From bef7aff31e5ea073f0f160ca6a2f1e56b7dd881a Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 15 Sep 2013 12:39:32 +0200 Subject: Initial PT 1.1 import Codebase broken at this stage --- FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui | 1856 ++++++++++++++++++++++ FTNoIR_Tracker_PT/FTNoIR_Tracker_PT.rc | 61 + FTNoIR_Tracker_PT/FTNoIR_Tracker_PT_vc10.vcxproj | 212 +++ FTNoIR_Tracker_PT/Resources/Logo_IR.png | Bin 0 -> 10386 bytes FTNoIR_Tracker_PT/Resources/cap_front.png | Bin 0 -> 1164 bytes FTNoIR_Tracker_PT/Resources/cap_side.png | Bin 0 -> 1733 bytes FTNoIR_Tracker_PT/Resources/clip_front.png | Bin 0 -> 571 bytes FTNoIR_Tracker_PT/Resources/clip_side.png | Bin 0 -> 2677 bytes FTNoIR_Tracker_PT/Resources/icon.ico | Bin 0 -> 4286 bytes FTNoIR_Tracker_PT/camera.cpp | 263 +++ FTNoIR_Tracker_PT/camera.h | 139 ++ FTNoIR_Tracker_PT/doc/index.htm | 262 +++ FTNoIR_Tracker_PT/doc/logo.png | Bin 0 -> 10386 bytes FTNoIR_Tracker_PT/doc/ptrack.ico | Bin 0 -> 4286 bytes FTNoIR_Tracker_PT/doc/settings1.png | Bin 0 -> 25013 bytes FTNoIR_Tracker_PT/doc/settings2.png | Bin 0 -> 26841 bytes FTNoIR_Tracker_PT/doc/settings3.png | Bin 0 -> 29547 bytes FTNoIR_Tracker_PT/doc/style.css | 131 ++ FTNoIR_Tracker_PT/frame_observer.cpp | 18 + FTNoIR_Tracker_PT/frame_observer.h | 72 + FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 265 +++ FTNoIR_Tracker_PT/ftnoir_tracker_pt.h | 99 ++ FTNoIR_Tracker_PT/ftnoir_tracker_pt.qrc | 10 + FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp | 406 +++++ FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h | 116 ++ FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.cpp | 40 + FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.h | 19 + FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp | 154 ++ FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h | 88 + FTNoIR_Tracker_PT/point_extractor.cpp | 101 ++ FTNoIR_Tracker_PT/point_extractor.h | 31 + FTNoIR_Tracker_PT/point_tracker.cpp | 359 +++++ FTNoIR_Tracker_PT/point_tracker.h | 125 ++ FTNoIR_Tracker_PT/resource.h | 14 + FTNoIR_Tracker_PT/timer.cpp | 66 + FTNoIR_Tracker_PT/timer.h | 44 + FTNoIR_Tracker_PT/trans_calib.cpp | 44 + FTNoIR_Tracker_PT/trans_calib.h | 39 + FTNoIR_Tracker_PT/video_widget.cpp | 119 ++ FTNoIR_Tracker_PT/video_widget.h | 58 + 40 files changed, 5211 insertions(+) create mode 100644 FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui create mode 100644 FTNoIR_Tracker_PT/FTNoIR_Tracker_PT.rc create mode 100644 FTNoIR_Tracker_PT/FTNoIR_Tracker_PT_vc10.vcxproj create mode 100644 FTNoIR_Tracker_PT/Resources/Logo_IR.png create mode 100644 FTNoIR_Tracker_PT/Resources/cap_front.png create mode 100644 FTNoIR_Tracker_PT/Resources/cap_side.png create mode 100644 FTNoIR_Tracker_PT/Resources/clip_front.png create mode 100644 FTNoIR_Tracker_PT/Resources/clip_side.png create mode 100644 FTNoIR_Tracker_PT/Resources/icon.ico create mode 100644 FTNoIR_Tracker_PT/camera.cpp create mode 100644 FTNoIR_Tracker_PT/camera.h create mode 100644 FTNoIR_Tracker_PT/doc/index.htm create mode 100644 FTNoIR_Tracker_PT/doc/logo.png create mode 100644 FTNoIR_Tracker_PT/doc/ptrack.ico create mode 100644 FTNoIR_Tracker_PT/doc/settings1.png create mode 100644 FTNoIR_Tracker_PT/doc/settings2.png create mode 100644 FTNoIR_Tracker_PT/doc/settings3.png create mode 100644 FTNoIR_Tracker_PT/doc/style.css create mode 100644 FTNoIR_Tracker_PT/frame_observer.cpp create mode 100644 FTNoIR_Tracker_PT/frame_observer.h create mode 100644 FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp create mode 100644 FTNoIR_Tracker_PT/ftnoir_tracker_pt.h create mode 100644 FTNoIR_Tracker_PT/ftnoir_tracker_pt.qrc create mode 100644 FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp create mode 100644 FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h create mode 100644 FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.cpp create mode 100644 FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.h create mode 100644 FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp create mode 100644 FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h create mode 100644 FTNoIR_Tracker_PT/point_extractor.cpp create mode 100644 FTNoIR_Tracker_PT/point_extractor.h create mode 100644 FTNoIR_Tracker_PT/point_tracker.cpp create mode 100644 FTNoIR_Tracker_PT/point_tracker.h create mode 100644 FTNoIR_Tracker_PT/resource.h create mode 100644 FTNoIR_Tracker_PT/timer.cpp create mode 100644 FTNoIR_Tracker_PT/timer.h create mode 100644 FTNoIR_Tracker_PT/trans_calib.cpp create mode 100644 FTNoIR_Tracker_PT/trans_calib.h create mode 100644 FTNoIR_Tracker_PT/video_widget.cpp create mode 100644 FTNoIR_Tracker_PT/video_widget.h (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui new file mode 100644 index 00000000..7bb7eb50 --- /dev/null +++ b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui @@ -0,0 +1,1856 @@ + + + UICPTClientControls + + + Qt::ApplicationModal + + + + 0 + 0 + 395 + 552 + + + + + 0 + 0 + + + + PointTracker Settings + + + + :/Resources/icon.ico:/Resources/icon.ico + + + Qt::LeftToRight + + + false + + + + QLayout::SetFixedSize + + + + + + 0 + 0 + + + + + 0 + 0 + + + + + + + 0 + + + + General + + + + + + Tracker Thread + + + + + + + + + + + Dynamic Pose Resolution + + + + + + + Sleep time + + + sleep_spin + + + + + + + + + Time the tracker thread sleeps after each processed frame + + + + + + 9999 + + + + + + + ms + + + + + + + + + Auto-reset time + + + reset_spin + + + + + + + + + Time until automatic reset of tracker's internal state when no valid tracking result is found + + + 9999 + + + + + + + ms + + + + + + + + + Whether to update the content of the VideoWidget + + + Show VideoWidget + + + + + + + Qt::Horizontal + + + + 30 + 20 + + + + + + + + Qt::Horizontal + + + + 30 + 20 + + + + + + + + false + + + Reset the tracker's internal state + + + Reset + + + + + + + + + + + + + 0 + 85 + + + + Enable Axis + + + + + + + + Roll: + + + chkEnableRoll + + + + + + + Pitch: + + + chkEnablePitch + + + + + + + Yaw: + + + chkEnableYaw + + + + + + + + 20 + 16777215 + + + + Qt::LeftToRight + + + + + + + + + + + + + + 20 + 16777215 + + + + Qt::LeftToRight + + + + + + + + + + + 20 + 16777215 + + + + Qt::LeftToRight + + + + + + + + + + X: + + + chkEnableX + + + + + + + + 20 + 16777215 + + + + Qt::LeftToRight + + + + + + + + + + Y: + + + chkEnableY + + + + + + + + 20 + 16777215 + + + + Qt::LeftToRight + + + + + + + + + + Z: + + + chkEnableZ + + + + + + + + 20 + 16777215 + + + + Qt::LeftToRight + + + + + + + + + + Qt::Horizontal + + + QSizePolicy::Minimum + + + + 40 + 20 + + + + + + + + Qt::Horizontal + + + QSizePolicy::Minimum + + + + 40 + 20 + + + + + + + + Qt::Horizontal + + + QSizePolicy::Minimum + + + + 40 + 20 + + + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + + + + Qt::Vertical + + + + 20 + 20 + + + + + + + + + Camera + + + + + + The camera device used as input + + + Camera Settings + + + + + + + + + 55 + 0 + + + + Device + + + camdevice_combo + + + + + + + + 0 + 0 + + + + Camera device used as input + + + + + + + + + + + + + + 55 + 0 + + + + Resolution + + + + + + + FPS + + + fps_spin + + + + + + + + 0 + 0 + + + + Desired capture framerate + + + 999 + + + + + + + x + + + + + + + + 0 + 0 + + + + Desired capture width + + + 2000 + + + 10 + + + + + + + Desired capture height + + + 2000 + + + 10 + + + + + + + F/W + + + f_dspin + + + + + + + The camera's focal length devided by its sensor width + + + 2 + + + 0.100000000000000 + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + Qt::Horizontal + + + + 0 + 20 + + + + + + + + + + + + + + false + + + + 130 + 0 + + + + + + + VideoWidget + + + + + + + Qt::Horizontal + + + + 0 + 20 + + + + + + + + + + + + + Camera Orientation + + + + + + + + + + Pitch + + + campitch_spin + + + + + + + Qt::DefaultContextMenu + + + The angle the camera is facing upwards + + + -99 + + + + + + + Yaw + + + camyaw_spin + + + + + + + Qt::DefaultContextMenu + + + The angle the camera is facing leftwards + + + -99 + + + + + + + deg (positve = leftwards) + + + + + + + + 0 + 0 + + + + + 0 + 0 + + + + Rotation of the camera image + + + + + + + deg (positive = upwards) + + + + + + + deg + + + + + + + Roll + + + camroll_combo + + + + + + + + + Qt::Horizontal + + + + 0 + 20 + + + + + + + + + + + + + Qt::Vertical + + + + 20 + 0 + + + + + + + + Point Extraction + + + + + + + + Threshold + + + threshold_slider + + + + + + + Intensity threshold for point extraction + + + 255 + + + 127 + + + Qt::Horizontal + + + + + + + + + + + Min Diameter + + + mindiam_spin + + + + + + + Minimum point diameter + + + + + + + px + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + Max Diameter + + + maxdiam_spin + + + + + + + Maximum point diameter + + + + + + + px + + + + + + + + + + + + + Model + + + + + + QTabWidget::Rounded + + + 2 + + + false + + + false + + + false + + + + Clip + + + + + + Model Dimensions (mm) + + + + + + + 0 + 0 + + + + + 150 + 160 + + + + + + 30 + 30 + 71 + 111 + + + + + + + :/Resources/clip_side.png + + + + + + 100 + 50 + 46 + 22 + + + + 999 + + + + + + 60 + 10 + 46 + 22 + + + + 999 + + + + + + 100 + 90 + 46 + 22 + + + + 999 + + + + + + 10 + 10 + 46 + 13 + + + + Side + + + + + + 40 + 140 + 46 + 22 + + + + 999 + + + + + + 70 + 70 + 16 + 16 + + + + R + + + + + + + + + 0 + 0 + + + + + 100 + 140 + + + + + + 10 + 10 + 46 + 13 + + + + Front + + + + + + 40 + 30 + 21 + 111 + + + + + + + :/Resources/clip_front.png + + + + + + 60 + 70 + 16 + 16 + + + + R + + + + + + + + + + + + Cap + + + + + + Model Dimensions (mm) + + + + + + + 140 + 130 + + + + + + 20 + 50 + 111 + 81 + + + + + + + :/Resources/cap_side.png + + + + + + 30 + 80 + 46 + 22 + + + + 999 + + + + + + 130 + 50 + 16 + 16 + + + + R + + + + + + 10 + 10 + 46 + 13 + + + + Side + + + + + + 50 + 40 + 46 + 22 + + + + 999 + + + + + + + + + 0 + 0 + + + + + 100 + 130 + + + + + + 10 + 10 + 46 + 13 + + + + Front + + + + + + 30 + 50 + 16 + 16 + + + + R + + + + + + 10 + 50 + 81 + 81 + + + + + + + :/Resources/cap_front.png + + + + + + 50 + 30 + 46 + 22 + + + + 999 + + + + + + + + + + + + Custom + + + + + + Model Dimensions (mm) + + + + + + <html><head/><body><p>Location of the two remaining model points<br/>with respect to the reference point in default pose</p></body></html> + + + + + + + Qt::Vertical + + + + 20 + 0 + + + + + + + + + + Qt::Horizontal + + + + 10 + 20 + + + + + + + + + + -999 + + + 999 + + + + + + + y: + + + + + + + -999 + + + 999 + + + + + + + z: + + + + + + + M1: + + + + + + + -999 + + + 999 + + + + + + + x: + + + + + + + + + Qt::Horizontal + + + + 20 + 20 + + + + + + + + + + -999 + + + 999 + + + + + + + x: + + + + + + + z: + + + + + + + -999 + + + 999 + + + + + + + y: + + + + + + + M2: + + + + + + + + + + -999 + + + 999 + + + + + + + + + Qt::Horizontal + + + + 10 + 20 + + + + + + + + + + Qt::Vertical + + + + 20 + 0 + + + + + + + + + + + + + + + Model Position (mm) + + + + + + <html><head/><body><p>Translation from head center to model reference point<br/> in default pose</p></body></html> + + + + + + + + + Qt::Horizontal + + + + 10 + 20 + + + + + + + + + + + + + -999 + + + 999 + + + + + + + x: + + + + + + + y: + + + + + + + z: + + + + + + + -999 + + + 999 + + + + + + + -999 + + + 999 + + + + + + + + + Qt::Horizontal + + + + 20 + 20 + + + + + + + + false + + + Calibrate + + + true + + + + + + + Qt::Horizontal + + + + 10 + 20 + + + + + + + + + + + + + + About + + + + + 30 + 30 + 161 + 111 + + + + <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> + + + true + + + + + + 200 + 30 + 141 + 141 + + + + + + + :/Resources/Logo_IR.png + + + + + + + + + Status + + + + + + QFormLayout::AllNonFixedFieldsGrow + + + + + Camera Info: + + + + + + + + 0 + 0 + + + + + 120 + 0 + + + + + + + + + + + Extracted Points: + + + + + + + + 50 + 0 + + + + + + + + + + + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + + + + Ok + + + + + + + + + + Cancel + + + + + + + + + tabWidget + videowidget_check + sleep_spin + dynpose_check + reset_spin + reset_button + chkEnableRoll + chkEnablePitch + chkEnableYaw + chkEnableX + chkEnableY + chkEnableZ + camdevice_combo + res_x_spin + res_y_spin + fps_spin + f_dspin + camroll_combo + campitch_spin + camyaw_spin + threshold_slider + mindiam_spin + maxdiam_spin + model_tabs + clip_tlength_spin + clip_theight_spin + clip_bheight_spin + clip_blength_spin + cap_length_spin + cap_height_spin + cap_width_spin + m1x_spin + m1y_spin + m1z_spin + m2x_spin + m2y_spin + m2z_spin + tx_spin + ty_spin + tz_spin + tcalib_button + ok_button + cancel_button + + + + + + + dynpose_check + toggled(bool) + reset_spin + setEnabled(bool) + + + 172 + 110 + + + 351 + 112 + + + + + + startEngineClicked() + stopEngineClicked() + cameraSettingsClicked() + + diff --git a/FTNoIR_Tracker_PT/FTNoIR_Tracker_PT.rc b/FTNoIR_Tracker_PT/FTNoIR_Tracker_PT.rc new file mode 100644 index 00000000..11c5d52f --- /dev/null +++ b/FTNoIR_Tracker_PT/FTNoIR_Tracker_PT.rc @@ -0,0 +1,61 @@ +// Microsoft Visual C++ generated resource script. +// +#include "resource.h" + +#define APSTUDIO_READONLY_SYMBOLS +///////////////////////////////////////////////////////////////////////////// +// +// Generated from the TEXTINCLUDE 2 resource. +// +#include "afxres.h" + +///////////////////////////////////////////////////////////////////////////// +#undef APSTUDIO_READONLY_SYMBOLS + +///////////////////////////////////////////////////////////////////////////// +// English (U.S.) resources + +#if !defined(AFX_RESOURCE_DLL) || defined(AFX_TARG_ENU) +LANGUAGE 9, 1 +#pragma code_page(1252) + +#ifdef APSTUDIO_INVOKED +///////////////////////////////////////////////////////////////////////////// +// +// TEXTINCLUDE +// + +1 TEXTINCLUDE +BEGIN + "resource.h\0" +END + +2 TEXTINCLUDE +BEGIN + "#include ""afxres.h""\r\n" + "\0" +END + +3 TEXTINCLUDE +BEGIN + "\r\n" + "\0" +END + +#endif // APSTUDIO_INVOKED + +#endif // English (U.S.) resources +///////////////////////////////////////////////////////////////////////////// + + + +#ifndef APSTUDIO_INVOKED +///////////////////////////////////////////////////////////////////////////// +// +// Generated from the TEXTINCLUDE 3 resource. +// + + +///////////////////////////////////////////////////////////////////////////// +#endif // not APSTUDIO_INVOKED + diff --git a/FTNoIR_Tracker_PT/FTNoIR_Tracker_PT_vc10.vcxproj b/FTNoIR_Tracker_PT/FTNoIR_Tracker_PT_vc10.vcxproj new file mode 100644 index 00000000..b777077b --- /dev/null +++ b/FTNoIR_Tracker_PT/FTNoIR_Tracker_PT_vc10.vcxproj @@ -0,0 +1,212 @@ + + + + + Debug + Win32 + + + Release + Win32 + + + Template + Win32 + + + + FTNoIR_Tracker_PT + {7A2A2560-9253-4CC8-A9D5-4B9D9C224D9D} + FTNoIR_Tracker_PT + Qt4VSv1.0 + + + + DynamicLibrary + + + DynamicLibrary + + + + + + + + + + + + + <_ProjectFileVersion>10.0.30319.1 + $(SolutionDir)\bin\ + $(SolutionDir)\$(Configuration)\ + $(SolutionDir)/bin_dbg\ + $(SolutionDir)\$(Configuration)\ + AllRules.ruleset + + + AllRules.ruleset + + + AllRules.ruleset + + + + + + MaxSpeed + .;.