diff options
Diffstat (limited to 'tracker-pt')
| -rw-r--r-- | tracker-pt/CMakeLists.txt | 2 | ||||
| -rw-r--r-- | tracker-pt/FTNoIR_PT_Controls.ui | 1220 | ||||
| -rw-r--r-- | tracker-pt/ftnoir_tracker_pt.cpp | 68 | ||||
| -rw-r--r-- | tracker-pt/ftnoir_tracker_pt.qrc | 9 | ||||
| -rw-r--r-- | tracker-pt/ftnoir_tracker_pt_dialog.cpp | 182 | ||||
| -rw-r--r-- | tracker-pt/ftnoir_tracker_pt_dialog.h | 51 | ||||
| -rw-r--r-- | tracker-pt/ftnoir_tracker_pt_settings.h | 40 | ||||
| -rw-r--r-- | tracker-pt/point_tracker.h | 32 | ||||
| -rw-r--r-- | tracker-pt/trans_calib.cpp | 41 | ||||
| -rw-r--r-- | tracker-pt/trans_calib.h | 39 |
10 files changed, 84 insertions, 1600 deletions
diff --git a/tracker-pt/CMakeLists.txt b/tracker-pt/CMakeLists.txt index 94b04437..49943917 100644 --- a/tracker-pt/CMakeLists.txt +++ b/tracker-pt/CMakeLists.txt @@ -1,5 +1,5 @@ find_package(OpenCV 3.0) -opentrack_boilerplate(opentrack-tracker-pt) +opentrack_boilerplate(opentrack-tracker-pt STATIC) target_link_libraries(opentrack-tracker-pt ${OpenCV_LIBS}) target_include_directories(opentrack-tracker-pt SYSTEM PUBLIC ${OpenCV_INCLUDE_DIRS}) link_with_dinput8(opentrack-tracker-pt) diff --git a/tracker-pt/FTNoIR_PT_Controls.ui b/tracker-pt/FTNoIR_PT_Controls.ui deleted file mode 100644 index 88575644..00000000 --- a/tracker-pt/FTNoIR_PT_Controls.ui +++ /dev/null @@ -1,1220 +0,0 @@ -<?xml version="1.0" encoding="UTF-8"?> -<ui version="4.0"> - <class>UICPTClientControls</class> - <widget class="QWidget" name="UICPTClientControls"> - <property name="windowModality"> - <enum>Qt::NonModal</enum> - </property> - <property name="geometry"> - <rect> - <x>0</x> - <y>0</y> - <width>424</width> - <height>579</height> - </rect> - </property> - <property name="sizePolicy"> - <sizepolicy hsizetype="Preferred" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="windowTitle"> - <string>PointTracker Settings</string> - </property> - <property name="windowIcon"> - <iconset resource="ftnoir_tracker_pt.qrc"> - <normaloff>:/Resources/Logo_IR.png</normaloff>:/Resources/Logo_IR.png</iconset> - </property> - <property name="layoutDirection"> - <enum>Qt::LeftToRight</enum> - </property> - <property name="autoFillBackground"> - <bool>false</bool> - </property> - <layout class="QGridLayout" name="gridLayout_9"> - <property name="sizeConstraint"> - <enum>QLayout::SetFixedSize</enum> - </property> - <item row="0" column="0"> - <widget class="QTabWidget" name="tabWidget"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="minimumSize"> - <size> - <width>0</width> - <height>0</height> - </size> - </property> - <property name="locale"> - <locale language="English" country="UnitedStates"/> - </property> - <property name="currentIndex"> - <number>0</number> - </property> - <widget class="QWidget" name="tab_2"> - <attribute name="title"> - <string>Camera</string> - </attribute> - <layout class="QVBoxLayout" name="verticalLayout"> - <item> - <widget class="QGroupBox" name="groupBox"> - <property name="title"> - <string>Camera settings</string> - </property> - <layout class="QGridLayout" name="gridLayout_2"> - <item row="3" column="0"> - <widget class="QLabel" name="label_37"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Expanding" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>FPS</string> - </property> - <property name="buddy"> - <cstring>fps_spin</cstring> - </property> - </widget> - </item> - <item row="2" column="1"> - <widget class="QSpinBox" name="res_y_spin"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Preferred" vsizetype="Fixed"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="toolTip"> - <string>Desired capture height</string> - </property> - <property name="suffix"> - <string> px</string> - </property> - <property name="maximum"> - <number>2000</number> - </property> - <property name="singleStep"> - <number>10</number> - </property> - </widget> - </item> - <item row="4" column="0"> - <widget class="QLabel" name="label_4"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Expanding" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>Diagonal field of view</string> - </property> - </widget> - </item> - <item row="1" column="0"> - <widget class="QLabel" name="label_36"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Expanding" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>Width</string> - </property> - </widget> - </item> - <item row="4" column="1"> - <widget class="QSpinBox" name="fov"> - <property name="suffix"> - <string>°</string> - </property> - <property name="prefix"> - <string/> - </property> - <property name="minimum"> - <number>10</number> - </property> - <property name="maximum"> - <number>90</number> - </property> - </widget> - </item> - <item row="5" column="1"> - <widget class="QCheckBox" name="dynamic_pose"> - <property name="text"> - <string/> - </property> - </widget> - </item> - <item row="5" column="0"> - <widget class="QLabel" name="label_5"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Expanding" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>Dynamic pose resolution</string> - </property> - </widget> - </item> - <item row="6" column="0"> - <widget class="QLabel" name="label_6"> - <property name="text"> - <string>Dynamic pose