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-rw-r--r--tracker-pt/ftnoir_tracker_pt.cpp87
-rw-r--r--tracker-pt/ftnoir_tracker_pt.h11
-rw-r--r--tracker-pt/ftnoir_tracker_pt_dialog.cpp4
-rw-r--r--tracker-pt/module/point_extractor.cpp15
-rw-r--r--tracker-pt/module/point_extractor.h1
-rw-r--r--tracker-pt/point_tracker.cpp25
-rw-r--r--tracker-pt/point_tracker.h8
7 files changed, 69 insertions, 82 deletions
diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index cee9c2a0..f52564f7 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -66,41 +66,39 @@ void Tracker_PT::run()
if (new_frame)
{
- spinlock_guard l(center_flag);
-
*preview_frame = *frame;
point_extractor->extract_points(*frame, *preview_frame, points);
point_count = points.size();
const double fx = pt_camera_info::get_focal_length(info.fov, info.res_x, info.res_y);
-
const bool success = points.size() >= PointModel::N_POINTS;
- if (success)
- {
- point_tracker.track(points,
- PointModel(s),
- info,
- s.dynamic_pose ? s.init_phase_timeout : 0);
- ever_success = true;
- }
+ Affine X_CM;
{
- Affine X_CM;
+ spinlock_guard l(center_flag);
+
+ if (success)
{
- QMutexLocker l(&data_mtx);
- X_CM = point_tracker.pose();
+ point_tracker.track(points,
+ PointModel(s),
+ info,
+ s.dynamic_pose ? s.init_phase_timeout : 0);
+ ever_success = true;
}
- // just copy pasted these lines from below
- Affine X_MH(mat33::eye(), vec3(s.t_MH_x, s.t_MH_y, s.t_MH_z));
- Affine X_GH = X_CM * X_MH;
- vec3 p = X_GH.t; // head (center?) position in global space
-
- preview_frame->draw_head_center((p[0] * fx) / p[2], (p[1] * fx) / p[2]);
+ spinlock_guard l2(data_lock);
+ X_CM = point_tracker.pose();
}
+ // just copy pasted these lines from below
+ Affine X_MH(mat33::eye(), vec3(s.t_MH_x, s.t_MH_y, s.t_MH_z));
+ Affine X_GH = X_CM * X_MH;
+ vec3 p = X_GH.t; // head (center?) position in global space
+
+ preview_frame->draw_head_center((p[0] * fx) / p[2], (p[1] * fx) / p[2]);
+
video_widget->update_image(preview_frame->get_bitmap());
{
@@ -151,32 +149,36 @@ void Tracker_PT::data(double *data)
{
if (ever_success)
{
- Affine X_CM = pose();
+ Affine X_CM;
+ {
+ spinlock_guard l(&data_lock);
+ X_CM = point_tracker.pose();
+ }
Affine X_MH(mat33::eye(), vec3(s.t_MH_x, s.t_MH_y, s.t_MH_z));
- Affine X_GH = X_CM * X_MH;
+ Affine X_GH(X_CM * X_MH);
// translate rotation matrix from opengl (G) to roll-pitch-yaw (E) frame
// -z -> x, y -> z, x -> -y
mat33 R_EG(0, 0,-1,
-1, 0, 0,
0, 1, 0);
- mat33 R = R_EG * X_GH.R * R_EG.t();
+ mat33 R(R_EG * X_GH.R * R_EG.t());
// get translation(s)
const vec3& t = X_GH.t;
// extract rotation angles
- {
- f alpha, beta, gamma;
- beta = atan2( -R(2,0), sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) );
- alpha = atan2( R(1,0), R(0,0));
- gamma = atan2( R(2,1), R(2,2));
-
- data[Yaw] = rad2deg * alpha;
- data[Pitch] = -rad2deg * beta;
- data[Roll] = rad2deg * gamma;
- }
+ f alpha, beta, gamma;
+ beta = atan2( -R(2,0), sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) );
+ alpha = atan2( R(1,0), R(0,0) );
+ gamma = atan2( R(2,1), R(2,2) );
+
+ constexpr f rad2deg = f(180/M_PI);
+
+ data[Yaw] = rad2deg * alpha;
+ data[Pitch] = -rad2deg * beta;
+ data[Roll] = rad2deg * gamma;
// convert to cm
data[TX] = t[0] / 10;
@@ -193,25 +195,24 @@ bool Tracker_PT::center()
return false;
}
-Affine Tracker_PT::pose()
-{
- QMutexLocker l(&data_mtx);
-
- return point_tracker.pose();
-}
-
int Tracker_PT::get_n_points()
{
return int(point_count);
}
-bool Tracker_PT::get_cam_info(pt_camera_info* info)
+bool Tracker_PT::get_cam_info(pt_camera_info& info)
{
- QMutexLocker lock(&camera_mtx);
+ QMutexLocker l(&camera_mtx);
bool ret;
- std::tie(ret, *info) = camera->get_info();
+ std::tie(ret, info) = camera->get_info();
return ret;
}
+Affine Tracker_PT::pose() const
+{
+ spinlock_guard l(data_lock);
+ return point_tracker.pose();
+}
+
} // ns pt_module
diff --git a/tracker-pt/ftnoir_tracker_pt.h b/tracker-pt/ftnoir_tracker_pt.h
index 8cf609c3..20cfaa8b 100644
--- a/tracker-pt/ftnoir_tracker_pt.h
+++ b/tracker-pt/ftnoir_tracker_pt.h