\GeneratedFiles;.\GeneratedFiles\$(Configuration);$(QTDIR)\include;$(QTDIR)\include\QtCore;$(QTDIR)\include\QtGui;$(OPENCV_DIR)\include;$(BOOST_DIR);$(QTDIR)\include\QtOpenGL;%(AdditionalIncludeDirectories) + UNICODE;WIN32;QT_DLL;QT_NO_DEBUG;NDEBUG;QT_CORE_LIB;QT_GUI_LIB;FTNOIR_TRACKER_BASE_LIB;QT_OPENGL_LIB;%(PreprocessorDefinitions) + MultiThreadedDLL + false + + + + + qtmain.lib;QtCore4.lib;QtGui4.lib;QtOpenGL4.lib;opengl32.lib;glu32.lib;opencv_core242.lib;opencv_imgproc242.lib;opencv_calib3d242.lib;videoInput_vc10.lib;%(AdditionalDependencies) + $(OutDir)$(ProjectName).dll + $(QTDIR)\lib;$(OPENCV_DIR)\x86\vc10\lib;$(ProjectDir)\videoInput;%(AdditionalLibraryDirectories) + atlthunk.lib;libcmt;%(IgnoreSpecificDefaultLibraries) + false + Windows + + + + + Disabled + .;.\GeneratedFiles;.\GeneratedFiles\$(Configuration);$(QTDIR)\include;$(QTDIR)\include\QtCore;$(QTDIR)\include\QtGui;$(OPENCV_DIR)\include;$(BOOST_DIR);$(QTDIR)\include\QtOpenGL;%(AdditionalIncludeDirectories) + UNICODE;WIN32;QT_DLL;QT_CORE_LIB;QT_GUI_LIB;FTNOIR_TRACKER_BASE_LIB;QT_OPENGL_LIB;%(PreprocessorDefinitions) + MultiThreadedDebugDLL + false + ProgramDatabase + + + qtmaind.lib;QtCored4.lib;QtGuid4.lib;QtOpenGLd4.lib;opengl32.lib;glu32.lib;opencv_core242d.lib;opencv_imgproc242d.lib;opencv_calib3d242d.lib;videoInput_vc10.lib;%(AdditionalDependencies) + $(OutDir)$(ProjectName).dll + $(QTDIR)\lib;$(OPENCV_DIR)\x86\vc10\lib;$(ProjectDir)\videoInput;%(AdditionalLibraryDirectories) + atlthunk.lib;libcmt;%(IgnoreSpecificDefaultLibraries) + true + Windows + + + + + + + + + + + + + + + + + + + + + + true + true + + + true + true + + + true + true + + + true + true + + + + + + + + + + + + %(AdditionalInputs) + %(Outputs) + + + + + %(AdditionalInputs) + %(Outputs) + + + Moc%27ing ftnoir_tracker_pt_dialog.h... + "$(QTDIR)\bin\moc.exe" "%(FullPath)" -o ".\GeneratedFiles\$(ConfigurationName)\moc_%(Filename).cpp" -DUNICODE -DWIN32 -DQT_DLL -DQT_CORE_LIB -DQT_GUI_LIB -DFTNOIR_TRACKER_BASE_LIB -DQT_OPENGL_LIB -D_WINDLL "-I." 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"-I$(QTDIR)\include\QtOpenGL" + $(QTDIR)\bin\moc.exe;%(FullPath);%(AdditionalInputs) + .\GeneratedFiles\$(Configuration)\moc_%(Filename).cpp;%(Outputs) + Moc%27ing video_widget.h... + "$(QTDIR)\bin\moc.exe" "%(FullPath)" -o ".\GeneratedFiles\$(ConfigurationName)\moc_%(Filename).cpp" -DUNICODE -DWIN32 -DQT_DLL -DQT_NO_DEBUG -DNDEBUG -DQT_CORE_LIB -DQT_GUI_LIB -DFTNOIR_TRACKER_BASE_LIB -DQT_OPENGL_LIB -D_WINDLL "-I." "-I.\GeneratedFiles" "-I.\GeneratedFiles\$(Configuration)\." "-I$(QTDIR)\include" "-I$(QTDIR)\include\QtCore" "-I$(QTDIR)\include\QtGui" "-I$(OPENCV_DIR)\include" "-I$(BOOST_DIR)\." "-I$(QTDIR)\include\QtOpenGL" + $(QTDIR)\bin\moc.exe;%(FullPath);%(AdditionalInputs) + .\GeneratedFiles\$(Configuration)\moc_%(Filename).cpp;%(Outputs) + + + + + + Uic%27ing %(Filename)%(Extension)... + "$(QTDIR)\bin\uic.exe" -o ".\GeneratedFiles\ui_%(Filename).h" "%(FullPath)" + + $(QTDIR)\bin\uic.exe;%(AdditionalInputs) + .\GeneratedFiles\ui_%(Filename).h;%(Outputs) + Uic%27ing %(Filename)%(Extension)... + "$(QTDIR)\bin\uic.exe" -o ".\GeneratedFiles\ui_%(Filename).h" "%(FullPath)" + + $(QTDIR)\bin\uic.exe;%(AdditionalInputs) + .\GeneratedFiles\ui_%(Filename).h;%(Outputs) + + + Rcc%27ing %(Filename)%(Extension)... + "$(QTDIR)\bin\rcc.exe" -name "%(Filename)" -no-compress "%(FullPath)" -o .\GeneratedFiles\qrc_%(Filename).cpp + + %(FullPath);.\Resources\icon.ico;.\Resources\Logo_IR.png;%(AdditionalInputs) + .\GeneratedFiles\qrc_%(Filename).cpp;%(Outputs) + Rcc%27ing %(Filename)%(Extension)... + "$(QTDIR)\bin\rcc.exe" -name "%(Filename)" -no-compress "%(FullPath)" -o .\GeneratedFiles\qrc_%(Filename).cpp + + %(FullPath);.\Resources\icon.ico;.\Resources\Logo_IR.png;%(AdditionalInputs) + .\GeneratedFiles\qrc_%(Filename).cpp;%(Outputs) + + + + + + + + + + + + + + \ No newline at end of file diff --git a/FTNoIR_Tracker_PT/Resources/Logo_IR.png b/FTNoIR_Tracker_PT/Resources/Logo_IR.png new file mode 100644 index 00000000..95032a25 Binary files /dev/null and b/FTNoIR_Tracker_PT/Resources/Logo_IR.png differ diff --git a/FTNoIR_Tracker_PT/Resources/cap_front.png b/FTNoIR_Tracker_PT/Resources/cap_front.png new file mode 100644 index 00000000..14207a67 Binary files /dev/null and b/FTNoIR_Tracker_PT/Resources/cap_front.png differ diff --git a/FTNoIR_Tracker_PT/Resources/cap_side.png b/FTNoIR_Tracker_PT/Resources/cap_side.png new file mode 100644 index 00000000..5ad4ee65 Binary files /dev/null and b/FTNoIR_Tracker_PT/Resources/cap_side.png differ diff --git a/FTNoIR_Tracker_PT/Resources/clip_front.png b/FTNoIR_Tracker_PT/Resources/clip_front.png new file mode 100644 index 00000000..04880138 Binary files /dev/null and b/FTNoIR_Tracker_PT/Resources/clip_front.png differ diff --git a/FTNoIR_Tracker_PT/Resources/clip_side.png b/FTNoIR_Tracker_PT/Resources/clip_side.png new file mode 100644 index 00000000..72667ac7 Binary files /dev/null and b/FTNoIR_Tracker_PT/Resources/clip_side.png differ diff --git a/FTNoIR_Tracker_PT/Resources/icon.ico b/FTNoIR_Tracker_PT/Resources/icon.ico new file mode 100644 index 00000000..c4b2aedc Binary files /dev/null and b/FTNoIR_Tracker_PT/Resources/icon.ico differ diff --git a/FTNoIR_Tracker_PT/camera.cpp b/FTNoIR_Tracker_PT/camera.cpp new file mode 100644 index 00000000..21a910c1 --- /dev/null +++ b/FTNoIR_Tracker_PT/camera.cpp @@ -0,0 +1,263 @@ +/* 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 "camera.h" +#include + +using namespace cv; + +// ---------------------------------------------------------------------------- +void get_camera_device_names(std::vector& device_names) +{ + videoInput VI; + VI.listDevices(); + std::string device_name; + for(int index = 0; ; ++index) { + device_name = VI.getDeviceName(index); + if (device_name.empty()) break; + device_names.push_back(device_name); + } +} + +// ---------------------------------------------------------------------------- +void Camera::set_device_index(int index) +{ + if (desired_index != index) + { + desired_index = index; + _set_device_index(); + + // reset fps + dt_valid = 0; + dt_mean = 0; + active_index = index; + } +} + +void Camera::set_f(float f) +{ + if (cam_desired.f != f) + { + cam_desired.f = f; + _set_f(); + } +} +void Camera::set_fps(int fps) +{ + if (cam_desired.fps != fps) + { + cam_desired.fps = fps; + _set_fps(); + } +} + +void Camera::set_res(int x_res, int y_res) +{ + if (cam_desired.res_x != x_res || cam_desired.res_y != y_res) + { + cam_desired.res_x = x_res; + cam_desired.res_y = y_res; + _set_res(); + } +} + +bool Camera::get_frame(float dt, cv::Mat* frame) +{ + bool new_frame = _get_frame(frame); + // measure fps of valid frames + const float dt_smoothing_const = 0.9; + dt_valid += dt; + if (new_frame) + { + dt_mean = dt_smoothing_const * dt_mean + (1.0 - dt_smoothing_const) * dt_valid; + cam_info.fps = 1.0 / dt_mean; + dt_valid = 0; + } + return new_frame; +} + +// ---------------------------------------------------------------------------- +/* +void CVCamera::start() +{ + cap = cvCreateCameraCapture(desired_index); + // extract camera info + if (cap) + { + active = true; + active_index = desired_index; + cam_info.res_x = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_WIDTH); + cam_info.res_y = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_HEIGHT); + } +} + +void CVCamera::stop() +{ + if (cap) cvReleaseCapture(&cap); + active = false; +} + +bool CVCamera::_get_frame(Mat* frame) +{ + if (cap && cvGrabFrame(cap) != 0) + { + // retrieve frame + IplImage* _img = cvRetrieveFrame(cap, 0); + if(_img) + { + if(_img->origin == IPL_ORIGIN_TL) + *frame = Mat(_img); + else + { + Mat temp(_img); + flip(temp, *frame, 0); + } + return true; + } + } + return false; +} + +void CVCamera::_set_index() +{ + if (active) restart(); +} + +void CVCamera::_set_f() +{ + cam_info.f = cam_desired.f; +} + +void CVCamera::_set_fps() +{ + if (cap) cvSetCaptureProperty(cap, CV_CAP_PROP_FPS, cam_desired.fps); +} + +void CVCamera::_set_res() +{ + if (cap) + { + cvSetCaptureProperty(cap, CV_CAP_PROP_FRAME_WIDTH, cam_desired.res_x); + cvSetCaptureProperty(cap, CV_CAP_PROP_FRAME_HEIGHT, cam_desired.res_y); + cam_info.res_x = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_WIDTH); + cam_info.res_y = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_HEIGHT); + } +} +*/ + +// ---------------------------------------------------------------------------- +VICamera::VICamera() : frame_buffer(NULL) +{ + VI.listDevices(); +} + +void VICamera::start() +{ + if (desired_index >= 0) + { + if (cam_desired.res_x == 0 || cam_desired.res_y == 0) + VI.setupDevice(desired_index); + else + VI.setupDevice(desired_index, cam_desired.res_x, cam_desired.res_y); + + active = true; + active_index = desired_index; + + cam_info.res_x = VI.getWidth(active_index); + cam_info.res_y = VI.getHeight(active_index); + new_frame = cv::Mat(cam_info.res_y, cam_info.res_x, CV_8UC3); + // If matrix is not continuous we have to copy manually via frame_buffer + if (!new_frame.isContinuous()) { + unsigned int size = VI.getSize(active_index); + frame_buffer = new unsigned char[size]; + } + } +} + +void VICamera::stop() +{ + if (active) + { + VI.stopDevice(active_index); + } + if (frame_buffer) + { + delete[] frame_buffer; + frame_buffer = NULL; + } + active = false; +} + +bool VICamera::_get_frame(Mat* frame) +{ + if (active && VI.isFrameNew(active_index)) + { + if (new_frame.isContinuous()) + { + VI.getPixels(active_index, new_frame.data, false, true); + } + else + { + // If matrix is not continuous we have to copy manually via frame_buffer + VI.getPixels(active_index, frame_buffer, false, true); + new_frame = cv::Mat(cam_info.res_y, cam_info.res_x, CV_8UC3, frame_buffer).clone(); + } + *frame = new_frame; + return true; + } + return false; +} + +void VICamera::_set_device_index() +{ + if (active) restart(); +} + +void VICamera::_set_f() +{ + cam_info.f = cam_desired.f; +} + +void VICamera::_set_fps() +{ + bool was_active = active; + if (active) stop(); + VI.setIdealFramerate(desired_index, cam_desired.fps); + if (was_active) start(); +} + +void VICamera::_set_res() +{ + if (active) restart(); +} + + +// ---------------------------------------------------------------------------- +Mat FrameRotation::rotate_frame(Mat frame) +{ + switch (rotation) + { + case CLOCKWISE: + { + Mat dst; + transpose(frame, dst); + flip(dst, dst, 1); + return dst; + } + + case COUNTER_CLOCKWISE: + { + Mat dst; + transpose(frame, dst); + flip(dst, dst, 0); + return dst; + } + + default: + return frame; + } +} \ No newline at end of file diff --git a/FTNoIR_Tracker_PT/camera.h b/FTNoIR_Tracker_PT/camera.h new file mode 100644 index 00000000..c0876d0a --- /dev/null +++ b/FTNoIR_Tracker_PT/camera.h @@ -0,0 +1,139 @@ +/* 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 CAMERA_H +#define CAMERA_H + +#include +#include "videoInput/videoInput.h" +#include +#include + +// ---------------------------------------------------------------------------- +void get_camera_device_names(std::vector& device_names); + + +// ---------------------------------------------------------------------------- +struct CamInfo +{ + CamInfo() : res_x(0), res_y(0), fps(0), f(1) {} + + int res_x; + int res_y; + int fps; + float f; // (focal length) / (sensor width) +}; + +// ---------------------------------------------------------------------------- +// Base class for cameras, calculates the frame rate +class Camera +{ +public: + Camera() : dt_valid(0), dt_mean(0), desired_index(0), active_index(-1), active(false) {} + virtual ~Camera() {} + + // start/stop capturing + virtual void start() = 0; + virtual void stop() = 0; + void restart() { stop(); start(); } + + // calls corresponding template methods and reinitializes frame rate calculation + void set_device_index(int index); + void set_f(float f); + void set_fps(int fps); + void set_res(int x_res, int y_res); + + // gets a frame from the camera, dt: time since last call in seconds + bool get_frame(float dt, cv::Mat* frame); + + // WARNING: returned references are valid as long as object + const CamInfo& get_info() const { return cam_info; } + const CamInfo& get_desired() const { return cam_desired; } + +protected: + // get a frame from the camera + virtual bool _get_frame(cv::Mat* frame) = 0; + + // update the camera using cam_desired, write res and f to cam_info if successful + virtual void _set_device_index() = 0; + virtual void _set_f() = 0; + virtual void _set_fps() = 0; + virtual void _set_res() = 0; + + bool active; + int desired_index; + int active_index; + CamInfo cam_info; + CamInfo cam_desired; + float dt_valid; + float dt_mean; +}; + + +// ---------------------------------------------------------------------------- +// camera based on OpenCV's videoCapture +/* +class CVCamera : public Camera +{ +public: + CVCamera() : cap(NULL) {} + ~CVCamera() { stop(); } + + virtual void start(); + virtual void stop(); + +protected: + virtual bool _get_frame(cv::Mat* frame); + virtual void _set_index(); + virtual void _set_f(); + virtual void _set_fps(); + virtual void _set_res(); + + CvCapture* cap; +}; +*/ + +// ---------------------------------------------------------------------------- +// Camera based on the videoInput library +class VICamera : public Camera +{ +public: + VICamera(); + ~VICamera() { stop(); } + + virtual void start(); + virtual void stop(); + +protected: + virtual bool _get_frame(cv::Mat* frame); + virtual void _set_device_index(); + virtual void _set_f(); + virtual void _set_fps(); + virtual void _set_res(); + + videoInput VI; + cv::Mat new_frame; + unsigned char* frame_buffer; +}; + + +// ---------------------------------------------------------------------------- +class FrameRotation +{ +public: + typedef enum Rotation + { + CLOCKWISE = -1, + ZERO = 0, + COUNTER_CLOCKWISE = 1 + }; + Rotation rotation; + + cv::Mat rotate_frame(cv::Mat frame); +}; + +#endif //CAMERA_H diff --git a/FTNoIR_Tracker_PT/doc/index.htm b/FTNoIR_Tracker_PT/doc/index.htm new file mode 100644 index 00000000..87b7356f --- /dev/null +++ b/FTNoIR_Tracker_PT/doc/index.htm @@ -0,0 +1,262 @@ + + + + + FTNoIR PointTracker Help + + + + + + + + + + + + + + +
+