timeout</string> - </property> - </widget> - </item> - <item row="3" column="1"> - <widget class="QSpinBox" name="fps_spin"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Preferred" vsizetype="Fixed"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="toolTip"> - <string>Desired capture framerate</string> - </property> - <property name="suffix"> - <string> Hz</string> - </property> - <property name="maximum"> - <number>2000</number> - </property> - </widget> - </item> - <item row="6" column="1"> - <widget class="QSpinBox" name="init_phase_timeout"> - <property name="suffix"> - <string> ms</string> - </property> - <property name="minimum"> - <number>1</number> - </property> - <property name="maximum"> - <number>10000</number> - </property> - </widget> - </item> - <item row="2" column="0"> - <widget class="QLabel" name="label_41"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Expanding" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>Height</string> - </property> - </widget> - </item> - <item row="1" column="1"> - <widget class="QSpinBox" name="res_x_spin"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Preferred" vsizetype="Fixed"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="toolTip"> - <string>Desired capture width</string> - </property> - <property name="suffix"> - <string> px</string> - </property> - <property name="maximum"> - <number>2000</number> - </property> - <property name="singleStep"> - <number>10</number> - </property> - </widget> - </item> - <item row="0" column="1"> - <widget class="QComboBox" name="camdevice_combo"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Preferred" vsizetype="Fixed"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="minimumContentsLength"> - <number>10</number> - </property> - </widget> - </item> - <item row="0" column="0"> - <widget class="QLabel" name="label_2"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Expanding" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>Device</string> - </property> - <property name="buddy"> - <cstring>camdevice_combo</cstring> - </property> - </widget> - </item> - <item row="7" column="0"> - <widget class="QLabel" name="label_9"> - <property name="text"> - <string>Camera settings dialog</string> - </property> - </widget> - </item> - <item row="7" column="1"> - <widget class="QPushButton" name="camera_settings"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Minimum" vsizetype="Maximum"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>Open</string> - </property> - </widget> - </item> - </layout> - </widget> - </item> - <item> - <widget class="QGroupBox" name="groupBox_2"> - <property name="title"> - <string>Point extraction</string> - </property> - <layout class="QGridLayout" name="gridLayout_7"> - <item row="3" column="0"> - <widget class="QLabel" name="label_8"> - <property name="text"> - <string>Max size</string> - </property> - <property name="buddy"> - <cstring>maxdiam_spin</cstring> - </property> - </widget> - </item> - <item row="1" column="0"> - <widget class="QLabel" name="label"> - <property name="text"> - <string>Threshold</string> - </property> - <property name="buddy"> - <cstring>threshold_slider</cstring> - </property> - </widget> - </item> - <item row="2" column="0"> - <widget class="QLabel" name="label_7"> - <property name="text"> - <string>Min size</string> - </property> - <property name="buddy"> - <cstring>mindiam_spin</cstring> - </property> - </widget> - </item> - <item row="1" column="1" colspan="2"> - <widget class="QSlider" name="threshold_slider"> - <property name="toolTip"> - <string>Intensity threshold for point extraction</string> - </property> - <property name="maximum"> - <number>255</number> - </property> - <property name="pageStep"> - <number>1</number> - </property> - <property name="value"> - <number>127</number> - </property> - <property name="orientation"> - <enum>Qt::Horizontal</enum> - </property> - <property name="tickPosition"> - <enum>QSlider::TicksBothSides</enum> - </property> - <property name="tickInterval"> - <number>25</number> - </property> - </widget> - </item> - <item row="0" column="0"> - <widget class="QLabel" name="label_11"> - <property name="text"> - <string>Automatic threshold</string> - </property> - </widget> - </item> - <item row="0" column="1"> - <widget class="QCheckBox" name="auto_threshold"> - <property name="text"> - <string>Enable, slider sets point size</string> - </property> - </widget> - </item> - <item row="3" column="1"> - <widget class="QDoubleSpinBox" name="maxdiam_spin"> - <property name="toolTip"> - <string>Maximum point diameter</string> - </property> - <property name="suffix"> - <string> px</string> - </property> - <property name="decimals"> - <number>1</number> - </property> - <property name="singleStep"> - <double>0.100000000000000</double> - </property> - </widget> - </item> - <item row="2" column="1"> - <widget class="QDoubleSpinBox" name="mindiam_spin"> - <property name="toolTip"> - <string>Minimum point diameter</string> - </property> - <property name="suffix"> - <string> px</string> - </property> - <property name="decimals"> - <number>1</number> - </property> - <property name="singleStep"> - <double>0.100000000000000</double> - </property> - </widget> - </item> - </layout> - </widget> - </item> - </layout> - </widget> - <widget