@@ -45,9 +45,9 @@ public:
void data(double* data) override;
bool center() override;
- Affine pose();
int get_n_points();
- bool get_cam_info(pt_camera_info* info);
+ [[nodiscard]] bool get_cam_info(pt_camera_info& info);
+ Affine pose() const;
public slots:
bool maybe_reopen_camera();
void set_fov(int value);
@@ -57,7 +57,6 @@ private:
pointer<pt_runtime_traits> traits;
QMutex camera_mtx;
- QMutex data_mtx;
PointTracker point_tracker;
@@ -76,10 +75,8 @@ private:
std::atomic<unsigned> point_count { 0 };
std::atomic<bool> ever_success { false };
- std::atomic_flag center_flag = ATOMIC_FLAG_INIT;
-
- static constexpr inline f rad2deg = f(180/M_PI);
- //static constexpr float deg2rad = float(M_PI/180);
+ mutable std::atomic_flag center_flag = ATOMIC_FLAG_INIT;
+ mutable std::atomic_flag data_lock = ATOMIC_FLAG_INIT;
};
} // ns pt_impl
diff --git a/tracker-pt/ftnoir_tracker_pt_dialog.cpp b/tracker-pt/ftnoir_tracker_pt_dialog.cpp
index d900b78d..87f4069f 100644
--- a/tracker-pt/ftnoir_tracker_pt_dialog.cpp
+++ b/tracker-pt/ftnoir_tracker_pt_dialog.cpp
@@ -128,7 +128,7 @@ QString TrackerDialog_PT::threshold_display_text(int threshold_value)
h = 480;
}
- if (tracker && tracker->get_cam_info(&info) && info.res_x * info.res_y != 0)
+ if (tracker && tracker->get_cam_info(info) && info.res_x * info.res_y != 0)
{
w = info.res_x;
h = info.res_y;
@@ -199,7 +199,7 @@ void TrackerDialog_PT::startstop_trans_calib(bool start)
void TrackerDialog_PT::poll_tracker_info_impl()
{
pt_camera_info info;
- if (tracker && tracker->get_cam_info(&info))
+ if (tracker && tracker->get_cam_info(info))
{
ui.caminfo_label->setText(tr("%1x%2 @ %3 FPS").arg(info.res_x).arg(info.res_y).arg(iround(info.fps)));
diff --git a/tracker-pt/module/point_extractor.cpp b/tracker-pt/module/point_extractor.cpp
index 80d9dfc2..e6364a88 100644
--- a/tracker-pt/module/point_extractor.cpp
+++ b/tracker-pt/module/point_extractor.cpp
@@ -120,13 +120,6 @@ void PointExtractor::extract_single_channel(const cv::Mat& orig_frame, int idx,
cv::mixChannels(&orig_frame, 1, &dest, 1, from_to, 1);
}
-void PointExtractor::extract_channels(const cv::Mat& orig_frame, const int* order, int order_npairs)
-{
- ensure_channel_buffers(orig_frame);
-
- cv::mixChannels(&orig_frame, 1, (cv::Mat*) ch, order_npairs, order, order_npairs);
-}
-
void PointExtractor::color_to_grayscale(const cv::Mat& frame, cv::Mat1b& output)
{
switch (s.blob_color)
@@ -148,10 +141,10 @@ void PointExtractor::color_to_grayscale(const cv::Mat& frame, cv::Mat1b& output)
}
case pt_color_average:
{
- const int W = frame.cols, H = frame.rows;
- const cv::Mat tmp = frame.reshape(1, W * H);
- cv::Mat output_ = output.reshape(1, W * H);
- cv::reduce(tmp, output_, 1, cv::REDUCE_AVG);
+ const int W = frame.cols, H = frame.rows, sz = W*H;
+ cv::reduce(frame.reshape(1, sz),
+ output.reshape(1, sz),
+ 1, cv::REDUCE_AVG);
break;
}
default:
diff --git a/tracker-pt/module/point_extractor.h b/tracker-pt/module/point_extractor.h
index 2288f1a1..7dd82234 100644
--- a/tracker-pt/module/point_extractor.h
+++ b/tracker-pt/module/point_extractor.h
@@ -49,7 +49,6 @@ private:
void ensure_buffers(const cv::Mat& frame);
void extract_single_channel(const cv::Mat& orig_frame, int idx, cv::Mat& dest);
- void extract_channels(const cv::Mat& orig_frame, const int* order, int order_npairs);
void color_to_grayscale(const cv::Mat& frame, cv::Mat1b& output);
void threshold_image(const cv::Mat& frame_gray, cv::Mat1b& output);
diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp
index e295a4c9..636a253d 100644
--- a/tracker-pt/point_tracker.cpp
+++ b/tracker-pt/point_tracker.cpp
@@ -96,12 +96,12 @@ PointTracker::PointOrder PointTracker::find_correspondences_previous(const vec2*
p[2] = project(model.M02, fx);
const int diagonal = int(std::sqrt(f(info.res_x*info.res_x + info.res_y*info.res_y)));
- constexpr int div = 100;
- const int max_dist = diagonal / div; // 8 pixels for 640x480
+ constexpr int div = 80;
+ const int max_dist = diagonal / div; // 10 pixels for 640x480
// set correspondences by minimum distance to projected model point