FaceTrackNoIR PointTracker Plugin

PointTracker Plugin Logo
+ + +

About

+
+

+PointTracker is a plugin for the free head tracking software FaceTrackNoIR +which introduces the capability to track a (typically IR-) point model comprising 3 bright points to FaceTrackNoIR, +much like the popular free tracking software Freetrack does.
+It was created as a stable modular alternative to Freetrack, which has some stability issues with newer systems and seems to be no longer actively developped. +

+
+ + +

Settings

+
+

+This section desribes the various settings of the PointTracker plugin in detail. +

+ +Settings Pane 1 +
+
Show VideoWidget
Whether the video widget is updated or not. It may save some performance to turn this off when not needed
+
Sleep time
Time the tracking thread sleeps after each processed image. It's inverse should be below the framefrate you want to achieve. +(check the framerate in the status region when tracker is active, in case the sleep time is too high, the framerate will decrease). +Low values will result in more CPU-load.
+
Dynamic Pose Resolution
Whether the point correspondence and pose ambiquity is resolved using a more sophisticated dynamic algorithm (constant velocity prediction) or a simple static resolution. +Dynamic pose resolution can capture more extreme poses but may occasionally get stuck in a wrong pose estimates so that a reset of the internal state becomes neccessary.
+
Auto-reset time
If no valid tracking result can be found when using dynamic pose resolution, the tracker will automatically reset its internal state (used for resolving the pose ambiguity and point correspondence) +and return to a fail-safe initialization phase that assumes a neutral pose after this time. +Decrease this time, if you get stuck in a wrong pose too often.
+
Reset
Manually reset the trackers internal state used for dynamic pose resolution and return to a fail-safe initialization phase that assumes a neutral pose. +You may use this in case you get stuck in a wrong pose.
+
Enable Axis ...
Which axis to use for FTNoIR.
+
+ +Settings Pane 2 +
+
Device
The camera used for tracking.
+
Resolution
The desired capture resolution. If your camera does not support the entered resolution the true output resolution may be different or even invalid. +You may check the true capture resolution in the status area while the tracker is running. A higher resolution results in more accurate point positions and will increase the +stability of the tracking result, as long as the signal/noise ratio is sufficiently high.
+
FPS
The desired capture framerate. Again, if your camera does not support the entered framerate, the true caputre framerate may be different or invalid. +You may check the true processing framerate in the status area while the tracker is running.
+
F/W
The focal length of the camera divided by the sensor width (of course in the same units). +In case you don't have access to your camera's specifications, you can measure this yourself by placing a plane object of known width (for example a piece of cardboard) in front of the camera until it fills the whole image width. +Then measure the distance between the object and the camera and divide by the object width.
+
VideoWidget
Shows a resizable stand-alone video widget that shows the same content as the integrated video widget in FTNoIR. +Update rate is only 10 fps and may lag behind a bit. Mainly useful during calibration of the point extraction. Same as for the integrated wiget, to save resources, this widget should only be shown when needed.
+
Roll Pitch Yaw...
The orientation of the camera relative to the reference frame. +If these angles are setup properly, the direction of translations may not be correct. +Roll is treated in a special way since it is implemented as a frame rotation by +/- 90 deg that is transparent to the rest of the processing pipeline. +
+
Threshold
The threshold for point recognition. Areas above the threshold are shown in blue in the VideoWidget. +Since point accuracy is best if the points are as big as possible in pixels, the theshold should be chosen as low as possible (stop before the contour of the points becomes "noisy"). +If small reflections are being falsely classified as points, increasing the minimum point diameter (see below) may help.
+
Min Diameter
Minimum diameter of blobs to be classified as a pointmodel-point.
+
Max Diameter
Maximum diameter of blobs to be classified as a pointmodel-point.
+
Status
The tracker's status is shown in this area while the tracker is running. +The FPS shown here correspond to the framerate of the whole tracker processing chain and may be lower than what your camera is able to provide, when
+1. The processing gets not enough CPU time
+2. The sleep time of the tracking thread is set too high
+
+ +Settings Pane 3 +
+
Model Selection and Dimensions ...
+First select your model type (point, clip, custom), then enter the dimensions of your model in milimeters here.
+For the custom setting, the coordinates of the two remaining model points have to be entered (reference point M0 is at (0,0,0)) in a pose where the model roughly faces the camera. +For orientation, the coordinates for the standard Freetrack clip are (0,40,-30), (0,-70,-80) and the ones for the cap (40,-60,-100), (-40,-60,-100).
+When using a custom point-model configuration, the following restrictions should be observed:
+The plane in which the 3 points lie should never be parallel to the image plane, M0-M1 and M0-M2 should be roughly perpendicular.
+ +
Model Position
The vector from the model to the center of the head in the model frame. Can be calibrated automatically.
+
Calibrate
In order to automatically calibrate the model-head offset, do the following:
Press the Calibrate button, then look around while not moving your shoulder. (i.e. only rotation, no translation). +Do not stay in one pose for too long. The current translation estimate will be updated in real time. As soon as the values stabilized sufficiently, press the Calibrate button again to stop the calibration process.
+
+
+ + +

Filter Setup

+
+

+This section desribes how the FTNoIR filter work and what the recommended settings for PointTracker are. +

+

+Filtering is always a tradeoff between stability, accuracy and responsiveness. +

+

+The Smoothing filter in FTNoIR is just a simple average over the last n samples. +Since this filter produces input lag no matter how fast the head-movements are, it is recommended to turn it off by setting samples to 1. +

+

+In the filter tab, it is recommended to select Accela Filter Mk2. +Accela is a non-linear filter that works as follows:
+It looks at the difference between the new raw values new_val from the tracker and the last filtered value old_val +and maps this difference via the customizable response function f via:
+

+

+new_val = old_val + f(new_val - old_val) / reduction_factor +

+

+So by setting f(x) = reduction_factor * x, one will get no filtering at all.
+If you set lower values for small x, small deviations (usually noise) will get dampened. +This results in a dynamic dead-zone around the current position. +

+

+The last two points are used by accela to extrapolate for large deviations. +So in order to get a fast unfiltered response for large deviations, the line connecting the last two points should have a slope >= reduction_factor. +

+

+More aggressive accela settings than the default FTNoIR accela settings are recommended in order to decrease the filtering lag and fully use the potential of point tracking.
+My current settings are: +

+

+[Accela]
+Reduction=20
+
+[Curves-Accela-Scaling-Rotation]
+point-count=4
+point-0-x=0.1
+point-0-y=0
+point-1-x=1.43
+point-1-y=2.45
+point-2-x=2.0
+point-2-y=5.44
+point-3-x=2.06
+point-3-y=6
+
+

+The curve is not too different from the standard one (except that I like a small dynamic dead zone for steady aiming, that's why the curve has a slope of 0 at the beginning).
+However, the reduction factor is decreased to a value of 20 (compared to the standard value of 100). This implies that each value of the curve is effectively 5 times higher than in standard FTNoIR (see formula above), which means higher responsiveness but can also lead to jitter/shaking.
+Keep in mind that there are no best filter settings. Since filtering is always a compromise it's a matter of personal taste and +playing around with the filter settings is highly recommended. +

+
+ + +

Support

+
+

+For questions/feedback about the plugin, post to the FTNoIR-Forum.
+In case you like this plugin and would like to support the author, you may consider making a donation. +

+
+
+
+ + + + +
+
+
+
+ + +

ChangeLog

+
+

1.1

+
    +
  • Added camera yaw and roll correction (intended for vertically mounted cameras)
    • +
  • Improved point extraction algorithm, thanks to Michael Welter
    • +
  • UI improvements: Select camera by device name, different VideoWidget architecture
    • +
  • Bugfixes: Removed 99 FPS limitation
    • +
+ +

1.0

+
    +
  • Added camera pitch correction
    • +
  • Better communication with FTNoIR: output axis configuration, status report
    • +
+ +

1.0 beta

+
    +
  • Switchted to videoInput library for capture. Desired capture resolution and fps can now be customized
    • +
  • Introduced dynamic point-correspondence and POSIT-ambiguity resolution, which allows for the reconstruction of more extreme poses
    • +
  • More convenient freetrack-like model dimension GUI
    • +
  • Bugfixes: VideoWidget skipping frames, Timer resolution too low for accurate FPS measurement
    • +
+
+ + +

Build Instructions

+
+

+This section describes what you need to do in order to build PointTracker yourself.
+You can find the sources at the project site +or as part of the FTNoIR sources. +

+

The project was created with Visual Studio.

+ +

Dependencies

+
    +
  • Qt 4.8.2 library
    • +
  • Qt plugin for Visual studio
    • +
  • OpenCV 2.4 prebuilt for Windows
    • +
  • Boost 1.47
    • +
+ +

Details

+
+

Common

+
    +
  • setup environment variable "QTDIR" (example value "D:\Devel\Libs\Qt\4.8.2")
    • +
  • add "%QTDIR%\bin" to PATH
    • +
  • setup environment variable "BOOST_DIR" (example value "D:\Devel\Libs\boost_1_47_0")
    • +
  • setup environment variable "OPENCV_DIR" (example value "D:\Devel\Libs\opencv\build")
    • +
+

Debug

+

opencv linked dynamically:

+
    +
  • add "%OPENCV_DIR%\x86\vc9\bin" to PATH
    • +
+

(in case of different Visual studio, change PATH and linker dependencies accordingly)

+

Release

+

opencv linked statically:

+
    +
  • custom build a statically linked version of opencv with the buil-option BUILD_WITH_STATIC_CRT set to OFF!
    • +
  • copy resulting libaries to "%OPENCV_DIR%\x86\vc9\static_lib"
    • +
+

(in case of different Visual studio, change PATH and linker dependencies accordingly)