class="QWidget" name="tab_4"> - <attribute name="title"> - <string>Model</string> - </attribute> - <layout class="QGridLayout" name="gridLayout_3"> - <item row="0" column="0"> - <widget class="QTabWidget" name="model_tabs"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Preferred" vsizetype="Minimum"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="tabShape"> - <enum>QTabWidget::Rounded</enum> - </property> - <property name="currentIndex"> - <number>0</number> - </property> - <property name="usesScrollButtons"> - <bool>false</bool> - </property> - <property name="documentMode"> - <bool>false</bool> - </property> - <property name="tabsClosable"> - <bool>false</bool> - </property> - <widget class="QWidget" name="tab_5"> - <attribute name="title"> - <string>Clip</string> - </attribute> - <layout class="QGridLayout" name="gridLayout_6"> - <item row="0" column="0"> - <widget class="QGroupBox" name="groupBox_8"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Preferred" vsizetype="Minimum"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="minimumSize"> - <size> - <width>331</width> - <height>208</height> - </size> - </property> - <property name="title"> - <string>Model Dimensions</string> - </property> - <widget class="QSpinBox" name="clip_tlength_spin"> - <property name="geometry"> - <rect> - <x>70</x> - <y>35</y> - <width>100</width> - <height>22</height> - </rect> - </property> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65535</number> - </property> - </widget> - <widget class="QSpinBox" name="clip_bheight_spin"> - <property name="geometry"> - <rect> - <x>150</x> - <y>130</y> - <width>100</width> - <height>22</height> - </rect> - </property> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65535</number> - </property> - </widget> - <widget class="QLabel" name="label_44"> - <property name="geometry"> - <rect> - <x>65</x> - <y>55</y> - <width>71</width> - <height>111</height> - </rect> - </property> - <property name="text"> - <string/> - </property> - <property name="pixmap"> - <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/clip_side.png</pixmap> - </property> - </widget> - <widget class="QLabel" name="label_50"> - <property name="geometry"> - <rect> - <x>20</x> - <y>40</y> - <width>46</width> - <height>13</height> - </rect> - </property> - <property name="text"> - <string>Side</string> - </property> - </widget> - <widget class="QSpinBox" name="clip_blength_spin"> - <property name="geometry"> - <rect> - <x>50</x> - <y>160</y> - <width>100</width> - <height>22</height> - </rect> - </property> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65535</number> - </property> - </widget> - <widget class="QSpinBox" name="clip_theight_spin"> - <property name="geometry"> - <rect> - <x>150</x> - <y>70</y> - <width>100</width> - <height>22</height> - </rect> - </property> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65535</number> - </property> - </widget> - <widget class="QLabel" name="label_51"> - <property name="geometry"> - <rect> - <x>290</x> - <y>40</y> - <width>46</width> - <height>13</height> - </rect> - </property> - <property name="text"> - <string>Front</string> - </property> - </widget> - <widget class="QLabel" name="label_45"> - <property name="geometry"> - <rect> - <x>300</x> - <y>70</y> - <width>21</width> - <height>111</height> - </rect> - </property> - <property name="text"> - <string/> - </property> - <property name="pixmap"> - <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/clip_front.png</pixmap> - </property> - </widget> - </widget> - </item> - </layout> - </widget> - <widget class="QWidget" name="tab_6"> - <attribute name="title"> - <string>Cap</string> - </attribute> - <layout class="QVBoxLayout" name="verticalLayout_14"> - <item> - <widget class="QGroupBox" name="groupBox_9"> - <property name="minimumSize"> - <size> - <width>331</width> - <height>208</height> - </size> - </property> - <property name="title"> - <string>Model Dimensions</string> - </property> - <widget class="QLabel" name="label_46"> - <property name="geometry"> - <rect> - <x>100</x> - <y>60</y> - <width>111</width> - <height>81</height> - </rect> - </property> - <property name="text"> - <string/> - </property> - <property name="pixmap"> - <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/cap_side.png</pixmap> - </property> - </widget> - <widget class="QLabel" name="label_48"> - <property name="geometry"> - <rect> - <x>20</x> - <y>40</y> - <width>46</width> - <height>13</height> - </rect> - </property> - <property name="text"> - <string>Side</string> - </property> - </widget> - <widget class="QSpinBox" name="cap_length_spin"> - <property name="geometry"> - <rect> - <x>90</x> - <y>40</y> - <width>101</width> - <height>22</height> - </rect> - </property> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65535</number> - </property> - </widget> - <widget class="QLabel" name="label_47"> - <property name="geometry"> - <rect> - <x>220</x> - <y>100</y> - <width>81</width> - <height>81</height> - </rect> - </property> - <property name="text"> - <string/> - </property> - <property name="pixmap"> - <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/cap_front.png</pixmap> - </property> - </widget> - <widget