bool point_taken[PointModel::N_POINTS];
- for (unsigned i=0; i<PointModel::N_POINTS; ++i)
+ for (unsigned i=0; i<PointModel::N_POINTS; ++i) // NOLINT(modernize-loop-convert)
point_taken[i] = false;
for (unsigned i=0; i<PointModel::N_POINTS; ++i)
@@ -113,17 +113,15 @@ PointTracker::PointOrder PointTracker::find_correspondences_previous(const vec2*
{
vec2 d = p[i]-points[j];
f sdist = d.dot(d);
- if (sdist < min_sdist || j==0)
+ if (sdist < min_sdist || j == 0)
{
min_idx = j;
min_sdist = sdist;
}
}
- if (min_sdist > max_dist)
- return find_correspondences(points, model);
// if one point is closest to more than one model point, fallback
- if (point_taken[min_idx])
+ if (min_sdist > max_dist || point_taken[min_idx])
{
init_phase = true;
return find_correspondences(points, model);
@@ -135,7 +133,7 @@ PointTracker::PointOrder PointTracker::find_correspondences_previous(const vec2*
return p;
}
-bool PointTracker::maybe_use_old_point_order(const PointOrder& order, const pt_camera_info& info)
+bool PointTracker::maybe_use_old_pose(const PointOrder& order, const pt_camera_info& info)
{
constexpr f std_width = 640, std_height = 480;
@@ -226,15 +224,14 @@ void PointTracker::track(const std::vector<vec2>& points,
PointTracker::PointOrder PointTracker::find_correspondences(const vec2* points, const PointModel& model)
{
- static const Affine a(mat33::eye(), vec3(0, 0, 1));
// We do a simple freetrack-like sorting in the init phase...
unsigned point_d_order[PointModel::N_POINTS];
unsigned model_d_order[PointModel::N_POINTS];
- // sort points
+ // calculate d and d_order for simple freetrack-like point correspondence
vec2 d(model.M01[0]-model.M02[0], model.M01[1]-model.M02[1]);
+ // sort points
model.get_d_order(points, point_d_order, d);
- // calculate d and d_order for simple freetrack-like point correspondence
- vec2 pts[3] = {
+ vec2 pts[PointModel::N_POINTS] {
vec2(0, 0),
vec2(model.M01[0], model.M01[1]),
vec2(model.M02[0], model.M02[1])
@@ -358,7 +355,7 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order, f foca
// check for convergence condition
const f delta = fabs(epsilon_1 - old_epsilon_1) + fabs(epsilon_2 - old_epsilon_2);
- if (!(delta > constants::eps))
+ if (delta < constants::eps)
break;
old_epsilon_1 = epsilon_1;
@@ -383,7 +380,7 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order, f foca
}
}
- for (unsigned i = 0; i < 3; i++)
+ for (unsigned i = 0; i < 3; i++) // NOLINT(modernize-loop-convert)
{
int ret = std::fpclassify(t[i]);
if (ret == FP_NAN || ret == FP_INFINITE)
diff --git a/tracker-pt/point_tracker.h b/tracker-pt/point_tracker.h
index 095b79d2..63d81456 100644
--- a/tracker-pt/point_tracker.h
+++ b/tracker-pt/point_tracker.h
@@ -61,7 +61,7 @@ public:
// f : (focal length)/(sensor width)
// dt : time since last call
void track(const std::vector<vec2>& projected_points, const PointModel& model, const pt_camera_info& info, int init_phase_timeout);
- Affine pose() { return X_CM; }
+ Affine pose() const { return X_CM; }
vec2 project(const vec3& v_M, f focal_length);
vec2 project(const vec3& v_M, f focal_length, const Affine& X_CM);
void reset_state();
@@ -70,7 +70,7 @@ private:
// the points in model order
using PointOrder = std::array<vec2, 3>;
- bool maybe_use_old_point_order(const PointOrder& order, const pt_camera_info& info);
+ bool maybe_use_old_pose(const PointOrder& order, const pt_camera_info& info);
PointOrder find_correspondences(const vec2* projected_points, const PointModel &model);
PointOrder find_correspondences_previous(const vec2* points, const PointModel &model, const pt_camera_info& info);
@@ -78,9 +78,9 @@ private:
int POSIT(const PointModel& point_model, const PointOrder& order, f focal_length);
Affine X_CM; // transform from model to camera
- PointOrder prev_order, prev_scaled_order;
+ PointOrder prev_positions;
Timer t;
- bool init_phase = true, prev_order_valid = false;
+ bool init_phase = true, prev_positions_valid = false;
};
} // ns pt_module
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-19 20:47:06 +0000