+
+
+ +
+ + + \ No newline at end of file diff --git a/FTNoIR_Tracker_PT/doc/logo.png b/FTNoIR_Tracker_PT/doc/logo.png new file mode 100644 index 00000000..95032a25 Binary files /dev/null and b/FTNoIR_Tracker_PT/doc/logo.png differ diff --git a/FTNoIR_Tracker_PT/doc/ptrack.ico b/FTNoIR_Tracker_PT/doc/ptrack.ico new file mode 100644 index 00000000..c4b2aedc Binary files /dev/null and b/FTNoIR_Tracker_PT/doc/ptrack.ico differ diff --git a/FTNoIR_Tracker_PT/doc/settings1.png b/FTNoIR_Tracker_PT/doc/settings1.png new file mode 100644 index 00000000..35b84c5c Binary files /dev/null and b/FTNoIR_Tracker_PT/doc/settings1.png differ diff --git a/FTNoIR_Tracker_PT/doc/settings2.png b/FTNoIR_Tracker_PT/doc/settings2.png new file mode 100644 index 00000000..c6cfd1f3 Binary files /dev/null and b/FTNoIR_Tracker_PT/doc/settings2.png differ diff --git a/FTNoIR_Tracker_PT/doc/settings3.png b/FTNoIR_Tracker_PT/doc/settings3.png new file mode 100644 index 00000000..5922403d Binary files /dev/null and b/FTNoIR_Tracker_PT/doc/settings3.png differ diff --git a/FTNoIR_Tracker_PT/doc/style.css b/FTNoIR_Tracker_PT/doc/style.css new file mode 100644 index 00000000..a8d3e333 --- /dev/null +++ b/FTNoIR_Tracker_PT/doc/style.css @@ -0,0 +1,131 @@ +body { + width: 1000px; + font-size: 13px; + color: #000000; + padding: 0; + margin: 0 auto; + background: #444444; + font-family: verdana,arial; +} + +table { + border-width: 3px; + border-color: #0000FF; + border-style: ridge; + margin-top: 5px; + background-color: #E0E0FF; +} + +table.blind { + border: none; + background-color: #E6E6E6; +} + +fieldset.blind { + border: none; +} + +h1 { font-size: 160%; } +h2 { font-size: 140%; } +h3 { font-size: 115%; } + +.indent { + margin-left: 25px; +} + +p +{ + margin-left: 10px; +} + +li +{ + margin: 10px; +} + + +dl +{ + /*width: 80%;*/ + border-bottom: 1px solid #999; +} + +dt +{ + padding-top: 5px; + font-weight: bold; + border-top: 1px solid #999; +} + +dd +{ + padding: 5px; +} + + +hr { + color: #688938; +} + +a:link, a:visited { + color: #0000BF; +} +a:hover { + color: #0000FF; +} + +a.nav { + position: relative; + top: -30px; + display: block; + visibility: hidden; +} + +#navbar { + width: 1000px; + height: 30px; + background-color:#1a1a1b; + position: fixed; + margin: 0 auto; + padding: 0; +} + +#navbar ul +{ + list-style-type: none; + margin: 0 auto; + padding: 0; + overflow: hidden; +} + +#navbar li +{ + margin: 0 auto; + padding: 5px; + float:left; +} + +#navbar a:link,a:visited +{ + display:block; + width:150px; + font-weight:bold; + color:#e85d02; + text-align:center; + /*padding:4px;*/ + text-decoration:none; + /*text-transform:uppercase;*/ +} + +#navbar a:hover,a:active +{ + color:#ffffff; +} + +#content { + background-color:#ffffff; + padding: 15px; + padding-top: 40px; + padding-right: 40px; + margin: 0 auto; +} diff --git a/FTNoIR_Tracker_PT/frame_observer.cpp b/FTNoIR_Tracker_PT/frame_observer.cpp new file mode 100644 index 00000000..7e4bb3e3 --- /dev/null +++ b/FTNoIR_Tracker_PT/frame_observer.cpp @@ -0,0 +1,18 @@ +/* Copyright (c) 2013 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 "frame_observer.h" + +//----------------------------------------------------------------------------- +FrameProvider::~FrameProvider() +{ + QMutexLocker lock(&observer_mutex); + for (auto iter=frame_observers.begin(); iter!=frame_observers.end(); ++iter) + { + (*iter)->on_frame_provider_destroy(); + } +} \ No newline at end of file diff --git a/FTNoIR_Tracker_PT/frame_observer.h b/FTNoIR_Tracker_PT/frame_observer.h new file mode 100644 index 00000000..4afbd72c --- /dev/null +++ b/FTNoIR_Tracker_PT/frame_observer.h @@ -0,0 +1,72 @@ +/* Copyright (c) 2013 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 FRAME_OBSERVER_H +#define FRAME_OBSERVER_H + +#include +#include +#include +#include + +//----------------------------------------------------------------------------- +// Forward declarations +class FrameObserver; + +//----------------------------------------------------------------------------- +// Provides means to copy frame and point information if it has observers +// Instantiate a FrameObserver to get the information +class FrameProvider +{ + friend class FrameObserver; +public: + ~FrameProvider(); + +protected: + virtual bool get_frame_and_points(cv::Mat& frame, boost::shared_ptr< std::vector >& points) = 0; + + bool has_observers() const { QMutexLocker lock(&observer_mutex); return !frame_observers.empty(); } + +private: + mutable QMutex observer_mutex; + void add_observer(FrameObserver* obs) { QMutexLocker lock(&observer_mutex); frame_observers.insert(obs); } + void remove_observer(FrameObserver* obs) { QMutexLocker lock(&observer_mutex); frame_observers.erase(obs); } + std::set frame_observers; +}; + +//----------------------------------------------------------------------------- +// Used to get frame and point information from MutexedFrameProvider +// Destroy instance if not interested anymore since a living +// FrameObserver instance causes MutexedFrameProvider to provide the information, +// potentially reducing its performance +class FrameObserver +{ +public: + FrameObserver(FrameProvider* provider) : provider(provider) { + provider->add_observer(this); + } + + ~FrameObserver() { + if (provider) provider->remove_observer(this); + } + + bool get_frame_and_points(cv::Mat& frame, boost::shared_ptr< std::vector >& points) { + return provider ? provider->get_frame_and_points(frame, points) : false; + } + + void on_frame_provider_destroy() { + provider = NULL; + } + +protected: + FrameProvider* provider; + +private: + FrameObserver(const FrameObserver&); +}; + +#endif //FRAME_OBSERVER_H \ No newline at end of file diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp new file mode 100644 index 00000000..88a3fc8d --- /dev/null +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -0,0 +1,265 @@ +/* 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 "ftnoir_tracker_pt.h" +#include +#include +#include +#include +#include + +using namespace std; +using namespace cv; +using namespace boost; + +//#define PT_PERF_LOG //log performance + +const float rad2deg = 180.0/3.14159265; +const float deg2rad = 1.0/rad2deg; + +//----------------------------------------------------------------------------- +Tracker::Tracker() + : frame_count(0), + commands(0), + video_widget(NULL), + video_frame(NULL), + tracking_valid(false) +{ + qDebug()<<"Tracker::Tracker"; + TrackerSettings settings; + settings.load_ini(); + apply(settings); + camera.start(); + start(); +} + +Tracker::~Tracker() +{ + qDebug()<<"Tracker::~Tracker"; + // terminate tracker thread + set_command(ABORT); + wait(); + // destroy video widget + show_video_widget = false; + update_show_video_widget(); +} + +void Tracker::set_command(Command command) +{ + QMutexLocker lock(&mutex); + commands |= command; +} + +void Tracker::reset_command(Command command) +{ + QMutexLocker lock(&mutex); + commands &= ~command; +} + +void Tracker::run() +{ + qDebug()<<"Tracker:: Thread started"; + +#ifdef PT_PERF_LOG + QFile log_file(QCoreApplication::applicationDirPath() + "/PointTrackerPerformance.txt"); + if (!log_file.open(QIODevice::WriteOnly | QIODevice::Text)) return; + QTextStream log_stream(&log_file); +#endif + + time.start(); + float dt; + bool new_frame; + forever + { + { + QMutexLocker lock(&mutex); + + if (commands & ABORT) break; + if (commands & PAUSE) continue; + commands = 0; + + dt = time.elapsed() / 1000.0; + time.restart(); + + new_frame = camera.get_frame(dt, &frame); + if (new_frame && !frame.empty()) + { + frame = frame_rotation.rotate_frame(frame); + const std::vector& points = point_extractor.extract_points(frame, dt, has_observers()); + tracking_valid = point_tracker.track(points, camera.get_info().f, dt); + frame_count++; + } +#ifdef PT_PERF_LOG + log_stream<<"dt: "<(settings.cam_roll); + point_extractor.threshold_val = settings.threshold; + point_extractor.min_size = settings.min_point_size; + point_extractor.max_size = settings.max_point_size; + point_tracker.point_model = boost::shared_ptr(new PointModel(settings.M01, settings.M02)); + point_tracker.dynamic_pose_resolution = settings.dyn_pose_res; + sleep_time = settings.sleep_time; + point_tracker.dt_reset = settings.reset_time / 1000.0; + show_video_widget = settings.video_widget; + update_show_video_widget(); + bEnableRoll = settings.bEnableRoll; + bEnablePitch = settings.bEnablePitch; + bEnableYaw = settings.bEnableYaw; + bEnableX = settings.bEnableX; + bEnableY = settings.bEnableY; + bEnableZ = settings.bEnableZ; + + t_MH = settings.t_MH; + R_GC = Matx33f( cos(deg2rad*settings.cam_yaw), 0, sin(deg2rad*settings.cam_yaw), + 0, 1, 0, + -sin(deg2rad*settings.cam_yaw), 0, cos(deg2rad*settings.cam_yaw)); + R_GC = R_GC * Matx33f( 1, 0, 0, + 0, cos(deg2rad*settings.cam_pitch), sin(deg2rad*settings.cam_pitch), + 0, -sin(deg2rad*settings.cam_pitch), cos(deg2rad*settings.cam_pitch)); + + FrameTrafo X_MH(Matx33f::eye(), t_MH); + X_GH_0 = R_GC * X_MH; + + qDebug()<<"Tracker::apply ends"; +} + +void Tracker::reset() +{ + QMutexLocker lock(&mutex); + point_tracker.reset(); +} + +void Tracker::center() +{ + point_tracker.reset(); // we also do a reset here since there is no reset shortkey yet + QMutexLocker lock(&mutex); + FrameTrafo X_CM_0 = point_tracker.get_pose(); + FrameTrafo X_MH(Matx33f::eye(), t_MH); + X_GH_0 = R_GC * X_CM_0 * X_MH; +} + +bool Tracker::get_frame_and_points(cv::Mat& frame_copy, boost::shared_ptr< std::vector >& points) +{ + QMutexLocker lock(&mutex); + if (frame.empty()) return false; + + // copy the frame and points from the tracker thread + frame_copy = frame.clone(); + points = boost::shared_ptr< vector >(new vector(point_extractor.get_points())); + return true; +} + +void Tracker::update_show_video_widget() +{ + if (!show_video_widget && video_widget) { + delete video_widget; + video_widget = NULL; + if (video_frame->layout()) delete video_frame->layout(); + } + else if (video_frame && show_video_widget && !video_widget) + { + const int VIDEO_FRAME_WIDTH = 252; + const int VIDEO_FRAME_HEIGHT = 189; + + video_widget = new VideoWidget(video_frame, this); + QHBoxLayout* video_layout = new QHBoxLayout(); + video_layout->setContentsMargins(0, 0, 0, 0); + video_layout->addWidget(video_widget); + video_frame->setLayout(video_layout); + video_widget->resize(VIDEO_FRAME_WIDTH, VIDEO_FRAME_HEIGHT); + } +} + +//----------------------------------------------------------------------------- +// ITracker interface +void Tracker::Initialize(QFrame *video_frame) +{ + qDebug("Tracker::Initialize"); + // setup video frame + this->video_frame = video_frame; + video_frame->setAttribute(Qt::WA_NativeWindow); + video_frame->show(); + update_show_video_widget(); +} + +void Tracker::refreshVideo() +{ + if (video_widget) video_widget->update_frame_and_points(); +} + +void Tracker::StartTracker(HWND parent_window) +{ + reset_command(PAUSE); +} + +void Tracker::StopTracker(bool exit) +{ + set_command(PAUSE); +} + +bool Tracker::GiveHeadPoseData(THeadPoseData *data) +{ + { + QMutexLocker lock(&mutex); + + if (!tracking_valid) return false; + + FrameTrafo X_CM = point_tracker.get_pose(); + FrameTrafo X_MH(Matx33f::eye(), t_MH); + FrameTrafo X_GH = R_GC * X_CM * X_MH; + Matx33f R = X_GH.R * X_GH_0.R.t(); + Vec3f t = X_GH.t - X_GH_0.t; + + // get translation(s) + if (bEnableX) data->x = t[0] / 10.0; // convert to cm + if (bEnableY) data->y = t[1] / 10.0; + if (bEnableZ) data->z = t[2] / 10.0; + + // translate rotation matrix from opengl (G) to roll-pitch-yaw (E) frame + // -z -> x, y -> z, x -> -y + Matx33f R_EG( 0, 0,-1, + -1, 0, 0, + 0, 1, 0); + R = R_EG * R * R_EG.t(); + + // extract rotation angles + float 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)); + + if (bEnableYaw) data->yaw = rad2deg * alpha; + if (bEnablePitch) data->pitch = - rad2deg * beta; // FTNoIR expects a minus here + if (bEnableRoll) data->roll = rad2deg * gamma; + } + return true; +} + +//----------------------------------------------------------------------------- +#pragma comment(linker, "/export:GetTracker=_GetTracker@0") + +FTNOIR_TRACKER_BASE_EXPORT ITrackerPtr __stdcall GetTracker() +{ + return new Tracker; +} \ No newline at end of file diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h new file mode 100644 index 00000000..6eef945a --- /dev/null +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h @@ -0,0 +1,99 @@ +/* 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_H +#define FTNOIR_TRACKER_PT_H + +#include "..\ftnoir_tracker_base\ftnoir_tracker_base.h" +#include "ftnoir_tracker_pt_settings.h" +#include "frame_observer.h" +#include "camera.h" +#include "point_extractor.h" +#include "point_tracker.h" +#include "video_widget.h" +#include "timer.h" + +#include +#include +#include +#include +#include +#include + +//----------------------------------------------------------------------------- +// Constantly processes the tracking chain in a separate thread +class Tracker : public ITracker, QThread, public FrameProvider +{ +public: + Tracker(); + ~Tracker(); + + // --- ITracker interface --- + virtual void Initialize(QFrame *videoframe); + virtual void StartTracker(HWND parent_window); + virtual void StopTracker(bool exit); + virtual bool GiveHeadPoseData(THeadPoseData *data); + virtual void refreshVideo(); + + void apply(const TrackerSettings& settings); + void center(); + void reset(); // reset the trackers internal state variables + void run(); + + void get_pose(FrameTrafo* X_CM) { QMutexLocker lock(&mutex); *X_CM = point_tracker.get_pose(); } + int get_n_points() { QMutexLocker lock(&mutex); return point_extractor.get_points().size(); } + void get_cam_info(CamInfo* info) { QMutexLocker lock(&mutex); *info = camera.get_info(); } + +protected: + // --- MutexedFrameProvider interface --- + virtual bool get_frame_and_points(cv::Mat& frame, boost::shared_ptr< std::vector >& points); + + // --- thread --- + QMutex mutex; + // thread commands + enum Command { + ABORT = 1<<0, + PAUSE = 1<<1 + }; + void set_command(Command command); + void reset_command(Command command); + int commands; + + int sleep_time; + + // --- tracking chain --- + VICamera camera; + FrameRotation frame_rotation; + PointExtractor point_extractor; + PointTracker point_tracker; + bool tracking_valid; + + FrameTrafo X_GH_0; // for centering + cv::Vec3f t_MH; // translation from model frame to head frame + cv::Matx33f R_GC; // rotation from opengl reference frame to camera frame + + // --- ui --- + cv::Mat frame; // the output frame for display + + void update_show_video_widget(); + bool show_video_widget; + VideoWidget* video_widget; + QFrame* video_frame; + + // --- misc --- + bool bEnableRoll; + bool bEnablePitch; + bool bEnableYaw; + bool bEnableX; + bool bEnableY; + bool bEnableZ; + + long frame_count; + Timer time; +}; + +#endif // FTNOIR_TRACKER_PT_H diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.qrc b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.qrc new file mode 100644 index 00000000..9b510981 --- /dev/null +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.qrc @@ -0,0 +1,10 @@ + + + Resources/icon.ico + Resources/cap_front.png + Resources/cap_side.png + Resources/clip_front.png + Resources/clip_side.png + Resources/Logo_IR.png + + diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp new file mode 100644 index 00000000..c99f4d67 --- /dev/null +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp @@ -0,0 +1,406 @@ +/* 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 "ftnoir_tracker_pt_dialog.h" + +#include +#include +#include +#include +#include + +using namespace std; + +//----------------------------------------------------------------------------- +TrackerDialog::TrackerDialog() + : settings_dirty(false), + tracker(NULL), + video_widget_dialog(NULL), + timer(this), + trans_calib_running(false) +{ + qDebug()<<"TrackerDialog::TrackerDialog"; + setAttribute(Qt::WA_DeleteOnClose, false); + + ui.setupUi( this ); + + settings.load_ini(); + dialog_settings.load_ini(); + + // initialize ui values + ui.videowidget_check->setChecked(settings.video_widget); + ui.dynpose_check->setChecked(settings.dyn_pose_res); + ui.sleep_spin->setValue(settings.sleep_time); + ui.reset_spin->setValue(settings.reset_time); + + vector device_names; + get_camera_device_names(device_names); + for (auto iter = device_names.begin(); iter != device_names.end(); ++iter) + { + ui.camdevice_combo->addItem(iter->c_str()); + } + ui.camdevice_combo->setCurrentIndex(settings.cam_index); + + ui.f_dspin->setValue(settings.cam_f); + ui.res_x_spin->setValue(settings.cam_res_x); + ui.res_y_spin->setValue(settings.cam_res_y); + ui.fps_spin->setValue(settings.cam_fps); + + ui.camroll_combo->addItem("-90", -1); + ui.camroll_combo->addItem("0" , 0); + ui.camroll_combo->addItem("90" , 1); + int i = ui.camroll_combo->findData(settings.cam_roll); + ui.camroll_combo->setCurrentIndex(i>=0 ? i : 0); + + ui.campitch_spin->setValue(settings.cam_pitch); + ui.camyaw_spin->setValue(settings.cam_yaw); + ui.threshold_slider->setValue(settings.threshold); + + ui.chkEnableRoll->setChecked(settings.bEnableRoll); + ui.chkEnablePitch->setChecked(settings.bEnablePitch); + ui.chkEnableYaw->setChecked(settings.bEnableYaw); + ui.chkEnableX->setChecked(settings.bEnableX); + ui.chkEnableY->setChecked(settings.bEnableY); + ui.chkEnableZ->setChecked(settings.bEnableZ); + + ui.mindiam_spin->setValue(settings.min_point_size); + ui.maxdiam_spin->setValue(settings.max_point_size); + ui.model_tabs->setCurrentIndex(dialog_settings.active_model_panel); + ui.clip_bheight_spin->setValue(dialog_settings.clip_by); + ui.clip_blength_spin->setValue(dialog_settings.clip_bz); + ui.clip_theight_spin->setValue(dialog_settings.clip_ty); + ui.clip_tlength_spin->setValue(dialog_settings.clip_tz); + ui.cap_width_spin->setValue(dialog_settings.cap_x); + ui.cap_height_spin->setValue(dialog_settings.cap_y); + ui.cap_length_spin->setValue(dialog_settings.cap_z); + ui.m1x_spin->setValue(dialog_settings.M01x); + ui.m1y_spin->setValue(dialog_settings.M01y); + ui.m1z_spin->setValue(dialog_settings.M01z); + ui.m2x_spin->setValue(dialog_settings.M02x); + ui.m2y_spin->setValue(dialog_settings.M02y); + ui.m2z_spin->setValue(dialog_settings.M02z); + ui.tx_spin->setValue(settings.t_MH[0]); + ui.ty_spin->setValue(settings.t_MH[1]); + ui.tz_spin->setValue(settings.t_MH[2]); + + // connect Qt signals and slots + connect( ui.videowidget_check,SIGNAL(toggled(bool)), this,SLOT(set_video_widget(bool)) ); + connect( ui.dynpose_check,SIGNAL(toggled(bool)), this,SLOT(set_dyn_pose_res(bool)) ); + connect( ui.sleep_spin,SIGNAL(valueChanged(int)), this,SLOT(set_sleep_time(int)) ); + connect( ui.reset_spin,SIGNAL(valueChanged(int)), this,SLOT(set_reset_time(int)) ); + connect( ui.camdevice_combo,SIGNAL(currentIndexChanged(int)), this,SLOT(set_cam_index(int)) ); + connect( ui.f_dspin,SIGNAL(valueChanged(double)), this,SLOT(set_cam_f(double)) ); + connect( ui.res_x_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cam_res_x(int)) ); + connect( ui.res_y_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cam_res_y(int)) ); + connect( ui.fps_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cam_fps(int)) ); + connect( ui.camroll_combo,SIGNAL(currentIndexChanged(int)), this,SLOT(set_cam_roll(int)) ); + connect( ui.campitch_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cam_pitch(int)) ); + connect( ui.camyaw_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cam_yaw(int)) ); + connect( ui.threshold_slider,SIGNAL(sliderMoved(int)), this,SLOT(set_threshold(int)) ); + + connect( ui.chkEnableRoll,SIGNAL(toggled(bool)), this,SLOT(set_ena_roll(bool)) ); + connect( ui.chkEnablePitch,SIGNAL(toggled(bool)), this,SLOT(set_ena_pitch(bool)) ); + connect( ui.chkEnableYaw,SIGNAL(toggled(bool)), this,SLOT(set_ena_yaw(bool)) ); + connect( ui.chkEnableX,SIGNAL(toggled(bool)), this,SLOT(set_ena_x(bool)) ); + connect( ui.chkEnableY,SIGNAL(toggled(bool)), this,SLOT(set_ena_y(bool)) ); + connect( ui.chkEnableZ,SIGNAL(toggled(bool)), this,SLOT(set_ena_z(bool)) ); + + connect( ui.mindiam_spin,SIGNAL(valueChanged(int)), this,SLOT(set_min_point_size(int)) ); + connect( ui.maxdiam_spin,SIGNAL(valueChanged(int)), this,SLOT(set_max_point_size(int)) ); + connect( ui.model_tabs,SIGNAL(currentChanged(int)), this,SLOT(set_model(int)) ); + connect( ui.clip_theight_spin,SIGNAL(valueChanged(int)), this,SLOT(set_clip_t_height(int)) ); + connect( ui.clip_tlength_spin,SIGNAL(valueChanged(int)), this,SLOT(set_clip_t_length(int)) ); + connect( ui.clip_bheight_spin,SIGNAL(valueChanged(int)), this,SLOT(set_clip_b_height(int)) ); + connect( ui.clip_blength_spin,SIGNAL(valueChanged(int)), this,SLOT(set_clip_b_length(int)) ); + connect( ui.cap_width_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cap_width(int)) ); + connect( ui.cap_height_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cap_height(int)) ); + connect( ui.cap_length_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cap_length(int)) ); + connect( ui.m1x_spin,SIGNAL(valueChanged(int)), this,SLOT(set_m1x(int)) ); + connect( ui.m1y_spin,SIGNAL(valueChanged(int)), this,SLOT(set_m1y(int)) ); + connect( ui.m1z_spin,SIGNAL(valueChanged(int)), this,SLOT(set_m1z(int)) ); + connect( ui.m2x_spin,SIGNAL(valueChanged(int)), this,SLOT(set_m2x(int)) ); + connect( ui.m2y_spin,SIGNAL(valueChanged(int)), this,SLOT(set_m2y(int)) ); + connect( ui.m2z_spin,SIGNAL(valueChanged(int)), this,SLOT(set_m2z(int)) ); + connect( ui.tx_spin,SIGNAL(valueChanged(int)), this,SLOT(set_tx(int)) ); + connect( ui.ty_spin,SIGNAL(valueChanged(int)), this,SLOT(set_ty(int)) ); + connect( ui.tz_spin,SIGNAL(valueChanged(int)), this,SLOT(set_tz(int)) ); + + connect( ui.tcalib_button,SIGNAL(toggled(bool)), this,SLOT(startstop_trans_calib(bool)) ); + + connect( ui.videowidget_button,SIGNAL(clicked()), this,SLOT(create_video_widget()) ); + + connect(ui.reset_button, SIGNAL(clicked()), this, SLOT(doReset())); + //connect(ui.center_button, SIGNAL(clicked()), this, SLOT(doCenter())); + + connect(ui.ok_button, SIGNAL(clicked()), this, SLOT(doOK())); + connect(ui.cancel_button, SIGNAL(clicked()), this, SLOT(doCancel())); + + connect(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info())); + timer.start(100); +} + +TrackerDialog::~TrackerDialog() +{ + qDebug()<<"TrackerDialog::~TrackerDialog"; +} + +void TrackerDialog::set_cam_roll(int idx) +{ + settings.cam_roll = ui.camroll_combo->itemData(idx).toInt(); + settings_changed(); +} + +void TrackerDialog::set_model_clip() +{ + settings.M01[0] = 0; + settings.M01[1] = dialog_settings.clip_ty; + settings.M01[2] = -dialog_settings.clip_tz; + settings.M02[0] = 0; + settings.M02[1] = -dialog_settings.clip_by; + settings.M02[2] = -dialog_settings.clip_bz; + + settings_changed(); +} + +void TrackerDialog::set_model_cap() +{ + settings.M01[0] = -dialog_settings.cap_x; + settings.M01[1] = -dialog_settings.cap_y; + settings.M01[2] = -dialog_settings.cap_z; + settings.M02[0] = dialog_settings.cap_x; + settings.M02[1] = -dialog_settings.cap_y; + settings.M02[2] = -dialog_settings.cap_z; + + settings_changed(); +} + +void TrackerDialog::set_model_custom() +{ + settings.M01[0] = dialog_settings.M01x; + settings.M01[1] = dialog_settings.M01y; + settings.M01[2] = dialog_settings.M01z; + settings.M02[0] = dialog_settings.M02x; + settings.M02[1] = dialog_settings.M02y; + settings.M02[2] = dialog_settings.M02z; + + settings_changed(); +} + +void TrackerDialog::set_model(int val) +{ + dialog_settings.active_model_panel = val; + + switch (val) { + + case TrackerDialogSettings::MODEL_CLIP: + set_model_clip(); + break; + + case TrackerDialogSettings::MODEL_CAP: + set_model_cap(); + break; + + case TrackerDialogSettings::MODEL_CUSTOM: + set_model_custom(); + break; + + default: + break; + } +} + +void TrackerDialog::startstop_trans_calib(bool start) +{ + if (start) + { + qDebug()<<"TrackerDialog:: Starting translation calibration"; + trans_calib.reset(); + trans_calib_running = true; + } + else + { + qDebug()<<"TrackerDialog:: Stoppping translation calibration"; + trans_calib_running = false; + settings.t_MH = trans_calib.get_estimate(); + settings_changed(); + } +} + +void TrackerDialog::trans_calib_step() +{ + if (tracker) + { + FrameTrafo X_CM; + tracker->get_pose(&X_CM); + trans_calib.update(X_CM.R, X_CM.t); + cv::Vec3f t_MH = trans_calib.get_estimate(); + //qDebug()<<"TrackerDialog:: Current translation estimate: "<setValue(t_MH[0]); + ui.ty_spin->setValue(t_MH[1]); + ui.tz_spin->setValue(t_MH[2]); + } +} + +void TrackerDialog::settings_changed() +{ + settings_dirty = true; + if (tracker) tracker->apply(settings); +} + +void TrackerDialog::doCenter() +{ + if (tracker) tracker->center(); +} + +void TrackerDialog::doReset() +{ + if (tracker) tracker->reset(); +} + +void TrackerDialog::doOK() +{ + settings.save_ini(); + dialog_settings.save_ini(); + close(); +} + +void TrackerDialog::doCancel() +{ + if (settings_dirty) { + int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", + QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel, QMessageBox::Discard ); + switch (ret) { + case QMessageBox::Save: + settings.save_ini(); + dialog_settings.save_ini(); + close(); + break; + case QMessageBox::Discard: + close(); + break; + case QMessageBox::Cancel: + // Cancel was clicked + break; + default: + // should never be reached + break; + } + } + else { + close(); + } +} + +void TrackerDialog::widget_destroyed(QObject* obj) +{ + if (obj == video_widget_dialog) { + // widget was / will be already deleted by Qt + destroy_video_widget(false); + } +} + +void TrackerDialog::create_video_widget() +{ + // this should not happen but better be sure + if (video_widget_dialog) destroy_video_widget(); + if (!tracker) return; + + video_widget_dialog = new VideoWidgetDialog(this, tracker); + video_widget_dialog->setAttribute( Qt::WA_DeleteOnClose ); + connect( video_widget_dialog, SIGNAL(destroyed(QObject*)), this, SLOT(widget_destroyed(QObject*)) ); + video_widget_dialog->show(); + + ui.videowidget_button->setEnabled(false); +} + +void TrackerDialog::destroy_video_widget(bool do_delete /*= true*/) +{ + if (video_widget_dialog) { + if (do_delete) delete video_widget_dialog; + video_widget_dialog = NULL; + } + if (tracker) ui.videowidget_button->setEnabled(true); +} + +void TrackerDialog::poll_tracker_info() +{ + if (tracker) + { + QString to_print; + + // display caminfo + CamInfo info; + tracker->get_cam_info(&info); + 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(); + + // update videowidget + if (video_widget_dialog) { + video_widget_dialog->get_video_widget()->update_frame_and_points(); + } + } + else + { + QString to_print = "Tracker offline"; + ui.caminfo_label->setText(to_print); + ui.pointinfo_label->setText(to_print); + } +} + + +//----------------------------------------------------------------------------- +// ITrackerDialog interface +void TrackerDialog::Initialize(QWidget *parent) +{ + QPoint offsetpos(200, 200); + if (parent) { + this->move(parent->pos() + offsetpos); + } + show(); +} + +void TrackerDialog::registerTracker(ITracker *t) +{ + qDebug()<<"TrackerDialog:: Tracker registered"; + tracker = static_cast(t); + if (isVisible() && settings_dirty) tracker->apply(settings); + ui.videowidget_button->setEnabled(true); + ui.tcalib_button->setEnabled(true); + //ui.center_button->setEnabled(true); + ui.reset_button->setEnabled(true); +} + +void TrackerDialog::unRegisterTracker() +{ + qDebug()<<"TrackerDialog:: Tracker un-registered"; + tracker = NULL; + destroy_video_widget(); + ui.videowidget_button->setEnabled(false); + ui.tcalib_button->setEnabled(false); + //ui.center_button->setEnabled(false); + ui.reset_button->setEnabled(false); +} + +//----------------------------------------------------------------------------- +#pragma comment(linker, "/export:GetTrackerDialog=_GetTrackerDialog@0") + +FTNOIR_TRACKER_BASE_EXPORT ITrackerDialogPtr __stdcall GetTrackerDialog( ) +{ + return new TrackerDialog; +} \ No newline at end of file diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h new file mode 100644 index 00000000..bf0a90f2 --- /dev/null +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h @@ -0,0 +1,116 @@ +/* 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 "..\ftnoir_tracker_base\ftnoir_tracker_base.h" +#include "ftnoir_tracker_pt_settings.h" +#include "ftnoir_tracker_pt.h" +#include "trans_calib.h" +#include "video_widget.h" +#include "ui_FTNoIR_PT_Controls.h" + +#include + +//----------------------------------------------------------------------------- +// The dialog that shows up when the user presses "Settings" +class TrackerDialog : public QWidget, Ui::UICPTClientControls, public ITrackerDialog +{ + Q_OBJECT +public: + TrackerDialog(); + ~TrackerDialog(); + + // ITrackerDialog interface + void Initialize(QWidget *parent); + void registerTracker(ITracker *tracker); + void unRegisterTracker(); + + void trans_calib_step(); + +protected slots: + // ugly qt stuff + void set_video_widget(bool val) { settings.video_widget = val; settings_changed(); } + void set_dyn_pose_res(bool val) { settings.dyn_pose_res = val; settings_changed(); } + void set_sleep_time(int val) { settings.sleep_time = val; settings_changed(); } + void set_reset_time(int val) { settings.reset_time = val; settings_changed(); } + void set_cam_index(int idx) { settings.cam_index = idx; settings_changed(); } + void set_cam_f(double val) { settings.cam_f = val; settings_changed(); } + void set_cam_res_x(int val) { settings.cam_res_x = val; settings_changed(); } + void set_cam_res_y(int val) { settings.cam_res_y = val; settings_changed(); } + void set_cam_fps(int val) { settings.cam_fps = val; settings_changed(); } + void set_cam_roll(int idx); + void set_cam_pitch(int val) { settings.cam_pitch = val; settings_changed(); } + void set_cam_yaw(int val) { settings.cam_yaw = val; settings_changed(); } + void set_min_point_size(int val) { settings.min_point_size = val; settings_changed(); } + void set_max_point_size(int val) { settings.max_point_size = val; settings_changed(); } + void set_threshold(int val) { settings.threshold = val; settings_changed(); } + void set_ena_roll(bool val) { settings.bEnableRoll = val; settings_changed(); } + void set_ena_pitch(bool val) { settings.bEnablePitch = val; settings_changed(); } + void set_ena_yaw(bool val) { settings.bEnableYaw = val; settings_changed(); } + void set_ena_x(bool val) { settings.bEnableX = val; settings_changed(); } + void set_ena_y(bool val) { settings.bEnableY = val; settings_changed(); } + void set_ena_z(bool val) { settings.bEnableZ = val; settings_changed(); } + + void set_clip_t_height(int val) { dialog_settings.clip_ty = val; set_model_clip(); } + void set_clip_t_length(int val) { dialog_settings.clip_tz = val; set_model_clip(); } + void set_clip_b_height(int val) { dialog_settings.clip_by = val; set_model_clip(); } + void set_clip_b_length(int val) { dialog_settings.clip_bz = val; set_model_clip(); } + void set_cap_width(int val) { dialog_settings.cap_x = val; set_model_cap(); } + void set_cap_height(int val) { dialog_settings.cap_y = val; set_model_cap(); } + void set_cap_length(int val) { dialog_settings.cap_z = val; set_model_cap(); } + void set_m1x(int val) { dialog_settings.M01x = val; set_model_custom(); } + void set_m1y(int val) { dialog_settings.M01y = val; set_model_custom(); } + void set_m1z(int val) { dialog_settings.M01z = val; set_model_custom(); } + void set_m2x(int val) { dialog_settings.M02x = val; set_model_custom(); } + void set_m2y(int val) { dialog_settings.M02y = val; set_model_custom(); } + void set_m2z(int val) { dialog_settings.M02z = val; set_model_custom(); } + void set_tx(int val) { settings.t_MH[0] = val; settings_changed(); } + void set_ty(int val) { settings.t_MH[1] = val; settings_changed(); } + void set_tz(int val) { settings.t_MH[2] = val; settings_changed(); } + void set_model(int model_id); + + void doCenter(); + void doReset(); + + void doOK(); + void doCancel(); + + void startstop_trans_calib(bool start); + + void widget_destroyed(QObject* obj); + + void create_video_widget(); + + void poll_tracker_info(); + +protected: + void destroy_video_widget(bool do_delete = true); + + void set_model_clip(); + void set_model_cap(); + void set_model_custom(); + + void settings_changed(); + + TrackerSettings settings; + TrackerDialogSettings dialog_settings; + bool settings_dirty; + + Tracker* tracker; + QTimer timer; + + VideoWidgetDialog* video_widget_dialog; + + TranslationCalibrator trans_calib; + bool trans_calib_running; + + Ui::UICPTClientControls ui; +}; + +#endif //FTNOIR_TRACKER_PT_DIALOG_H \ No newline at end of file diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.cpp new file mode 100644 index 00000000..3a73f679 --- /dev/null +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.cpp @@ -0,0 +1,40 @@ +/* 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 "ftnoir_tracker_pt_dll.h" + +#include + +//----------------------------------------------------------------------------- +void TrackerDll::getFullName(QString *strToBeFilled) +{ + *strToBeFilled = "PointTracker 1.1"; +} + +void TrackerDll::getShortName(QString *strToBeFilled) +{ + *strToBeFilled = "PointTracker"; +} + +void TrackerDll::getDescription(QString *strToBeFilled) +{ + *strToBeFilled = "Tracks a 3-point model with know geometry like Freetrack / TrackIR"; +} + +void TrackerDll::getIcon(QIcon *icon) +{ + *icon = QIcon(":/Resources/icon.ico"); +} + + +//----------------------------------------------------------------------------- +#pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0") + +FTNOIR_TRACKER_BASE_EXPORT ITrackerDllPtr __stdcall GetTrackerDll() +{ + return new TrackerDll; +} diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.h new file mode 100644 index 00000000..15ad63aa --- /dev/null +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.h @@ -0,0 +1,19 @@ +/* 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 "..\ftnoir_tracker_base\ftnoir_tracker_base.h" + +//----------------------------------------------------------------------------- +class TrackerDll : public ITrackerDll +{ + // ITrackerDll interface + void Initialize() {} + void getFullName(QString *strToBeFilled); + void getShortName(QString *strToBeFilled); + void getDescription(QString *strToBeFilled); + void getIcon(QIcon *icon); +}; \ No newline at end of file diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp new file mode 100644 index 00000000..13ef49ec --- /dev/null +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp @@ -0,0 +1,154 @@ +/* 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 "ftnoir_tracker_pt.h" +#include +#include + +//----------------------------------------------------------------------------- +void TrackerSettings::load_ini() +{ + qDebug("TrackerSettings::load_ini()"); + + QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // Registry settings (in HK_USER) + QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString(); + QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file) + + iniFile.beginGroup( "PointTracker" ); + + cam_index = iniFile.value("CameraId", 0).toInt(); + cam_f = iniFile.value("CameraF", 1).toFloat(); + cam_res_x = iniFile.value("CameraResX", 640).toInt(); + cam_res_y = iniFile.value("CameraResY", 480).toInt(); + cam_fps = iniFile.value("CameraFPS", 30).toInt(); + cam_roll = iniFile.value("CameraRoll", 0).toInt(); + cam_pitch = iniFile.value("CameraPitch", 0).toInt(); + cam_yaw = iniFile.value("CameraYaw", 0).toInt(); + threshold = iniFile.value("PointExtractThreshold", 128).toInt(); + min_point_size = iniFile.value("PointExtractMinSize", 2).toInt(); + max_point_size = iniFile.value("PointExtractMaxSize", 50).toInt(); + M01[0] = iniFile.value("PointModelM01x", 0).toFloat(); + M01[1] = iniFile.value("PointModelM01y", 40).toFloat(); + M01[2] = iniFile.value("PointModelM01z", -30).toFloat(); + M02[0] = iniFile.value("PointModelM02x", 0).toFloat(); + M02[1] = iniFile.value("PointModelM02y", -70).toFloat(); + M02[2] = iniFile.value("PointModelM02z", -80).toFloat(); + t_MH[0] = iniFile.value("tMHx", 0).toFloat(); + t_MH[1] = iniFile.value("tMHy", 0).toFloat(); + t_MH[2] = iniFile.value("tMHz", 0).toFloat(); + dyn_pose_res = iniFile.value("DynamicPoseResolution", true).toBool(); + video_widget = iniFile.value("VideoWidget", true).toBool(); + sleep_time = iniFile.value("SleepTime", 10).toInt(); + reset_time = iniFile.value("ResetTime", 1000).toInt(); + + bEnableRoll = iniFile.value("EnableRoll", 1).toBool(); + bEnablePitch = iniFile.value("EnablePitch", 1).toBool(); + bEnableYaw = iniFile.value("EnableYaw", 1).toBool(); + bEnableX = iniFile.value("EnableX", 1).toBool(); + bEnableY = iniFile.value("EnableY", 1).toBool(); + bEnableZ = iniFile.value("EnableZ", 1).toBool(); + + iniFile.endGroup(); +} + +void TrackerSettings::save_ini() const +{ + qDebug("TrackerSettings::save_ini()"); + + QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // Registry settings (in HK_USER) + QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString(); + QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file) + + iniFile.beginGroup ( "PointTracker" ); + + iniFile.setValue("CameraId", cam_index); + iniFile.setValue("CameraF", cam_f); + iniFile.setValue("CameraResX", cam_res_x); + iniFile.setValue("CameraResY", cam_res_y); + iniFile.setValue("CameraFPS", cam_fps); + iniFile.setValue("CameraRoll", cam_roll); + iniFile.setValue("CameraPitch", cam_pitch); + iniFile.setValue("CameraYaw", cam_yaw); + iniFile.setValue("PointExtractThreshold", threshold); + iniFile.setValue("PointExtractMinSize", min_point_size); + iniFile.setValue("PointExtractMaxSize", max_point_size); + iniFile.setValue("PointModelM01x", M01[0]); + iniFile.setValue("PointModelM01y", M01[1]); + iniFile.setValue("PointModelM01z", M01[2]); + iniFile.setValue("PointModelM02x", M02[0]); + iniFile.setValue("PointModelM02y", M02[1]); + iniFile.setValue("PointModelM02z", M02[2]); + iniFile.setValue("tMHx", t_MH[0]); + iniFile.setValue("tMHy", t_MH[1]); + iniFile.setValue("tMHz", t_MH[2]); + iniFile.setValue("DynamicPoseResolution", dyn_pose_res); + iniFile.setValue("VideoWidget", video_widget); + iniFile.setValue("SleepTime", sleep_time); + iniFile.setValue("ResetTime", reset_time); + + iniFile.setValue( "EnableRoll", bEnableRoll ); + iniFile.setValue( "EnablePitch", bEnablePitch ); + iniFile.setValue( "EnableYaw", bEnableYaw ); + iniFile.setValue( "EnableX", bEnableX ); + iniFile.setValue( "EnableY", bEnableY ); + iniFile.setValue( "EnableZ", bEnableZ ); + + iniFile.endGroup(); +} + +//----------------------------------------------------------------------------- +void TrackerDialogSettings::load_ini() +{ + qDebug("TrackerDialogSettings::load_ini()"); + + QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // Registry settings (in HK_USER) + QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString(); + QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file) + + iniFile.beginGroup( "PointTrackerDialog" ); + + active_model_panel = iniFile.value("ActiveModelPanel", MODEL_CLIP).toInt(); + M01x = iniFile.value("CustomM01x", 0).toInt(); + M01y = iniFile.value("CustomM01y", 40).toInt(); + M01z = iniFile.value("CustomM01z", -30).toInt(); + M02x = iniFile.value("CustomM02x", 0).toInt(); + M02y = iniFile.value("CustomM02y", -70).toInt(); + M02z = iniFile.value("CustomM02z", -80).toInt(); + clip_ty = iniFile.value("ClipTopHeight", 40).toInt(); + clip_tz = iniFile.value("ClipTopLength", 30).toInt(); + clip_by = iniFile.value("ClipBottomHeight", 70).toInt(); + clip_bz = iniFile.value("ClipBottomLength", 80).toInt(); + cap_x = iniFile.value("CapHalfWidth", 40).toInt(); + cap_y = iniFile.value("CapHeight", 60).toInt(); + cap_z = iniFile.value("CapLength", 100).toInt(); +} + +void TrackerDialogSettings::save_ini() const +{ + qDebug("TrackerDialogSettings::save_ini()"); + + QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // Registry settings (in HK_USER) + QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString(); + QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file) + + iniFile.beginGroup ( "PointTrackerDialog" ); + + iniFile.setValue("ActiveModelPanel", active_model_panel); + iniFile.setValue("CustomM01x", M01x); + iniFile.setValue("CustomM01y", M01y); + iniFile.setValue("CustomM01z", M01z); + iniFile.setValue("CustomM02x", M02x); + iniFile.setValue("CustomM02y", M02y); + iniFile.setValue("CustomM02z", M02z); + iniFile.setValue("ClipTopHeight", clip_ty); + iniFile.setValue("ClipTopLength", clip_tz); + iniFile.setValue("ClipBottomHeight", clip_by); + iniFile.setValue("ClipBottomLength", clip_bz); + iniFile.setValue("CapHalfWidth", cap_x); + iniFile.setValue("CapHeight", cap_y); + iniFile.setValue("CapLength", cap_z); +} \ No newline at end of file diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h new file mode 100644 index 00000000..1cf60853 --- /dev/null +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h @@ -0,0 +1,88 @@ +/* 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_SETTINGS_H +#define FTNOIR_TRACKER_PT_SETTINGS_H + +#include +#include "point_tracker.h" + + +//----------------------------------------------------------------------------- +// Tracker settings and their ini-IO +struct TrackerSettings +{ + // camera + int cam_index; + float cam_f; + int cam_res_x; + int cam_res_y; + int cam_fps; + int cam_roll; + int cam_pitch; + int cam_yaw; + + // point extraction + int threshold; + int min_point_size; + int max_point_size; + + // point tracking + cv::Vec3f M01; + cv::Vec3f M02; + bool dyn_pose_res; + + // head to model translation + cv::Vec3f t_MH; + + int sleep_time; // in ms + int reset_time; // in ms + bool video_widget; + + bool bEnableRoll; + bool bEnablePitch; + bool bEnableYaw; + bool bEnableX; + bool bEnableY; + bool bEnableZ; + + void load_ini(); + void save_ini() const; +}; + + +//----------------------------------------------------------------------------- +// Settings specific to the tracker dialog and their ini-IO +struct TrackerDialogSettings +{ + enum + { + MODEL_CLIP, + MODEL_CAP, + MODEL_CUSTOM + }; + int active_model_panel; + + int M01x; + int M01y; + int M01z; + int M02x; + int M02y; + int M02z; + int clip_ty; + int clip_tz; + int clip_by; + int clip_bz; + int cap_x; + int cap_y; + int cap_z; + + void load_ini(); + void save_ini() const; +}; + +#endif //FTNOIR_TRACKER_PT_SETTINGS_H \ No newline at end of file diff --git a/FTNoIR_Tracker_PT/point_extractor.cpp b/FTNoIR_Tracker_PT/point_extractor.cpp new file mode 100644 index 00000000..76a152a7 --- /dev/null +++ b/FTNoIR_Tracker_PT/point_extractor.cpp @@ -0,0 +1,101 @@ +/* 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 "point_extractor.h" +#include + +using namespace cv; +using namespace std; + +// ---------------------------------------------------------------------------- +const vector& PointExtractor::extract_points(Mat frame, float dt, bool draw_output) +{ + const int W = frame.cols; + const int H = frame.rows; + + // clear old points + points.clear(); + + // convert to grayscale + Mat frame_gray; + cvtColor(frame, frame_gray, CV_RGB2GRAY); + + // convert to binary + Mat frame_bin; + threshold(frame_gray, frame_bin, threshold_val, 255, THRESH_BINARY); + + unsigned int region_size_min = 3.14*min_size*min_size/4.0; + unsigned int region_size_max = 3.14*max_size*max_size/4.0; + + int blob_index = 1; + for (int y=0; y= 255) break; + for (int x=0; x= 255) break; + + // find connected components with floodfill + if (frame_bin.at(y,x) != 255) continue; + Rect rect; + floodFill(frame_bin, Point(x,y), Scalar(blob_index), &rect, Scalar(0), Scalar(0), FLOODFILL_FIXED_RANGE); + blob_index++; + + // calculate the size of the connected component + unsigned int region_size = 0; + for (int i=rect.y; i < (rect.y+rect.height); i++) + { + for (int j=rect.x; j < (rect.x+rect.width); j++) + { + if (frame_bin.at(i,j) != blob_index-1) continue; + region_size++; + } + } + + if (region_size < region_size_min || region_size > region_size_max) continue; + + // calculate the center of mass: + // mx = (sum_ij j*f(frame_grey_ij)) / (sum_ij f(frame_grey_ij)) + // my = ... + // f maps from [threshold,256] -> [0, 1], lower values are mapped to 0 + float m = 0; + float mx = 0; + float my = 0; + for (int i=rect.y; i < (rect.y+rect.height); i++) + { + for (int j=rect.x; j < (rect.x+rect.width); j++) + { + if (frame_bin.at(i,j) != blob_index-1) continue; + float val = frame_gray.at(i,j); + val = float(val - threshold_val)/(256 - threshold_val); + val = val*val; // makes it more stable (less emphasis on low values, more on the peak) + m += val; + mx += j * val; + my += i * val; + } + } + + // convert to centered camera coordinate system with y axis upwards + Vec2f c; + c[0] = (mx/m - W/2)/W; + c[1] = -(my/m - H/2)/W; + points.push_back(c); + } + } + + // draw output image + if (draw_output) { + vector channels; + frame_bin.setTo(170, frame_bin); + channels.push_back(frame_gray + frame_bin); + channels.push_back(frame_gray - frame_bin); + channels.push_back(frame_gray - frame_bin); + merge(channels, frame); + } + + return points; +} diff --git a/FTNoIR_Tracker_PT/point_extractor.h b/FTNoIR_Tracker_PT/point_extractor.h new file mode 100644 index 00000000..b142d2bb --- /dev/null +++ b/FTNoIR_Tracker_PT/point_extractor.h @@ -0,0 +1,31 @@ +/* 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 POINTEXTRACTOR_H +#define POINTEXTRACTOR_H + +#include + +// ---------------------------------------------------------------------------- +// Extracts points from an opencv image +class PointExtractor +{ +public: + // extracts points from frame and draws some processing info into frame, if draw_output is set + // dt: time since last call in seconds + // WARNING: returned reference is valid as long as object + const std::vector& extract_points(cv::Mat frame, float dt, bool draw_output); + const std::vector& get_points() { return points; } + + int threshold_val; + int min_size, max_size; + +protected: + std::vector points; +}; + +#endif //POINTEXTRACTOR_H diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp new file mode 100644 index 00000000..acde9154 --- /dev/null +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -0,0 +1,359 @@ +/* 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 "point_tracker.h" + +#include +#include +#include + +#include + +using namespace cv; +using namespace boost; +using namespace std; + +const float PI = 3.14159265358979323846f; + +// ---------------------------------------------------------------------------- +static void get_row(const Matx33f& m, int i, Vec3f& v) +{ + v[0] = m(i,0); + v[1] = m(i,1); + v[2] = m(i,2); +} + +static void set_row(Matx33f& m, int i, const Vec3f& v) +{ + m(i,0) = v[0]; + m(i,1) = v[1]; + m(i,2) = v[2]; +} + +// ---------------------------------------------------------------------------- +PointModel::PointModel(Vec3f M01, Vec3f M02) + : M01(M01), + M02(M02) +{ + // calculate u + u = M01.cross(M02); + u /= norm(u); + + // calculate projection matrix on M01,M02 plane + float s11 = M01.dot(M01); + float s12 = M01.dot(M02); + float s22 = M02.dot(M02); + P = 1.0/(s11*s22-s12*s12) * Matx22f(s22, -s12, + -s12, s11); + + // calculate d and d_order for simple freetrack-like point correspondence + vector points; + points.push_back(Vec2f(0,0)); + points.push_back(Vec2f(M01[0], M01[1])); + points.push_back(Vec2f(M02[0], M02[1])); + // fit line to orthographically projected points + // ERROR: yields wrong results with colinear points?! + /* + Vec4f line; + fitLine(points, line, CV_DIST_L2, 0, 0.01, 0.01); + d[0] = line[0]; d[1] = line[1]; + */ + // TODO: fix this + d = Vec2f(M01[0]-M02[0], M01[1]-M02[1]); + + // sort model points + get_d_order(points, d_order); +} + +void PointModel::get_d_order(const std::vector& points, int d_order[]) const +{ + // get sort indices with respect to d scalar product + vector< pair > d_vals; + for (int i = 0; i(d.dot(points[i]), i)); + + struct + { + bool operator()(const pair& a, const pair& b) { return a.first < b.first; } + } comp; + sort(d_vals.begin(), d_vals.end(), comp); + + for (int i = 0; i& points, float f, float dt) +{ + if (!dynamic_pose_resolution) init_phase = true; + + dt_valid += dt; + // if there was no valid tracking result for too long, do a reset + if (dt_valid > dt_reset) + { + //qDebug()<<"dt_valid "< dt_reset "<& points, float f) +{ + if (init_phase) { + // We do a simple freetrack-like sorting in the init phase... + // sort points + int point_d_order[PointModel::N_POINTS]; + point_model->get_d_order(points, point_d_order); + + // set correspondences + for (int i=0; id_order[i]] = points[point_d_order[i]]; + } + } + else { + // ... otherwise we look at the distance to the projection of the expected model points + // project model points under current pose + p_exp[0] = project(Vec3f(0,0,0), f); + p_exp[1] = project(point_model->M01, f); + p_exp[2] = project(point_model->M02, f); + + // set correspondences by minimum distance to projected model point + bool point_taken[PointModel::N_POINTS]; + for (int i=0; iM01)/Z0; + epsilon_2 = k.dot(point_model->M02)/Z0; + + // vector of scalar products and + Vec2f I0_M0i(p[1][0]*(1.0 + epsilon_1) - p[0][0], + p[2][0]*(1.0 + epsilon_2) - p[0][0]); + Vec2f J0_M0i(p[1][1]*(1.0 + epsilon_1) - p[0][1], + p[2][1]*(1.0 + epsilon_2) - p[0][1]); + + // construct projection of I, J onto M0i plane: I0 and J0 + I0_coeff = point_model->P * I0_M0i; + J0_coeff = point_model->P * J0_M0i; + I0 = I0_coeff[0]*point_model->M01 + I0_coeff[1]*point_model->M02; + J0 = J0_coeff[0]*point_model->M01 + J0_coeff[1]*point_model->M02; + + // calculate u component of I, J + float II0 = I0.dot(I0); + float IJ0 = I0.dot(J0); + float JJ0 = J0.dot(J0); + float rho, theta; + if (JJ0 == II0) { + rho = sqrt(abs(2*IJ0)); + theta = -PI/4; + if (IJ0<0) theta *= -1; + } + else { + rho = sqrt(sqrt( (JJ0-II0)*(JJ0-II0) + 4*IJ0*IJ0 )); + theta = atan( -2*IJ0 / (JJ0-II0) ); + if (JJ0 - II0 < 0) theta += PI; + theta /= 2; + } + + // construct the two solutions + I_1 = I0 + rho*cos(theta)*point_model->u; + I_2 = I0 - rho*cos(theta)*point_model->u; + + J_1 = J0 + rho*sin(theta)*point_model->u; + J_2 = J0 - rho*sin(theta)*point_model->u; + + float norm_const = 1.0/norm(I_1); // all have the same norm + + // create rotation matrices + I_1 *= norm_const; J_1 *= norm_const; + I_2 *= norm_const; J_2 *= norm_const; + + set_row(R_1, 0, I_1); + set_row(R_1, 1, J_1); + set_row(R_1, 2, I_1.cross(J_1)); + + set_row(R_2, 0, I_2); + set_row(R_2, 1, J_2); + set_row(R_2, 2, I_2.cross(J_2)); + + // the single translation solution + Z0 = norm_const * f; + + // pick the rotation solution closer to the expected one + // in simple metric d(A,B) = || I - A * B^T || + float R_1_deviation = norm(Matx33f::eye() - R_expected * R_1.t()); + float R_2_deviation = norm(Matx33f::eye() - R_expected * R_2.t()); + + if (R_1_deviation < R_2_deviation) + R_current = &R_1; + else + R_current = &R_2; + + get_row(*R_current, 2, k); + + // check for convergence condition + if (abs(epsilon_1 - old_epsilon_1) + abs(epsilon_2 - old_epsilon_2) < EPS_THRESHOLD) + break; + old_epsilon_1 = epsilon_1; + old_epsilon_2 = epsilon_2; + } + + // apply results + X_CM.R = *R_current; + X_CM.t[0] = p[0][0] * Z0/f; + X_CM.t[1] = p[0][1] * Z0/f; + X_CM.t[2] = Z0; + + return i; + + //Rodrigues(X_CM.R, r); + //qDebug()<<"iter: "< +#include +#include + +// ---------------------------------------------------------------------------- +// Affine frame trafo +class FrameTrafo +{ +public: + FrameTrafo() : R(cv::Matx33f::eye()), t(0,0,0) {} + FrameTrafo(const cv::Matx33f& R, const cv::Vec3f& t) : R(R),t(t) {} + + cv::Matx33f R; + cv::Vec3f t; +}; + +inline FrameTrafo operator*(const FrameTrafo& X, const FrameTrafo& Y) +{ + return FrameTrafo(X.R*Y.R, X.R*Y.t + X.t); +} + +inline FrameTrafo operator*(const cv::Matx33f& X, const FrameTrafo& Y) +{ + return FrameTrafo(X*Y.R, X*Y.t); +} + +inline FrameTrafo operator*(const FrameTrafo& X, const cv::Matx33f& Y) +{ + return FrameTrafo(X.R*Y, X.t); +} + +inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3f& v) +{ + return X.R*v + X.t; +} + + +// ---------------------------------------------------------------------------- +// Describes a 3-point model +// nomenclature as in +// [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"] +class PointModel +{ + friend class PointTracker; +public: + static const int N_POINTS = 3; + + PointModel(cv::Vec3f M01, cv::Vec3f M02); + + const cv::Vec3f& get_M01() const { return M01; }; + const cv::Vec3f& get_M02() const { return M02; }; + +protected: + cv::Vec3f M01; // M01 in model frame + cv::Vec3f M02; // M02 in model frame + + cv::Vec3f u; // unit vector perpendicular to M01,M02-plane + + cv::Matx22f P; + + cv::Vec2f d; // discriminant vector for point correspondence + int d_order[3]; // sorting of projected model points with respect to d scalar product + + void get_d_order(const std::vector& points, int d_order[]) const; +}; + +// ---------------------------------------------------------------------------- +// Tracks a 3-point model +// implementing the POSIT algorithm for coplanar points as presented in +// [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"] +class PointTracker +{ +public: + PointTracker(); + + // track the pose using the set of normalized point coordinates (x pos in range -0.5:0.5) + // f : (focal length)/(sensor width) + // dt : time since last call + bool track(const std::vector& points, float f, float dt); + boost::shared_ptr point_model; + + bool dynamic_pose_resolution; + float dt_reset; + + FrameTrafo get_pose() const { return X_CM; } + void reset(); + +protected: + inline cv::Vec2f project(const cv::Vec3f& v_M, float f) + { + cv::Vec3f v_C = X_CM * v_M; + return cv::Vec2f(f*v_C[0]/v_C[2], f*v_C[1]/v_C[2]); + } + + bool find_correspondences(const std::vector& points, float f); + + cv::Vec2f p[PointModel::N_POINTS]; // the points in model order + cv::Vec2f p_exp[PointModel::N_POINTS]; // the expected point positions + + void predict(float dt); + void update_velocities(float dt); + void reset_velocities(); + + + int POSIT(float f); // The POSIT algorithm, returns the number of iterations + + bool init_phase; + float dt_valid; // time since last valid tracking result + cv::Vec3f v_t; // velocities + cv::Vec3f v_r; + FrameTrafo X_CM; // trafo from model to camera + FrameTrafo X_CM_old; +}; + +#endif //POINTTRACKER_H diff --git a/FTNoIR_Tracker_PT/resource.h b/FTNoIR_Tracker_PT/resource.h new file mode 100644 index 00000000..c14e94ad --- /dev/null +++ b/FTNoIR_Tracker_PT/resource.h @@ -0,0 +1,14 @@ +//{{NO_DEPENDENCIES}} +// Microsoft Visual C++ generated include file. +// Used by FTNoIR_Tracker_PT.rc + +// Next default values for new objects +// +#ifdef APSTUDIO_INVOKED +#ifndef APSTUDIO_READONLY_SYMBOLS +#define _APS_NEXT_RESOURCE_VALUE 101 +#define _APS_NEXT_COMMAND_VALUE 40001 +#define _APS_NEXT_CONTROL_VALUE 1001 +#define _APS_NEXT_SYMED_VALUE 101 +#endif +#endif diff --git a/FTNoIR_Tracker_PT/timer.cpp b/FTNoIR_Tracker_PT/timer.cpp new file mode 100644 index 00000000..363b5b09 --- /dev/null +++ b/FTNoIR_Tracker_PT/timer.cpp @@ -0,0 +1,66 @@ +/* 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 "timer.h" + +#include + +// ---------------------------------------------------------------------------- +Timer::Timer() +: startTime(0), endTime(0), running(false) +{ +#ifdef WIN32 + QueryPerformanceFrequency(&frequency); + startCount.QuadPart = 0; + endCount.QuadPart = 0; +#else + startCount.tv_sec = startCount.tv_usec = 0; + endCount.tv_sec = endCount.tv_usec = 0; +#endif +} + + +void Timer::start() +{ +#ifdef WIN32 + QueryPerformanceCounter(&startCount); +#else + gettimeofday(&startCount, NULL); +#endif + running = true; +} + + +void Timer::stop() +{ +#ifdef WIN32 + QueryPerformanceCounter(&endCount); +#else + gettimeofday(&endCount, NULL); +#endif + running = false; +} + + +double Timer::elapsed() +{ +#ifdef WIN32 + if (running) + QueryPerformanceCounter(&endCount); + + startTime = startCount.QuadPart * (1e3 / frequency.QuadPart); + endTime = endCount.QuadPart * (1e3 / frequency.QuadPart); +#else + if(!stopped) + gettimeofday(&endCount, NULL); + + startTime = (startCount.tv_sec * 1e3) + startCount.tv_usec; + endTime = (endCount.tv_sec * 1e3) + endCount.tv_usec; +#endif + + return endTime - startTime; +} \ No newline at end of file diff --git a/FTNoIR_Tracker_PT/timer.h b/FTNoIR_Tracker_PT/timer.h new file mode 100644 index 00000000..f189e23c --- /dev/null +++ b/FTNoIR_Tracker_PT/timer.h @@ -0,0 +1,44 @@ +/* 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 PT_TIMER_H +#define PT_TIMER_H + +#ifdef WIN32 // Windows system specific +#include +#else // Unix based system specific +#include +#endif + +// ---------------------------------------------------------------------------- +// High resolution timer based on http://www.songho.ca/misc/timer/timer.html +class Timer +{ +public: + Timer(); + + void start(); + void stop(); + void restart() { start(); } // for Qt compatibility + double elapsed(); // get elapsed time in ms + +protected: + double startTime; // starting time in ms + double endTime; // ending time in ms + bool running; + +#ifdef WIN32 + LARGE_INTEGER frequency; // ticks per second + LARGE_INTEGER startCount; + LARGE_INTEGER endCount; +#else + timeval startCount; + timeval endCount; +#endif +}; + +#endif //PT_TIMER_H \ No newline at end of file diff --git a/FTNoIR_Tracker_PT/trans_calib.cpp