class="QSpinBox" name="cap_width_spin"> - <property name="geometry"> - <rect> - <x>240</x> - <y>70</y> - <width>81</width> - <height>22</height> - </rect> - </property> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65535</number> - </property> - </widget> - <widget class="QLabel" name="label_49"> - <property name="geometry"> - <rect> - <x>240</x> - <y>40</y> - <width>46</width> - <height>13</height> - </rect> - </property> - <property name="text"> - <string>Front</string> - </property> - </widget> - <widget class="QSpinBox" name="cap_height_spin"> - <property name="geometry"> - <rect> - <x>20</x> - <y>90</y> - <width>81</width> - <height>22</height> - </rect> - </property> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65535</number> - </property> - </widget> - </widget> - </item> - </layout> - </widget> - <widget class="QWidget" name="tab_7"> - <attribute name="title"> - <string>Custom</string> - </attribute> - <layout class="QGridLayout" name="gridLayout"> - <item row="0" column="0"> - <widget class="QGroupBox" name="groupBox_7"> - <property name="title"> - <string>Model Dimensions</string> - </property> - <layout class="QGridLayout" name="gridLayout_5"> - <item row="3" column="1"> - <widget class="QLabel" name="label_57"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Maximum" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>z:</string> - </property> - </widget> - </item> - <item row="2" column="5"> - <widget class="QSpinBox" name="m2y_spin"> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65535</number> - </property> - </widget> - </item> - <item row="1" column="1"> - <widget class="QLabel" name="label_63"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Maximum" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>x:</string> - </property> - </widget> - </item> - <item row="1" column="2"> - <widget class="QSpinBox" name="m1x_spin"> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65535</number> - </property> - </widget> - </item> - <item row="2" column="2"> - <widget class="QSpinBox" name="m1y_spin"> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65535</number> - </property> - </widget> - </item> - <item row="3" column="5"> - <widget class="QSpinBox" name="m2z_spin"> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65535</number> - </property> - </widget> - </item> - <item row="1" column="5"> - <widget class="QSpinBox" name="m2x_spin"> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65535</number> - </property> - </widget> - </item> - <item row="0" column="0" colspan="6"> - <widget class="QLabel" name="label_56"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Preferred" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string><html><head/><body><p>Location of the two remaining model points<br/>with respect to the reference point in default pose</p><p>Use any units you want, not necessarily centimeters.</p></body></html></string> - </property> - </widget> - </item> - <item row="3" column="2"> - <widget class="QSpinBox" name="m1z_spin"> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65535</number> - </property> - </widget> - </item> - <item row="2" column="4"> - <widget class="QLabel" name="label_70"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Maximum" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>y:</string> - </property> - </widget> - </item> - <item row="1" column="4"> - <widget class="QLabel" name="label_67"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Maximum" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>x:</string> - </property> - </widget> - </item> - <item row="1" column="3"> - <widget class="QLabel" name="label_64"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Maximum" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string><html><head/><body><p><span style=" font-size:16pt;">P</span><span style=" font-size:16pt; vertical-align:sub;">3</span></p></body></html></string> - </property> - </widget> - </item> - <item row="1" column="0"> - <widget class="QLabel" name="label_60"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Maximum" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string><html><head/><body><p><span style=" font-size:16pt;">P</span><span style=" font-size:16pt; vertical-align:sub;">2</span></p></body></html></string> - </property> - </widget> - </item> - <item row="3" column="4"> - <widget class="QLabel" name="label_69"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Maximum" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>z:</string> - </property> - </widget> - </item> - <item row="2" column="1"> - <widget class="QLabel" name="label_58"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Maximum" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="text"> - <string>y:</string> - </property> - </widget> - </item> - </layout> - </widget> - </item> - </layout> - </widget> - </widget> - </item> - <item row="1" column="0"> - <widget class="QGroupBox" name="groupBox_10"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Preferred" vsizetype="Maximum"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="title"> - <string>Model position</string> - </property> - <layout class="QGridLayout" name="gridLayout_4"> - <item row="0" column="0"> - <widget