <property name="maximumSize">
- <size>
- <width>150</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="suffix">
- <string> mm</string>
- </property>
- <property name="minimum">
- <number>-65535</number>
- </property>
- <property name="maximum">
- <number>65536</number>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_62">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Up</string>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QFrame" name="frame_5">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>260</width>
- <height>0</height>
- </size>
- </property>
- <property name="frameShape">
- <enum>QFrame::NoFrame</enum>
- </property>
- <property name="frameShadow">
- <enum>QFrame::Raised</enum>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout_2">
- <item>
- <widget class="QLabel" name="label_59">
- <property name="text">
- <string>Use only yaw and pitch while calibrating.
-Don't roll or change position.</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- <property name="wordWrap">
- <bool>true</bool>
- </property>
- <property name="openExternalLinks">
- <bool>false</bool>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="sample_count_display">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string/>
- </property>
- <property name="wordWrap">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="tcalib_button">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="text">
- <string>Start calibration</string>
- </property>
- <property name="checkable">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- </item>
- </layout>
- </widget>
+ <property name="rightMargin">
+ <number>0</number>
+ </property>
+ <property name="bottomMargin">
+ <number>0</number>
+ </property>
+ <property name="horizontalSpacing">
+ <number>0</number>
+ </property>
+ <property name="verticalSpacing">
+ <number>2</number>
+ </property>
+ <item row="4" column="1">
+ <widget class="QComboBox" name="cameraFPS">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="toolTip">
+ <string>Requested video frame rate. Actual setting may not be supported by the camera.</string>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="0">
+ <widget class="QLabel" name="label_12">
+ <property name="text">
+ <string>Frames per second</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QCheckBox" name="use_mjpeg">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_11">
+ <property name="text">
+ <string>MJPEG</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QPushButton" name="camera_settings">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Camera settings</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
</item>
</layout>
</widget>
</item>
+ <item row="9" column="0">
+ <widget class="QDialogButtonBox" name="buttonBox">
+ <property name="standardButtons">
+ <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+ </property>
+ </widget>
+ </item>
<item row="5" column="0">
<widget class="QGroupBox" name="tuningOptionsBox">
<property name="sizePolicy">
@@ -404,6 +240,9 @@ Don't roll or change position.</string>
<height>0</height>
</size>
</property>
+ <property name="autoFillBackground">
+ <bool>true</bool>
+ </property>
<property name="title">
<string>Tuning / Debug</string>
</property>
@@ -554,6 +393,242 @@ Don't roll or change position.</string>
</layout>
</widget>
</item>
+ <item row="4" column="0">
+ <widget class="QGroupBox" name="groupBox_10">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="autoFillBackground">
+ <bool>true</bool>
+ </property>
+ <property name="title">
+ <string>Head Center Offset</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_5">
+ <item row="0" column="0">
+ <widget class="QFrame" name="frame_4">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::NoFrame</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_11">
+ <property name="sizeConstraint">
+ <enum>QLayout::SetDefaultConstraint</enum>
+ </property>
+ <property name="verticalSpacing">
+ <number>0</number>
+ </property>
+ <item row="1" column="1">
+ <widget class="QSpinBox" name="ty_spin">
+ <property name="maximumSize">
+ <size>
+ <width>150</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="suffix">
+ <string> mm</string>
+ </property>
+ <property name="minimum">
+ <number>-65535</number>
+ </property>
+ <property name="maximum">
+ <number>65536</number>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_66">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Right</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QSpinBox" name="tz_spin">
+ <property name="maximumSize">
+ <size>
+ <width>150</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="suffix">
+ <string> mm</string>
+ </property>
+ <property name="minimum">
+ <number>-65535</number>
+ </property>
+ <property name="maximum">
+ <number>65536</number>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_61">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Forward</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QSpinBox" name="tx_spin">
+ <property name="maximumSize">
+ <size>
+ <width>150</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="suffix">
+ <string> mm</string>
+ </property>
+ <property name="minimum">
+ <number>-65535</number>
+ </property>
+ <property name="maximum">
+ <number>65536</number>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_62">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Up</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QFrame" name="frame_5">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>260</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::NoFrame</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout_2">
+ <item>
+ <widget class="QLabel" name="label_59">
+ <property name="text">
+ <string>Use only yaw and pitch while calibrating.
+Don't roll or change position.</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ <property name="wordWrap">
+ <bool>true</bool>
+ </property>
+ <property name="openExternalLinks">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="sample_count_display">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::Panel</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Sunken</enum>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ <property name="wordWrap">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="tcalib_button">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="text">
+ <string>Start calibration</string>
+ </property>
+ <property name="checkable">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item row="8" column="0">
+ <widget class="QLabel" name="resolution_display">
+ <property name="autoFillBackground">
+ <bool>true</bool>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::Panel</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Sunken</enum>
+ </property>
+ <property name="text">
+ <string notr="true"/>
+ </property>
+ </widget>
+ </item>
</layout>
</widget>
<resources/>
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-17 04:51:44 +0000