b/FTNoIR_Tracker_PT/trans_calib.cpp new file mode 100644 index 00000000..9b75a1b6 --- /dev/null +++ b/FTNoIR_Tracker_PT/trans_calib.cpp @@ -0,0 +1,44 @@ +/* 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" + +using namespace cv; + +//----------------------------------------------------------------------------- +TranslationCalibrator::TranslationCalibrator() +{ + reset(); +} + +void TranslationCalibrator::reset() +{ + P = Matx66f::zeros(); + y = Vec6f(0,0,0, 0,0,0); +} + +void TranslationCalibrator::update(const Matx33f& R_CM_k, const Vec3f& t_CM_k) +{ + Matx H_k_T = Matx::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; +} + +Vec3f TranslationCalibrator::get_estimate() +{ + Vec6f x = P.inv() * y; + return Vec3f(-x[0], -x[1], -x[2]); +} \ No newline at end of file diff --git a/FTNoIR_Tracker_PT/trans_calib.h b/FTNoIR_Tracker_PT/trans_calib.h new file mode 100644 index 00000000..f2521690 --- /dev/null +++ b/FTNoIR_Tracker_PT/trans_calib.h @@ -0,0 +1,39 @@ +/* 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 + +//----------------------------------------------------------------------------- +// 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(); + +protected: + cv::Matx66f P; // normalized precision matrix = inverse covariance + cv::Vec6f y; // P*(-t_MH, t_CH) +}; + +#endif //TRANSCALIB_H \ No newline at end of file diff --git a/FTNoIR_Tracker_PT/video_widget.cpp b/FTNoIR_Tracker_PT/video_widget.cpp new file mode 100644 index 00000000..236faaf7 --- /dev/null +++ b/FTNoIR_Tracker_PT/video_widget.cpp @@ -0,0 +1,119 @@ +/* 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. + * + * 20130312, WVR: Add 7 lines to resizeGL after resize_frame. This should lower CPU-load. + */ + +#include "video_widget.h" + +#include +#include + +using namespace cv; +using namespace std; +using namespace boost; + +// ---------------------------------------------------------------------------- +void VideoWidget::initializeGL() +{ + glClearColor(0.0, 0.0, 0.0, 0.0); + glMatrixMode(GL_MODELVIEW); + glLoadIdentity(); +} + +void VideoWidget::resizeGL(int w, int h) +{ + // setup 1 to 1 projection + glViewport(0, 0, w, h); + glMatrixMode(GL_PROJECTION); + glLoadIdentity(); + glOrtho(0, w, 0, h, -1, 1); + resize_frame(); + glDisable(GL_DEPTH_TEST); + glBegin(GL_QUADS); + glVertex2f(0,0); + glVertex2f(1,0); + glVertex2f(1,1); + glVertex2f(0,1); + glEnd(); +} + +void VideoWidget::paintGL() +{ + glClear(GL_COLOR_BUFFER_BIT); + if (!resized_qframe.isNull()) + { + glDrawPixels(resized_qframe.width(), resized_qframe.height(), GL_RGBA, GL_UNSIGNED_BYTE, resized_qframe.bits()); + + const int crosshair_radius = 10; + const int crosshair_thickness = 1; + + if (points) + { + glColor3f(1.0, 0.0, 0.0); + glLineWidth(crosshair_thickness); + int x,y; + for (vector::iterator iter = points->begin(); + iter != points->end(); + ++iter) + { + x = (*iter)[0] * resized_qframe.width() + resized_qframe.width()/2.0 + 0.5; + y = (*iter)[1] * resized_qframe.width() + resized_qframe.height()/2.0 + 0.5; + + glBegin(GL_LINES); + glVertex2i(x-crosshair_radius, y); + glVertex2i(x+crosshair_radius, y); + glEnd(); + glBegin(GL_LINES); + glVertex2i(x, y-crosshair_radius); + glVertex2i(x, y+crosshair_radius); + glEnd(); + } + } + } + glFlush(); +} + + +void VideoWidget::resize_frame() +{ + if (!qframe.isNull()) + resized_qframe = qframe.scaled(this->size(), Qt::KeepAspectRatio); +} + + +void VideoWidget::update_frame_and_points() +{ + if (!get_frame_and_points(frame, points)) return; + + // convert to QImage + if (frame.channels() == 3) + qframe = QImage((const unsigned char*)(frame.data), frame.cols, frame.rows, frame.step, QImage::Format_RGB888).rgbSwapped(); + else if (frame.channels() == 1) + qframe = QImage((const unsigned char*)(frame.data), frame.cols, frame.rows, frame.step, QImage::Format_Indexed8); + qframe = QGLWidget::convertToGLFormat(qframe); + + resize_frame(); + updateGL(); +} + +// ---------------------------------------------------------------------------- +VideoWidgetDialog::VideoWidgetDialog(QWidget *parent, FrameProvider* provider) + : QDialog(parent), + video_widget(NULL) +{ + const int VIDEO_FRAME_WIDTH = 640; + const int VIDEO_FRAME_HEIGHT = 480; + + video_widget = new VideoWidget(this, provider); + + QHBoxLayout* layout = new QHBoxLayout(); + layout->setContentsMargins(0, 0, 0, 0); + layout->addWidget(video_widget); + if (this->layout()) delete this->layout(); + setLayout(layout); + resize(VIDEO_FRAME_WIDTH, VIDEO_FRAME_HEIGHT); +} \ No newline at end of file diff --git a/FTNoIR_Tracker_PT/video_widget.h b/FTNoIR_Tracker_PT/video_widget.h new file mode 100644 index 00000000..dd5fb642 --- /dev/null +++ b/FTNoIR_Tracker_PT/video_widget.h @@ -0,0 +1,58 @@ +/* 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 VIDEOWIDGET_H +#define VIDEOWIDGET_H + +#include "frame_observer.h" + +#include +#include +#include +#include +#include + +// ---------------------------------------------------------------------------- +// OpenGL based widget to display an OpenCV image with some points on top +class VideoWidget : public QGLWidget, public FrameObserver +{ + Q_OBJECT + +public: + VideoWidget(QWidget *parent, FrameProvider* provider) : QGLWidget(parent), FrameObserver(provider) {} + + virtual void initializeGL(); + virtual void resizeGL(int w, int h); + virtual void paintGL(); + + void update_frame_and_points(); + +private: + void resize_frame(); + + cv::Mat frame; + QImage qframe; + QImage resized_qframe; + + boost::shared_ptr< std::vector > points; +}; + +// ---------------------------------------------------------------------------- +// A VideoWidget embedded in a dialog frame +class VideoWidgetDialog : public QDialog +{ +public: + VideoWidgetDialog(QWidget *parent, FrameProvider* provider); + virtual ~VideoWidgetDialog() {} + + VideoWidget* get_video_widget() { return video_widget; } + +private: + VideoWidget* video_widget; +}; + +#endif // VIDEOWIDGET_H -- cgit v1.2.3 From 490f3ddb79018d13182fc17bb92943bbe427643d Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 15 Sep 2013 15:00:56 +0200 Subject: New PT from Patrick Ruoff adapted to Linux --- CMakeLists.txt | 2 + FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui | 4 +- FTNoIR_Tracker_PT/boost-compat.h | 6 ++ FTNoIR_Tracker_PT/camera.cpp | 135 ++++++++++++++++++++----- FTNoIR_Tracker_PT/camera.h | 96 +++++++++--------- FTNoIR_Tracker_PT/frame_observer.cpp | 4 +- FTNoIR_Tracker_PT/frame_observer.h | 8 +- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 56 ++++++++-- FTNoIR_Tracker_PT/ftnoir_tracker_pt.h | 33 +++++- FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp | 15 ++- FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h | 6 +- FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.cpp | 10 +- FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.h | 18 +++- FTNoIR_Tracker_PT/point_extractor.cpp | 2 +- FTNoIR_Tracker_PT/point_extractor.h | 1 + FTNoIR_Tracker_PT/point_tracker.cpp | 31 +++++- FTNoIR_Tracker_PT/point_tracker.h | 6 +- FTNoIR_Tracker_PT/timer.cpp | 4 +- FTNoIR_Tracker_PT/video_widget.cpp | 58 ++++++++--- FTNoIR_Tracker_PT/video_widget.h | 47 ++++++++- facetracknoir/rotation.h | 18 ++-- facetracknoir/tracker_types.cpp | 12 +-- 22 files changed, 422 insertions(+), 150 deletions(-) create mode 100644 FTNoIR_Tracker_PT/boost-compat.h (limited to 'FTNoIR_Tracker_PT') diff --git a/CMakeLists.txt b/CMakeLists.txt index 0669fb74..6c5bed0f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -7,6 +7,8 @@ SET(CMAKE_SKIP_INSTALL_RPATH FALSE) SET(CMAKE_SKIP_RPATH FALSE) SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}") +add_definitions(-DOPENTRACK_API) + if(WIN32) SET(SDK_FACEAPI_ONLY FALSE CACHE BOOL "FaceAPI only (MSVC 2005)") endif() diff --git a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui index 7bb7eb50..1495249a 100644 --- a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui +++ b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui @@ -9,8 +9,8 @@ 0 0 - 395 - 552 + 458 + 590 diff --git a/FTNoIR_Tracker_PT/boost-compat.h b/FTNoIR_Tracker_PT/boost-compat.h new file mode 100644 index 00000000..aea5e1a2 --- /dev/null +++ b/FTNoIR_Tracker_PT/boost-compat.h @@ -0,0 +1,6 @@ +#pragma once +#include +#define shared_ptr auto_ptr +namespace boost { + using std::auto_ptr; +}; diff --git a/FTNoIR_Tracker_PT/camera.cpp b/FTNoIR_Tracker_PT/camera.cpp index 21a910c1..a372373d 100644 --- a/FTNoIR_Tracker_PT/camera.cpp +++ b/FTNoIR_Tracker_PT/camera.cpp @@ -10,6 +10,69 @@ using namespace cv; +#if defined(OPENTRACK_API) && (defined(__unix) || defined(__linux)) +#include +#endif + +#ifdef OPENTRACK_API +void get_camera_device_names(std::vector& device_names) { +# if defined(_WIN32) + // Create the System Device Enumerator. + HRESULT hr; + ICreateDevEnum *pSysDevEnum = NULL; + hr = CoCreateInstance(CLSID_SystemDeviceEnum, NULL, CLSCTX_INPROC_SERVER, IID_ICreateDevEnum, (void **)&pSysDevEnum); + if (FAILED(hr)) + { + return ret; + } + // Obtain a class enumerator for the video compressor category. + IEnumMoniker *pEnumCat = NULL; + hr = pSysDevEnum->CreateClassEnumerator(CLSID_VideoInputDeviceCategory, &pEnumCat, 0); + + if (hr == S_OK) { + // Enumerate the monikers. + IMoniker *pMoniker = NULL; + ULONG cFetched; + while (pEnumCat->Next(1, &pMoniker, &cFetched) == S_OK) { + IPropertyBag *pPropBag; + hr = pMoniker->BindToStorage(0, 0, IID_IPropertyBag, (void **)&pPropBag); + if (SUCCEEDED(hr)) { + // To retrieve the filter's friendly name, do the following: + VARIANT varName; + VariantInit(&varName); + hr = pPropBag->Read(L"FriendlyName", &varName, 0); + if (SUCCEEDED(hr)) + { + device_names.push_back(std::string(reinterpret_cast(varName.bstrVal))); + } + VariantClear(&varName); + + ////// To create an instance of the filter, do the following: + ////IBaseFilter *pFilter; + ////hr = pMoniker->BindToObject(NULL, NULL, IID_IBaseFilter, + //// (void**)&pFilter); + // Now add the filter to the graph. + //Remember to release pFilter later. + pPropBag->Release(); + } + pMoniker->Release(); + } + pEnumCat->Release(); + } + pSysDevEnum->Release(); +# else + for (int i = 0; i < 16; i++) { + char buf[128]; + sprintf(buf, "/dev/video%d", i); + if (access(buf, R_OK | W_OK) == 0) { + device_names.push_back(std::string(buf)); + } else { + continue; + } + } +# endif +} +#else // ---------------------------------------------------------------------------- void get_camera_device_names(std::vector& device_names) { @@ -22,6 +85,7 @@ void get_camera_device_names(std::vector& device_names) device_names.push_back(device_name); } } +#endif // ---------------------------------------------------------------------------- void Camera::set_device_index(int index) @@ -81,43 +145,49 @@ bool Camera::get_frame(float dt, cv::Mat* frame) } // ---------------------------------------------------------------------------- -/* +#ifdef OPENTRACK_API void CVCamera::start() { - cap = cvCreateCameraCapture(desired_index); + cap = new VideoCapture(desired_index); // extract camera info - if (cap) + if (cap->isOpened()) { active = true; active_index = desired_index; - cam_info.res_x = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_WIDTH); - cam_info.res_y = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_HEIGHT); + cam_info.res_x = cap->get(CV_CAP_PROP_FRAME_WIDTH); + cam_info.res_y = cap->get(CV_CAP_PROP_FRAME_HEIGHT); } + else { + delete cap; + cap = NULL; + } } void CVCamera::stop() { - if (cap) cvReleaseCapture(&cap); + if (cap) + { + cap->release(); + delete cap; + } active = false; } bool CVCamera::_get_frame(Mat* frame) { - if (cap && cvGrabFrame(cap) != 0) + if (cap) { - // retrieve frame - IplImage* _img = cvRetrieveFrame(cap, 0); - if(_img) - { - if(_img->origin == IPL_ORIGIN_TL) - *frame = Mat(_img); - else - { - Mat temp(_img); - flip(temp, *frame, 0); - } - return true; - } + Mat img; + /* + * XXX some Windows webcams fail to decode first + * frames and then some every once in a while + * -sh + */ + while (!cap->read(img))\ + ;; + + *frame = img; + return true; } return false; } @@ -134,21 +204,30 @@ void CVCamera::_set_f() void CVCamera::_set_fps() { - if (cap) cvSetCaptureProperty(cap, CV_CAP_PROP_FPS, cam_desired.fps); + if (cap) cap->set(CV_CAP_PROP_FPS, cam_desired.fps); } void CVCamera::_set_res() { if (cap) { - cvSetCaptureProperty(cap, CV_CAP_PROP_FRAME_WIDTH, cam_desired.res_x); - cvSetCaptureProperty(cap, CV_CAP_PROP_FRAME_HEIGHT, cam_desired.res_y); - cam_info.res_x = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_WIDTH); - cam_info.res_y = cvGetCaptureProperty(cap, CV_CAP_PROP_FRAME_HEIGHT); + cap->set(CV_CAP_PROP_FRAME_WIDTH, cam_desired.res_x); + cap->set(CV_CAP_PROP_FRAME_HEIGHT, cam_desired.res_y); + cam_info.res_x = cap->get(CV_CAP_PROP_FRAME_WIDTH); + cam_info.res_y = cap->get(CV_CAP_PROP_FRAME_HEIGHT); } } -*/ +void CVCamera::_set_device_index() +{ + if (cap) + { + cap->release(); + delete cap; + } + cap = new VideoCapture(desired_index); +} +#else // ---------------------------------------------------------------------------- VICamera::VICamera() : frame_buffer(NULL) { @@ -234,7 +313,7 @@ void VICamera::_set_res() { if (active) restart(); } - +#endif // ---------------------------------------------------------------------------- Mat FrameRotation::rotate_frame(Mat frame) @@ -260,4 +339,4 @@ Mat FrameRotation::rotate_frame(Mat frame) default: return frame; } -} \ No newline at end of file +} diff --git a/FTNoIR_Tracker_PT/camera.h b/FTNoIR_Tracker_PT/camera.h index c0876d0a..d1a8104c 100644 --- a/FTNoIR_Tracker_PT/camera.h +++ b/FTNoIR_Tracker_PT/camera.h @@ -9,8 +9,13 @@ #define CAMERA_H #include -#include "videoInput/videoInput.h" -#include +#ifndef OPENTRACK_API +# include +#else +# include "FTNoIR_Tracker_PT/boost-compat.h" +# include +# include +#endif #include // ---------------------------------------------------------------------------- @@ -33,50 +38,50 @@ struct CamInfo class Camera { public: - Camera() : dt_valid(0), dt_mean(0), desired_index(0), active_index(-1), active(false) {} - virtual ~Camera() {} + Camera() : dt_valid(0), dt_mean(0), desired_index(0), active_index(-1), active(false) {} + virtual ~Camera() {} - // start/stop capturing - virtual void start() = 0; - virtual void stop() = 0; - void restart() { stop(); start(); } + // start/stop capturing + virtual void start() = 0; + virtual void stop() = 0; + void restart() { stop(); start(); } - // calls corresponding template methods and reinitializes frame rate calculation - void set_device_index(int index); - void set_f(float f); - void set_fps(int fps); - void set_res(int x_res, int y_res); + // calls corresponding template methods and reinitializes frame rate calculation + void set_device_index(int index); + void set_f(float f); + void set_fps(int fps); + void set_res(int x_res, int y_res); - // gets a frame from the camera, dt: time since last call in seconds - bool get_frame(float dt, cv::Mat* frame); + // gets a frame from the camera, dt: time since last call in seconds + bool get_frame(float dt, cv::Mat* frame); - // WARNING: returned references are valid as long as object - const CamInfo& get_info() const { return cam_info; } - const CamInfo& get_desired() const { return cam_desired; } + // WARNING: returned references are valid as long as object + const CamInfo& get_info() const { return cam_info; } + const CamInfo& get_desired() const { return cam_desired; } protected: - // get a frame from the camera - virtual bool _get_frame(cv::Mat* frame) = 0; - - // update the camera using cam_desired, write res and f to cam_info if successful - virtual void _set_device_index() = 0; - virtual void _set_f() = 0; - virtual void _set_fps() = 0; - virtual void _set_res() = 0; - - bool active; - int desired_index; - int active_index; - CamInfo cam_info; - CamInfo cam_desired; - float dt_valid; - float dt_mean; + // get a frame from the camera + virtual bool _get_frame(cv::Mat* frame) = 0; + + // update the camera using cam_desired, write res and f to cam_info if successful + virtual void _set_device_index() = 0; + virtual void _set_f() = 0; + virtual void _set_fps() = 0; + virtual void _set_res() = 0; + + bool active; + int desired_index; + int active_index; + CamInfo cam_info; + CamInfo cam_desired; + float dt_valid; + float dt_mean; }; // ---------------------------------------------------------------------------- // camera based on OpenCV's videoCapture -/* +#ifdef OPENTRACK_API class CVCamera : public Camera { public: @@ -92,11 +97,11 @@ protected: virtual void _set_f(); virtual void _set_fps(); virtual void _set_res(); + virtual void _set_device_index(); - CvCapture* cap; + cv::VideoCapture* cap; }; -*/ - +#else // ---------------------------------------------------------------------------- // Camera based on the videoInput library class VICamera : public Camera @@ -119,19 +124,20 @@ protected: cv::Mat new_frame; unsigned char* frame_buffer; }; +#endif +enum RotationType +{ + CLOCKWISE = -1, + ZERO = 0, + COUNTER_CLOCKWISE = 1 +}; // ---------------------------------------------------------------------------- class FrameRotation { public: - typedef enum Rotation - { - CLOCKWISE = -1, - ZERO = 0, - COUNTER_CLOCKWISE = 1 - }; - Rotation rotation; + RotationType rotation; cv::Mat rotate_frame(cv::Mat frame); }; diff --git a/FTNoIR_Tracker_PT/frame_observer.cpp b/FTNoIR_Tracker_PT/frame_observer.cpp index 7e4bb3e3..281f3d57 100644 --- a/FTNoIR_Tracker_PT/frame_observer.cpp +++ b/FTNoIR_Tracker_PT/frame_observer.cpp @@ -11,8 +11,8 @@ FrameProvider::~FrameProvider() { QMutexLocker lock(&observer_mutex); - for (auto iter=frame_observers.begin(); iter!=frame_observers.end(); ++iter) + for (std::set::iterator iter=frame_observers.begin(); iter!