class="QFrame" name="frame_2"> - <property name="frameShape"> - <enum>QFrame::NoFrame</enum> - </property> - <property name="frameShadow"> - <enum>QFrame::Raised</enum> - </property> - <layout class="QGridLayout" name="gridLayout_11"> - <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>x:</string> - </property> - </widget> - </item> - <item row="0" column="1"> - <widget class="QSpinBox" name="tx_spin"> - <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>y:</string> - </property> - </widget> - </item> - <item row="1" column="1"> - <widget class="QSpinBox" name="ty_spin"> - <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>z:</string> - </property> - </widget> - </item> - <item row="2" column="1"> - <widget class="QSpinBox" name="tz_spin"> - <property name="suffix"> - <string> mm</string> - </property> - <property name="minimum"> - <number>-65535</number> - </property> - <property name="maximum"> - <number>65536</number> - </property> - </widget> - </item> - </layout> - </widget> - </item> - <item row="0" column="1"> - <widget class="QFrame" name="frame"> - <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><html><head/><body><p><a href="https://github.com/opentrack/opentrack/wiki/model-calibration-for-PT-and-Aruco-trackers"><span style=" text-decoration: underline; color:#0000ff;">Instructions on the opentrack wiki</span></a></p></body></html></string> - </property> - <property name="openExternalLinks"> - <bool>true</bool> - </property> - </widget> - </item> - <item> - <widget class="QPushButton" name="tcalib_button"> - <property name="enabled"> - <bool>false</bool> - </property> - <property name="text"> - <string>Toggle calibration</string> - </property> - <property name="checkable"> - <bool>true</bool> - </property> - </widget> - </item> - </layout> - </widget> - </item> - </layout> - </widget> - </item> - </layout> - </widget> - <widget class="QWidget" name="tab_3"> - <attribute name="title"> - <string>About</string> - </attribute> - <layout class="QGridLayout" name="gridLayout_8"> - <item row="0" column="0"> - <widget class="QLabel" name="label_10"> - <property name="text"> - <string><html><head/><body><p><span style=" font-weight:600;">FTNoIR PointTracker Plugin<br/>Version 1.1</span></p><p><span style=" font-weight:600;">by Patrick Ruoff</span></p><p><a href="http://ftnoirpt.sourceforge.net/"><span style=" font-weight:600; text-decoration: underline; color:#0000ff;">Manual (external)</span></a></p></body></html></string> - </property> - <property name="alignment"> - <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set> - </property> - <property name="openExternalLinks"> - <bool>true</bool> - </property> - </widget> - </item> - <item row="0" column="1"> - <widget class="QLabel" name="label_35"> - <property name="text"> - <string/> - </property> - <property name="pixmap"> - <pixmap resource="ftnoir_tracker_pt.qrc">:/Resources/Logo_IR.png</pixmap> - </property> - <property name="alignment"> - <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set> - </property> - </widget> - </item> - </layout> - </widget> - </widget> - </item> - <item row="1" column="0"> - <widget class="QGroupBox" name="groupBox_5"> - <property name="title"> - <string>Status</string> - </property> - <layout class="QGridLayout" name="gridLayout_10"> - <item row="1" column="0"> - <widget class="QLabel" name="label_3"> - <property name="text"> - <string>Extracted Points:</string> - </property> - </widget> - </item> - <item row="2" column="1"> - <widget class="QDialogButtonBox" name="buttonBox"> - <property name="standardButtons"> - <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set> - </property> - </widget> - </item> - <item row="0" column="0"> - <widget class="QLabel" name="label_38"> - <property name="text"> - <string>Camera Info:</string> - </property> - </widget> - </item> - <item row="1" column="1"> - <widget class="QLabel" name="pointinfo_label"> - <property name="minimumSize"> - <size> - <width>50</width> - <height>0</height> - </size> - </property> - <property name="text"> - <string/> - </property> - </widget> - </item> - <item row="0" column="1"> - <widget class="QLabel" name="caminfo_label"> - <property name="sizePolicy"> - <sizepolicy hsizetype="Preferred" vsizetype="Preferred"> - <horstretch>0</horstretch> - <verstretch>0</verstretch> - </sizepolicy> - </property> - <property name="minimumSize"> - <size> - <width>120</width> - <height>0</height> - </size> - </property> - <property name="text"> - <string/> - </property> - </widget> - </item> - </layout> - </widget> - </item> - </layout> - </widget> - <tabstops> - <tabstop>tabWidget</tabstop> - <tabstop>camdevice_combo</tabstop> - <tabstop>res_x_spin</tabstop> - <tabstop>res_y_spin</tabstop> - <tabstop>fps_spin</tabstop> - <tabstop>fov</tabstop> - <tabstop>threshold_slider</tabstop> - <tabstop>model_tabs</tabstop> - <tabstop>clip_tlength_spin</tabstop> - <tabstop>clip_theight_spin</tabstop> - <tabstop>clip_bheight_spin</tabstop> - <tabstop>clip_blength_spin</tabstop> - <tabstop>cap_length_spin</tabstop> - <tabstop>cap_width_spin</tabstop> - <tabstop>cap_height_spin</tabstop> - <tabstop>m1x_spin</tabstop> - <tabstop>m1y_spin</tabstop> - <tabstop>m1z_spin</tabstop> - <tabstop>m2x_spin</tabstop> - <tabstop>m2y_spin</tabstop> - <tabstop>m2z_spin</tabstop> - <tabstop>tx_spin</tabstop> - <tabstop>ty_spin</tabstop> - <tabstop>tz_spin</tabstop> - </tabstops> - <resources> - <include location="ftnoir_tracker_pt.qrc"/> - </resources> - <connections/> - <slots> - <slot>startEngineClicked()</slot> - <slot>stopEngineClicked()</slot> - <slot>cameraSettingsClicked()</slot> - </slots> -</ui> diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp index 15a60962..956f639e 100644 --- a/tracker-pt/ftnoir_tracker_pt.cpp +++ b/tracker-pt/ftnoir_tracker_pt.cpp @@ -51,15 +51,27 @@ void Tracker_PT::reset_command(Command command) bool Tracker_PT::get_focal_length(float& ret) { + static constexpr float pi = 3.1415926; + float fov_; + switch (s.fov) + { + default: + case 0: + fov_ = 56; + break; + case 1: + fov_ = 75; + break; + } + + const double diag_fov = static_cast<int>(fov_) * pi / 180.f; QMutexLocker l(&camera_mtx); CamInfo info; const bool res = camera.get_info(info); if (res) { - static constexpr double pi = 3.14159265359; const int w = info.res_x, h = info.res_y; const double diag = sqrt(1. + h/(double)w * h/(double)w); - const double diag_fov = static_cast<int>(s.fov) * pi / 180.; const double fov = 2.*atan(tan(diag_fov/2.0)/diag); ret = .5 / tan(.5 * fov); return true; @@ -116,6 +128,20 @@ void Tracker_PT::run() { Affine X_MH(cv::Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z)); // just copy pasted these lines from below + if (X_MH.t[0] == 0 && X_MH.t[1] == 0 && X_MH.t[2] == 0) + { + int m = s.model_used; + switch (m) + { + default: + // cap + case 0: X_MH.t[0] = 0; X_MH.t[1] = 0; X_MH.t[2] = 0; break; + // clip + case 1: X_MH.t[0] = 135; X_MH.t[1] = 0; X_MH.t[2] = 0; break; + // left clip + case 2: X_MH.t[0] = -135; X_MH.t[1] = 0; X_MH.t[2] = 0; break; + } + } Affine X_GH = X_CM * X_MH; cv::Vec3f p = X_GH.t; // head (center?) position in global space cv::Vec2f p_(p[0] / p[2] * fx, p[1] / p[2] * fx); // projected to screen @@ -156,10 +182,36 @@ void Tracker_PT::apply_settings() { qDebug()<<"Tracker:: Applying settings"; QMutexLocker l(&camera_mtx); - camera.stop(); - camera.set_device_index(camera_name_to_index(s.camera_name)); - camera.set_res(s.cam_res_x, s.cam_res_y); - camera.set_fps(s.cam_fps); + camera.set_device_index(camera_name_to_index("PS3Eye Camera")); + int res_x, res_y, cam_fps; + switch (s.camera_mode) + { + default: + case 0: + res_x = 640; + res_y = 480; + cam_fps = 75; + break; + case 1: + res_x = 640; + res_y = 480; + cam_fps = 60; + break; + case 2: + res_x = 320; + res_y = 240; + cam_fps = 189; + break; + case 3: + res_x = 320; + res_y = 240; + cam_fps = 120; + break; + } + + camera.set_res(res_x, res_y); + camera.set_fps(cam_fps); + qDebug() << "camera start"; camera.start(); qDebug()<<"Tracker::apply ends"; } @@ -213,7 +265,3 @@ void Tracker_PT::data(double *data) data[TZ] = t[2] / 10.0; } } - -#include "ftnoir_tracker_pt_dialog.h" -OPENTRACK_DECLARE_TRACKER(Tracker_PT, TrackerDialog_PT, TrackerDll) - diff --git a/tracker-pt/ftnoir_tracker_pt.qrc b/tracker-pt/ftnoir_tracker_pt.qrc deleted file mode 100644 index a8f9a1af..00000000 --- a/tracker-pt/ftnoir_tracker_pt.qrc +++ /dev/null @@ -1,9 +0,0 @@ -<RCC> - <qresource prefix="/"> - <file>Resources/cap_front.png</file> - <file>Resources/cap_side.png</file> - <file>Resources/clip_front.png</file> - <file>Resources/clip_side.png</file> - <file>Resources/Logo_IR.png</file> - </qresource> -</RCC> diff --git a/tracker-pt/ftnoir_tracker_pt_dialog.cpp b/tracker-pt/ftnoir_tracker_pt_dialog.cpp deleted file mode 100644 index b1ae2238..00000000 --- a/tracker-pt/ftnoir_tracker_pt_dialog.cpp +++ /dev/null @@ -1,182 +0,0 @@ -/* Copyright (c) 2012 Patrick Ruoff - * Copyright (c) 2014-2015 Stanislaw Halik <sthalik@misaki.pl> - * - * Permission to use, copy, modify, and/or distribute this software for any - * purpose with or without fee is hereby granted, provided that the above - * copyright notice and this permission notice appear in all copies. - */ - -#include "ftnoir_tracker_pt_dialog.h" - -#include <QMessageBox> -#include <QDebug> -#include <opencv2/core/core.hpp> -#include <memory> -#include "opentrack/camera-names.hpp" -#include <vector> - -//----------------------------------------------------------------------------- -TrackerDialog_PT::TrackerDialog_PT() - : tracker(NULL), - timer(this), - trans_calib_running(false) -{ - ui.setupUi( this ); - - ui.camdevice_combo->addItems(get_camera_names()); - - tie_setting(s.camera_name, ui.camdevice_combo); - tie_setting(s.cam_res_x, ui.res_x_spin); - tie_setting(s.cam_res_y, ui.res_y_spin); - tie_setting(s.cam_fps, ui.fps_spin); - - tie_setting(s.threshold, ui.threshold_slider); - - tie_setting(s.min_point_size, ui.mindiam_spin); - tie_setting(s.max_point_size, ui.maxdiam_spin); - - tie_setting(s.clip_by, ui.clip_bheight_spin); - tie_setting(s.clip_bz, ui.clip_blength_spin); - tie_setting(s.clip_ty, ui.clip_theight_spin); - tie_setting(s.clip_tz, ui.clip_tlength_spin); - - tie_setting(s.cap_x, ui.cap_width_spin); - tie_setting(s.cap_y, ui.cap_height_spin); - tie_setting(s.cap_z, ui.cap_length_spin); - - tie_setting(s.m01_x, ui.m1x_spin); - tie_setting(s.m01_y, ui.m1y_spin); - tie_setting(s.m01_z, ui.m1z_spin); - - tie_setting(s.m02_x, ui.m2x_spin); - tie_setting(s.m02_y, ui.m2y_spin); - tie_setting(s.m02_z, ui.m2z_spin); - - tie_setting(s.t_MH_x, ui.tx_spin); - tie_setting(s.t_MH_y, ui.ty_spin); - tie_setting(s.t_MH_z, ui.tz_spin); - - tie_setting(s.fov, ui.fov); - - tie_setting(s.active_model_panel, ui.model_tabs); - - tie_setting(s.dynamic_pose, ui.dynamic_pose); - tie_setting(s.init_phase_timeout, ui.init_phase_timeout); - - tie_setting(s.auto_threshold, ui.auto_threshold); - - connect( ui.tcalib_button,SIGNAL(toggled(bool)), this,SLOT(startstop_trans_calib(bool)) ); - - connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK())); - connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel())); - - connect(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info())); - connect(ui.camera_settings, SIGNAL(pressed()), this, SLOT(camera_settings())); - timer.start(100); -} - -void TrackerDialog_PT::camera_settings() -{ - if (tracker) - open_camera_settings(static_cast<cv::VideoCapture*>(tracker->camera), s.camera_name, &tracker->camera_mtx); - else - open_camera_settings(nullptr, s.camera_name, nullptr); -} - -void TrackerDialog_PT::startstop_trans_calib(bool start) -{ - if (start) - { - qDebug()<<"TrackerDialog:: Starting translation calibration"; - trans_calib.reset(); - trans_calib_running = true; - s.t_MH_x = 0; - s.t_MH_y = 0; - s.t_MH_z = 0; - } - else - { - qDebug()<<"TrackerDialog:: Stopping translation calibration"; - trans_calib_running = false; - { - auto tmp = trans_calib.get_estimate(); - s.t_MH_x = tmp[0]; - s.t_MH_y = tmp[1]; - s.t_MH_z = tmp[2]; - } - } -} - -void TrackerDialog_PT::poll_tracker_info() -{ - CamInfo info; - if (tracker && tracker->get_cam_info(&info)) - { - QString to_print; - { - // display caminfo - to_print = QString::number(info.res_x)+"x"+QString::number(info.res_y)+" @ "+QString::number(info.fps)+" FPS"; - } - ui.caminfo_label->setText(to_print); - - // display pointinfo - int n_points = tracker->get_n_points(); - to_print = QString::number(n_points); - if (n_points == 3) - to_print += " OK!"; - else - to_print += " BAD!"; - ui.pointinfo_label->setText(to_print); - - // update calibration - if (trans_calib_running) trans_calib_step(); - } - else - { - ui.caminfo_label->setText("Tracker offline"); - ui.pointinfo_label->setText(""); - } -} - -void TrackerDialog_PT::trans_calib_step() -{ - if (tracker) - { - Affine X_CM = tracker->pose(); - trans_calib.update(X_CM.R, X_CM.t); - } -} - -void TrackerDialog_PT::save() -{ - s.b->save(); -} - -void TrackerDialog_PT::doOK() -{ - save(); - close(); -} - -void TrackerDialog_PT::doCancel() -{ - s.b->reload(); - close(); -} - -void TrackerDialog_PT::register_tracker(ITracker *t) -{ - qDebug()<<"TrackerDialog:: Tracker registered"; - tracker = static_cast<Tracker_PT*>(t); - ui.tcalib_button->setEnabled(true); - //ui.center_button->setEnabled(true); -} - -void TrackerDialog_PT::unregister_tracker() -{ - qDebug()<<"TrackerDialog:: Tracker un-registered"; - tracker = NULL; - ui.tcalib_button->setEnabled(false); - //ui.center_button->setEnabled(false); -} - diff --git a/tracker-pt/ftnoir_tracker_pt_dialog.h b/tracker-pt/ftnoir_tracker_pt_dialog.h deleted file mode 100644 index 3502e227..00000000 --- a/tracker-pt/ftnoir_tracker_pt_dialog.h +++ /dev/null @@ -1,51 +0,0 @@ -/* Copyright (c) 2012 Patrick Ruoff - * - * Permission to use, copy, modify, and/or distribute this software for any - * purpose with or without fee is hereby granted, provided that the above - * copyright notice and this permission notice appear in all copies. - */ - -#ifndef FTNOIR_TRACKER_PT_DIALOG_H -#define FTNOIR_TRACKER_PT_DIALOG_H - -#include "opentrack/plugin-api.hpp" -#include "ftnoir_tracker_pt_settings.h" -#include "ftnoir_tracker_pt.h" -#include "trans_calib.h" -#include "pt_video_widget.h" -#include "ui_FTNoIR_PT_Controls.h" -#include "opentrack/opencv-camera-dialog.hpp" - -#include <QTimer> - -//----------------------------------------------------------------------------- -// The dialog that shows up when the user presses "Settings" -class TrackerDialog_PT : public ITrackerDialog, protected camera_dialog<Tracker_PT> -{ - Q_OBJECT -public: - TrackerDialog_PT(); - void register_tracker(ITracker *tracker) override; - void unregister_tracker() override; - void save(); - void trans_calib_step(); - -public slots: - void doOK(); - void doCancel(); - - void startstop_trans_calib(bool start); - void poll_tracker_info(); - void camera_settings(); -private: - settings_pt s; - Tracker_PT* tracker; - QTimer timer; - - TranslationCalibrator trans_calib; - bool trans_calib_running; - - Ui::UICPTClientControls ui; -}; - -#endif //FTNOIR_TRACKER_PT_DIALOG_H diff --git a/tracker-pt/ftnoir_tracker_pt_settings.h b/tracker-pt/ftnoir_tracker_pt_settings.h index 85eec8f9..78626468 100644 --- a/tracker-pt/ftnoir_tracker_pt_settings.h +++ b/tracker-pt/ftnoir_tracker_pt_settings.h @@ -14,54 +14,28 @@ using namespace options; struct settings_pt : opts { - value<QString> camera_name; - value<int> cam_res_x, - cam_res_y, - cam_fps, - threshold; + value<int> threshold; value<double> min_point_size, max_point_size; - value<int> m01_x, m01_y, m01_z; - value<int> m02_x, m02_y, m02_z; - value<int> t_MH_x, t_MH_y, t_MH_z; + value<int> fov, camera_mode; + value<int> model_used; - value<int> clip_ty, clip_tz, clip_by, clip_bz; - value<int> active_model_panel, cap_x, cap_y, cap_z; - - value<int> fov; - value<bool> dynamic_pose; value<int> init_phase_timeout; value<bool> auto_threshold; settings_pt() : opts("tracker-pt"), - camera_name(b, "camera-name", ""), - cam_res_x(b, "camera-res-width", 640), - cam_res_y(b, "camera-res-height", 480), - cam_fps(b, "camera-fps", 30), threshold(b, "threshold-primary", 128), - min_point_size(b, "min-point-size", 1), + min_point_size(b, "min-point-size", 0), max_point_size(b, "max-point-size", 50), - m01_x(b, "m_01-x", 0), - m01_y(b, "m_01-y", 0), - m01_z(b, "m_01-z", 0), - m02_x(b, "m_02-x", 0), - m02_y(b, "m_02-y", 0), - m02_z(b, "m_02-z", 0), t_MH_x(b, "model-centroid-x", 0), t_MH_y(b, "model-centroid-y", 0), t_MH_z(b, "model-centroid-z", 0), - clip_ty(b, "clip-ty", 40), - clip_tz(b, "clip-tz", 30), - clip_by(b, "clip-by", 70), - clip_bz(b, "clip-bz", 80), - active_model_panel(b, "active-model-panel", 0), - cap_x(b, "cap-x", 40), - cap_y(b, "cap-y", 60), - cap_z(b, "cap-z", 100), - fov(b, "camera-fov", 56), + fov(b, "camera-fov", 0), + camera_mode(b, "camera-mode", 0), + model_used(b, "model-used", 0), dynamic_pose(b, "dynamic-pose-resolution", true), init_phase_timeout(b, "init-phase-timeout", 500), auto_threshold(b, "automatic-threshold", false) diff --git a/tracker-pt/point_tracker.h b/tracker-pt/point_tracker.h index fd002948..f4268486 100644 --- a/tracker-pt/point_tracker.h +++ b/tracker-pt/point_tracker.h @@ -65,8 +65,6 @@ public: cv::Vec3f u; // unit vector perpendicular to M01,M02-plane cv::Matx22f P; - - enum Model { Clip = 0, Cap = 1, Custom = 2 }; PointModel(settings_pt& s) { @@ -81,26 +79,32 @@ public: float s22 = M02.dot(M02); P = 1.0/(s11*s22-s12*s12) * cv::Matx22f(s22, -s12, -s12, s11); } - + void set_model(settings_pt& s) { - switch (s.active_model_panel) + enum { Cap = 0, ClipRight = 1, ClipLeft = 2 }; + + switch (s.model_used) { - case Clip: - M01 = cv::Vec3f(0, static_cast<double>(s.clip_ty), -static_cast<double>(s.clip_tz)); - M02 = cv::Vec3f(0, -static_cast<double>(s.clip_by), -static_cast<double>(s.clip_bz)); - break; + default: case Cap: - M01 = cv::Vec3f(-static_cast<double>(s.cap_x), -static_cast<double>(s.cap_y), -static_cast<double>(s.cap_z)); - M02 = cv::Vec3f(static_cast<double>(s.cap_x), -static_cast<double>(s.cap_y), -static_cast<double>(s.cap_z)); + { + const double x = 60, y = 100, z = 120; + M01 = cv::Vec3f(-x, -y, -z); + M02 = cv::Vec3f(x, -y, -z); break; - case Custom: - M01 = cv::Vec3f(s.m01_x, s.m01_y, s.m01_z); - M02 = cv::Vec3f(s.m02_x, s.m02_y, s.m02_z); + } + case ClipLeft: + case ClipRight: + { + const double a = 27, b = 43, c = 62, d = 74; + M01 = cv::Vec3f(0, b, -a); + M02 = cv::Vec3f(0, -c, -d); break; } + } } - + void get_d_order(const std::vector<cv::Vec2f>& points, int* d_order, cv::Vec2f d) const; }; diff --git a/tracker-pt/trans_calib.cpp b/tracker-pt/trans_calib.cpp deleted file mode 100644 index a1a4b641..00000000 --- a/tracker-pt/trans_calib.cpp +++ /dev/null @@ -1,41 +0,0 @@ -/* Copyright (c) 2012 Patrick Ruoff - * - * Permission to use, copy, modify, and/or distribute this software for any - * purpose with or without fee is hereby granted, provided that the above - * copyright notice and this permission notice appear in all copies. - */ - -#include "trans_calib.h" - -TranslationCalibrator::TranslationCalibrator() -{ - reset(); -} - -void TranslationCalibrator::reset() -{ - P = cv::Matx66f::zeros(); - y = cv::Vec6f(0,0,0, 0,0,0); -} - -void TranslationCalibrator::update(const cv::Matx33f& R_CM_k, const cv::Vec3f& t_CM_k) -{ - cv::Matx<float, 6,3> H_k_T = cv::Matx<float, 6,3>::zeros(); - for (int i=0; i<3; ++i) { - for (int j=0; j<3; ++j) { - H_k_T(i,j) = R_CM_k(j,i); - } - } - for (int i=0; i<3; ++i) - { - H_k_T(3+i,i) = 1.0; - } - P += H_k_T * H_k_T.t(); - y += H_k_T * t_CM_k; -} - -cv::Vec3f TranslationCalibrator::get_estimate() -{ - cv::Vec6f x = P.inv() * y; - return cv::Vec3f(-x[0], -x[1], -x[2]); -} diff --git a/tracker-pt/trans_calib.h b/tracker-pt/trans_calib.h deleted file mode 100644 index e20fc767..00000000 --- a/tracker-pt/trans_calib.h +++ /dev/null @@ -1,39 +0,0 @@ -/* Copyright (c) 2012 Patrick Ruoff - * - * Permission to use, copy, modify, and/or distribute this software for any - * purpose with or without fee is hereby granted, provided that the above - * copyright notice and this permission notice appear in all copies. - */ - -#ifndef TRANSCALIB_H -#define TRANSCALIB_H - -#include <opencv2/core/core.hpp> - -//----------------------------------------------------------------------------- -// Calibrates the translation from head to model = t_MH -// by recursive least squares / -// kalman filter in information form with identity noise covariance -// measurement equation when head position = t_CH is fixed: -// (R_CM_k , Id)*(-t_MH, t_CH) = t_CM_k - -class TranslationCalibrator -{ -public: - TranslationCalibrator(); - - // reset the calibration process - void reset(); - - // update the current estimate - void update(const cv::Matx33f& R_CM_k, const cv::Vec3f& t_CM_k); - - // get the current estimate for t_MH - cv::Vec3f get_estimate(); - -private: - cv::Matx66f P; // normalized precision matrix = inverse covariance - cv::Vec6f y; // P*(-t_MH, t_CH) -}; - -#endif //TRANSCALIB_H |