=frame_observers.end(); ++iter) { (*iter)->on_frame_provider_destroy(); } -} \ No newline at end of file +} diff --git a/FTNoIR_Tracker_PT/frame_observer.h b/FTNoIR_Tracker_PT/frame_observer.h index 4afbd72c..585a6ee7 100644 --- a/FTNoIR_Tracker_PT/frame_observer.h +++ b/FTNoIR_Tracker_PT/frame_observer.h @@ -10,7 +10,11 @@ #include #include -#include +#ifndef OPENTRACK_API +# include +#else +# include "FTNoIR_Tracker_PT/boost-compat.h" +#endif #include //----------------------------------------------------------------------------- @@ -69,4 +73,4 @@ private: FrameObserver(const FrameObserver&); }; -#endif //FRAME_OBSERVER_H \ No newline at end of file +#endif //FRAME_OBSERVER_H diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index 88a3fc8d..d4741101 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -12,6 +12,10 @@ #include #include +#ifdef OPENTRACK_API +# define VideoWidget VideoWidget2 +#endif + using namespace std; using namespace cv; using namespace boost; @@ -92,6 +96,9 @@ void Tracker::run() const std::vector& points = point_extractor.extract_points(frame, dt, has_observers()); tracking_valid = point_tracker.track(points, camera.get_info().f, dt); frame_count++; +#ifdef OPENTRACK_API + video_widget->update_image(frame); +#endif } #ifdef PT_PERF_LOG log_stream<<"dt: "<(settings.cam_roll); + frame_rotation.rotation = static_cast(settings.cam_roll); point_extractor.threshold_val = settings.threshold; point_extractor.min_size = settings.min_point_size; - point_extractor.max_size = settings.max_point_size; - point_tracker.point_model = boost::shared_ptr(new PointModel(settings.M01, settings.M02)); - point_tracker.dynamic_pose_resolution = settings.dyn_pose_res; + point_extractor.max_size = settings.max_point_size; +#ifdef OPENTRACK_API + point_tracker.point_model.reset(new PointModel(settings.M01, settings.M02)); +#else + point_tracker.point_model = boost::shared_ptr(new PointModel(settings.M01, settings.M02)); +#endif + point_tracker.dynamic_pose_resolution = settings.dyn_pose_res; sleep_time = settings.sleep_time; point_tracker.dt_reset = settings.reset_time / 1000.0; show_video_widget = settings.video_widget; @@ -181,7 +192,6 @@ void Tracker::update_show_video_widget() { const int VIDEO_FRAME_WIDTH = 252; const int VIDEO_FRAME_HEIGHT = 189; - video_widget = new VideoWidget(video_frame, this); QHBoxLayout* video_layout = new QHBoxLayout(); video_layout->setContentsMargins(0, 0, 0, 0); @@ -208,15 +218,28 @@ void Tracker::refreshVideo() if (video_widget) video_widget->update_frame_and_points(); } +#ifdef OPENTRACK_API +void Tracker::StartTracker(QFrame *parent_window) +#else void Tracker::StartTracker(HWND parent_window) +#endif { +#ifdef OPENTRACK_API + Initialize(parent_window); +#endif reset_command(PAUSE); } +#ifndef OPENTRACK_API void Tracker::StopTracker(bool exit) { set_command(PAUSE); } +#endif + +#ifdef OPENTRACK_API +#define THeadPoseData double +#endif bool Tracker::GiveHeadPoseData(THeadPoseData *data) { @@ -228,14 +251,20 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data) FrameTrafo X_CM = point_tracker.get_pose(); FrameTrafo X_MH(Matx33f::eye(), t_MH); FrameTrafo X_GH = R_GC * X_CM * X_MH; - Matx33f R = X_GH.R * X_GH_0.R.t(); + Matx33f R = X_GH.R * X_GH_0.R.t(); Vec3f t = X_GH.t - X_GH_0.t; +#ifndef OPENTRACK_API // get translation(s) if (bEnableX) data->x = t[0] / 10.0; // convert to cm if (bEnableY) data->y = t[1] / 10.0; if (bEnableZ) data->z = t[2] / 10.0; - +#else + // get translation(s) + if (bEnableX) data[TX] = t[0] / 10.0; // convert to cm + if (bEnableY) data[TY] = t[1] / 10.0; + if (bEnableZ) data[TZ] = t[2] / 10.0; +#endif // translate rotation matrix from opengl (G) to roll-pitch-yaw (E) frame // -z -> x, y -> z, x -> -y Matx33f R_EG( 0, 0,-1, @@ -249,17 +278,26 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data) alpha = atan2( R(1,0), R(0,0)); gamma = atan2( R(2,1), R(2,2)); +#ifndef OPENTRACK_API if (bEnableYaw) data->yaw = rad2deg * alpha; if (bEnablePitch) data->pitch = - rad2deg * beta; // FTNoIR expects a minus here if (bEnableRoll) data->roll = rad2deg * gamma; +#else + if (bEnableYaw) data[Yaw] = rad2deg * alpha; + if (bEnablePitch) data[Pitch] = - rad2deg * beta; // FTNoIR expects a minus here + if (bEnableRoll) data[Roll] = rad2deg * gamma; +#endif } return true; } //----------------------------------------------------------------------------- +#ifdef OPENTRACK_API +extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor() +#else #pragma comment(linker, "/export:GetTracker=_GetTracker@0") - FTNOIR_TRACKER_BASE_EXPORT ITrackerPtr __stdcall GetTracker() +#endif { return new Tracker; -} \ No newline at end of file +} diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h index 6eef945a..867378d1 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h @@ -8,7 +8,12 @@ #ifndef FTNOIR_TRACKER_PT_H #define FTNOIR_TRACKER_PT_H -#include "..\ftnoir_tracker_base\ftnoir_tracker_base.h" +#ifdef OPENTRACK_API +# include "ftnoir_tracker_base/ftnoir_tracker_base.h" +# include "facetracknoir/global-settings.h" +#else +# include "..\ftnoir_tracker_base\ftnoir_tracker_base.h" +#endif #include "ftnoir_tracker_pt_settings.h" #include "frame_observer.h" #include "camera.h" @@ -19,9 +24,14 @@ #include #include +#include #include #include -#include +#ifndef OPENTRACK_API +# include +#else +# include "FTNoIR_Tracker_PT/boost-compat.h" +#endif #include //----------------------------------------------------------------------------- @@ -34,10 +44,16 @@ public: // --- ITracker interface --- virtual void Initialize(QFrame *videoframe); +#ifdef OPENTRACK_API + virtual void StartTracker(QFrame* parent_window); + virtual void WaitForExit() {} + virtual bool GiveHeadPoseData(double* data); +#else virtual void StartTracker(HWND parent_window); - virtual void StopTracker(bool exit); - virtual bool GiveHeadPoseData(THeadPoseData *data); - virtual void refreshVideo(); + virtual void StopTracker(bool exit); + virtual bool GiveHeadPoseData(THeadPoseData *data); +#endif + virtual void refreshVideo(); void apply(const TrackerSettings& settings); void center(); @@ -66,7 +82,12 @@ protected: int sleep_time; // --- tracking chain --- +#ifdef OPENTRACK_API +#define VideoWidget VideoWidget2 + CVCamera camera; +#else VICamera camera; +#endif FrameRotation frame_rotation; PointExtractor point_extractor; PointTracker point_tracker; @@ -96,4 +117,6 @@ protected: Timer time; }; +#undef VideoWidget + #endif // FTNOIR_TRACKER_PT_H diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp index c99f4d67..fe995163 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp @@ -10,7 +10,11 @@ #include #include #include -#include +#ifndef OPENTRACK_API +# include +#else +# include "FTNoIR_Tracker_PT/boost-compat.h" +#endif #include using namespace std; @@ -39,7 +43,7 @@ TrackerDialog::TrackerDialog() vector device_names; get_camera_device_names(device_names); - for (auto iter = device_names.begin(); iter != device_names.end(); ++iter) + for (vector::iterator iter = device_names.begin(); iter != device_names.end(); ++iter) { ui.camdevice_combo->addItem(iter->c_str()); } @@ -398,9 +402,12 @@ void TrackerDialog::unRegisterTracker() } //----------------------------------------------------------------------------- +#ifdef OPENTRACK_API +extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) +#else #pragma comment(linker, "/export:GetTrackerDialog=_GetTrackerDialog@0") - FTNOIR_TRACKER_BASE_EXPORT ITrackerDialogPtr __stdcall GetTrackerDialog( ) +#endif { return new TrackerDialog; -} \ No newline at end of file +} diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h index bf0a90f2..14df7ede 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h @@ -8,7 +8,11 @@ #ifndef FTNOIR_TRACKER_PT_DIALOG_H #define FTNOIR_TRACKER_PT_DIALOG_H +#ifdef OPENTRACK_API +#include "ftnoir_tracker_base/ftnoir_tracker_base.h" +#else #include "..\ftnoir_tracker_base\ftnoir_tracker_base.h" +#endif #include "ftnoir_tracker_pt_settings.h" #include "ftnoir_tracker_pt.h" #include "trans_calib.h" @@ -113,4 +117,4 @@ protected: Ui::UICPTClientControls ui; }; -#endif //FTNOIR_TRACKER_PT_DIALOG_H \ No newline at end of file +#endif //FTNOIR_TRACKER_PT_DIALOG_H diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.cpp index 3a73f679..be1705c0 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.cpp @@ -6,7 +6,6 @@ */ #include "ftnoir_tracker_pt_dll.h" - #include //----------------------------------------------------------------------------- @@ -31,10 +30,13 @@ void TrackerDll::getIcon(QIcon *icon) } -//----------------------------------------------------------------------------- -#pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0") - +#ifdef OPENTRACK_API +# include "facetracknoir/global-settings.h" +extern "C" FTNOIR_TRACKER_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +#else +# pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0") FTNOIR_TRACKER_BASE_EXPORT ITrackerDllPtr __stdcall GetTrackerDll() +#endif { return new TrackerDll; } diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.h index 15ad63aa..18283837 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.h +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.h @@ -5,15 +5,27 @@ * copyright notice and this permission notice appear in all copies. */ -#include "..\ftnoir_tracker_base\ftnoir_tracker_base.h" +#if defined(OPENTRACK_API) +# include "ftnoir_tracker_base/ftnoir_tracker_base.h" +# include "facetracknoir/global-settings.h" +#else +# include "../ftnoir_tracker_base/ftnoir_tracker_base.h" +#endif //----------------------------------------------------------------------------- -class TrackerDll : public ITrackerDll +class TrackerDll : +#if defined(OPENTRACK_API) + public Metadata +#else + public ITrackerDll +#endif { // ITrackerDll interface +#ifndef OPENTRACK_API void Initialize() {} +#endif void getFullName(QString *strToBeFilled); void getShortName(QString *strToBeFilled); void getDescription(QString *strToBeFilled); void getIcon(QIcon *icon); -}; \ No newline at end of file +}; diff --git a/FTNoIR_Tracker_PT/point_extractor.cpp b/FTNoIR_Tracker_PT/point_extractor.cpp index 76a152a7..261de60f 100644 --- a/FTNoIR_Tracker_PT/point_extractor.cpp +++ b/FTNoIR_Tracker_PT/point_extractor.cpp @@ -22,7 +22,7 @@ const vector& PointExtractor::extract_points(Mat frame, float dt, bool dr // convert to grayscale Mat frame_gray; - cvtColor(frame, frame_gray, CV_RGB2GRAY); + cvtColor(frame, frame_gray, CV_RGB2GRAY); // convert to binary Mat frame_bin; diff --git a/FTNoIR_Tracker_PT/point_extractor.h b/FTNoIR_Tracker_PT/point_extractor.h index b142d2bb..c62d34f9 100644 --- a/FTNoIR_Tracker_PT/point_extractor.h +++ b/FTNoIR_Tracker_PT/point_extractor.h @@ -9,6 +9,7 @@ #define POINTEXTRACTOR_H #include +#include // ---------------------------------------------------------------------------- // Extracts points from an opencv image diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index acde9154..8b508897 100644 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -69,6 +69,13 @@ PointModel::PointModel(Vec3f M01, Vec3f M02) get_d_order(points, d_order); } +#ifdef OPENTRACK_API +static bool d_vals_sort(const pair a, const pair b) +{ + return a.first < b.first; +} +#endif + void PointModel::get_d_order(const std::vector& points, int d_order[]) const { // get sort indices with respect to d scalar product @@ -77,10 +84,17 @@ void PointModel::get_d_order(const std::vector& points, int d_order[] d_vals.push_back(pair(d.dot(points[i]), i)); struct - { - bool operator()(const pair& a, const pair& b) { return a.first < b.first; } - } comp; - sort(d_vals.begin(), d_vals.end(), comp); + { + bool operator()(const pair& a, const pair& b) { return a.first < b.first; } + } comp; + std::sort(d_vals.begin(), + d_vals.end(), +#ifdef OPENTRACK_API + d_vals_sort +#else + comp +#endif + ); for (int i = 0; i& points, float f, float dt) reset(); } + bool no_model = +#ifdef OPENTRACK_API + point_model.get() == NULL; +#else + !point_model; +#endif + // if there is a pointtracking problem, reset the velocities - if (!point_model || points.size() != PointModel::N_POINTS) + if (no_model || points.size() != PointModel::N_POINTS) { //qDebug()<<"Wrong number of points!"; reset_velocities(); diff --git a/FTNoIR_Tracker_PT/point_tracker.h b/FTNoIR_Tracker_PT/point_tracker.h index f52e9dd7..11034100 100644 --- a/FTNoIR_Tracker_PT/point_tracker.h +++ b/FTNoIR_Tracker_PT/point_tracker.h @@ -9,7 +9,11 @@ #define POINTTRACKER_H #include -#include +#ifndef OPENTRACK_API +# include +#else +# include "FTNoIR_Tracker_PT/boost-compat.h" +#endif #include // ---------------------------------------------------------------------------- diff --git a/FTNoIR_Tracker_PT/timer.cpp b/FTNoIR_Tracker_PT/timer.cpp index 363b5b09..ed7606e5 100644 --- a/FTNoIR_Tracker_PT/timer.cpp +++ b/FTNoIR_Tracker_PT/timer.cpp @@ -55,7 +55,7 @@ double Timer::elapsed() startTime = startCount.QuadPart * (1e3 / frequency.QuadPart); endTime = endCount.QuadPart * (1e3 / frequency.QuadPart); #else - if(!stopped) + if(running) gettimeofday(&endCount, NULL); startTime = (startCount.tv_sec * 1e3) + startCount.tv_usec; @@ -63,4 +63,4 @@ double Timer::elapsed() #endif return endTime - startTime; -} \ No newline at end of file +} diff --git a/FTNoIR_Tracker_PT/video_widget.cpp b/FTNoIR_Tracker_PT/video_widget.cpp index 236faaf7..0d31620f 100644 --- a/FTNoIR_Tracker_PT/video_widget.cpp +++ b/FTNoIR_Tracker_PT/video_widget.cpp @@ -14,8 +14,10 @@ using namespace cv; using namespace std; +#ifndef OPENTRACK_API using namespace boost; - +#endif +#ifndef OPENTRACK_API // ---------------------------------------------------------------------------- void VideoWidget::initializeGL() { @@ -100,20 +102,44 @@ void VideoWidget::update_frame_and_points() updateGL(); } +#else +void VideoWidget2::update_image(const cv::Mat& frame) +{ + QMutexLocker foo(&mtx); + QImage qframe = QImage(frame.cols, frame.rows, QImage::Format_RGB888); + uchar* data = qframe.bits(); + const int pitch = qframe.bytesPerLine(); + for (int y = 0; y < frame.rows; y++) + for (int x = 0; x < frame.cols; x++) + { + const int pos = 3 * (y*frame.cols + x); + data[y * pitch + x * 3 + 0] = frame.data[pos + 2]; + data[y * pitch + x * 3 + 1] = frame.data[pos + 1]; + data[y * pitch + x * 3 + 2] = frame.data[pos + 0]; + } + qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation); + pixmap = QPixmap::fromImage(qframe); +} +#endif + // ---------------------------------------------------------------------------- -VideoWidgetDialog::VideoWidgetDialog(QWidget *parent, FrameProvider* provider) - : QDialog(parent), - video_widget(NULL) +VideoWidgetDialog::VideoWidgetDialog(QWidget *parent, FrameProvider* provider) + : QDialog(parent), + video_widget(NULL) { - const int VIDEO_FRAME_WIDTH = 640; - const int VIDEO_FRAME_HEIGHT = 480; - - video_widget = new VideoWidget(this, provider); - - QHBoxLayout* layout = new QHBoxLayout(); - layout->setContentsMargins(0, 0, 0, 0); - layout->addWidget(video_widget); - if (this->layout()) delete this->layout(); - setLayout(layout); - resize(VIDEO_FRAME_WIDTH, VIDEO_FRAME_HEIGHT); -} \ No newline at end of file + const int VIDEO_FRAME_WIDTH = 640; + const int VIDEO_FRAME_HEIGHT = 480; + +#ifdef OPENTRACK_API + video_widget = new VideoWidget2(this, provider); +#else + video_widget = new VideoWidget(this, provider); +#endif + + QHBoxLayout* layout = new QHBoxLayout(); + layout->setContentsMargins(0, 0, 0, 0); + layout->addWidget(video_widget); + if (this->layout()) delete this->layout(); + setLayout(layout); + resize(VIDEO_FRAME_WIDTH, VIDEO_FRAME_HEIGHT); +} diff --git a/FTNoIR_Tracker_PT/video_widget.h b/FTNoIR_Tracker_PT/video_widget.h index dd5fb642..3164dacc 100644 --- a/FTNoIR_Tracker_PT/video_widget.h +++ b/FTNoIR_Tracker_PT/video_widget.h @@ -10,12 +10,23 @@ #include "frame_observer.h" -#include #include #include #include -#include +#ifndef OPENTRACK_API +# include +# include +#else +# include "FTNoIR_Tracker_PT/boost-compat.h" +# if defined(_WIN32) +# include +# endif +#endif +#include +#include +#include +#ifndef OPENTRACK_API // ---------------------------------------------------------------------------- // OpenGL based widget to display an OpenCV image with some points on top class VideoWidget : public QGLWidget, public FrameObserver @@ -23,7 +34,7 @@ class VideoWidget : public QGLWidget, public FrameObserver Q_OBJECT public: - VideoWidget(QWidget *parent, FrameProvider* provider) : QGLWidget(parent), FrameObserver(provider) {} + VideoWidget(QWidget *parent, FrameProvider* provider) : QGLWidget(parent), FrameObserver(provider) {} virtual void initializeGL(); virtual void resizeGL(int w, int h); @@ -40,19 +51,45 @@ private: boost::shared_ptr< std::vector > points; }; +#else +/* Qt moc likes to skip over preprocessor directives -sh */ +class VideoWidget2 : public QWidget, public FrameObserver +{ + Q_OBJECT + +public: + VideoWidget2(QWidget *parent, FrameProvider* provider) : QWidget(parent), /* to avoid linker errors */ FrameObserver(provider) { + connect(&timer, SIGNAL(timeout()), this, SLOT(update())); + timer.start(45); + } + void update_image(const cv::Mat &frame); + void update_frame_and_points() {} +protected slots: + void paintEvent( QPaintEvent* e ) { + QMutexLocker foo(&mtx); + QPainter painter(this); + painter.drawPixmap(e->rect(), pixmap, e->rect()); + } +private: + QMutex mtx; + QPixmap pixmap; + QTimer timer; +}; +#endif // ---------------------------------------------------------------------------- // A VideoWidget embedded in a dialog frame class VideoWidgetDialog : public QDialog { + Q_OBJECT public: VideoWidgetDialog(QWidget *parent, FrameProvider* provider); virtual ~VideoWidgetDialog() {} - VideoWidget* get_video_widget() { return video_widget; } + VideoWidget2* get_video_widget() { return video_widget; } private: - VideoWidget* video_widget; + VideoWidget2* video_widget; }; #endif // VIDEOWIDGET_H diff --git a/facetracknoir/rotation.h b/facetracknoir/rotation.h index e97ec0f0..747a23f9 100644 --- a/facetracknoir/rotation.h +++ b/facetracknoir/rotation.h @@ -9,15 +9,15 @@ #define ROTATION_H #include // ---------------------------------------------------------------------------- -class Rotation { +class RotationType { public: - Rotation() : a(1.0),b(0.0),c(0.0),d(0.0) {} - Rotation(double yaw, double pitch, double roll) { fromEuler(yaw, pitch, roll); } - Rotation(double a, double b, double c, double d) : a(a),b(b),c(c),d(d) {} + RotationType() : a(1.0),b(0.0),c(0.0),d(0.0) {} + RotationType(double yaw, double pitch, double roll) { fromEuler(yaw, pitch, roll); } + RotationType(double a, double b, double c, double d) : a(a),b(b),c(c),d(d) {} - Rotation inv(){ // inverse - return Rotation(a,-b,-c, -d); + RotationType inv(){ // inverse + return RotationType(a,-b,-c, -d); } @@ -46,10 +46,10 @@ public: yaw = atan2(2.0*(a*d + b*c), 1.0 - 2.0*(c*c + d*d)); } - const Rotation operator*(const Rotation& B) + const RotationType operator*(const RotationType& B) { - const Rotation& A = *this; - return Rotation(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d, // quaternion multiplication + const RotationType& A = *this; + return RotationType(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d, // quaternion multiplication A.a*B.b + A.b*B.a + A.c*B.d - A.d*B.c, A.a*B.c - A.b*B.d + A.c*B.a + A.d*B.b, A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a); diff --git a/facetracknoir/tracker_types.cpp b/facetracknoir/tracker_types.cpp index da246722..dec4ff81 100644 --- a/facetracknoir/tracker_types.cpp +++ b/facetracknoir/tracker_types.cpp @@ -7,9 +7,9 @@ T6DOF operator-(const T6DOF& A, const T6DOF& B) { - Rotation R_A(A.axes[Yaw]*D2R, A.axes[Pitch]*D2R, A.axes[Roll]*D2R); - Rotation R_B(B.axes[Yaw]*D2R, B.axes[Pitch]*D2R, B.axes[Roll]*D2R); - Rotation R_C = R_A * R_B.inv(); + RotationType R_A(A.axes[Yaw]*D2R, A.axes[Pitch]*D2R, A.axes[Roll]*D2R); + RotationType R_B(B.axes[Yaw]*D2R, B.axes[Pitch]*D2R, B.axes[Roll]*D2R); + RotationType R_C = R_A * R_B.inv(); T6DOF C; R_C.toEuler(C.axes[Yaw], C.axes[Pitch], C.axes[Roll]); @@ -26,9 +26,9 @@ T6DOF operator-(const T6DOF& A, const T6DOF& B) T6DOF operator+(const T6DOF& A, const T6DOF& B) { - Rotation R_A(A.axes[Yaw]*D2R, A.axes[Pitch]*D2R, A.axes[Roll]*D2R); - Rotation R_B(B.axes[Yaw]*D2R, B.axes[Pitch]*D2R, B.axes[Roll]*D2R); - Rotation R_C = R_A * R_B; + RotationType R_A(A.axes[Yaw]*D2R, A.axes[Pitch]*D2R, A.axes[Roll]*D2R); + RotationType R_B(B.axes[Yaw]*D2R, B.axes[Pitch]*D2R, B.axes[Roll]*D2R); + RotationType R_C = R_A * R_B; T6DOF C; R_C.toEuler(C.axes[Yaw], C.axes[Pitch], C.axes[Roll]); -- cgit v1.2.3 From e481697ea6e156e456f3d51ba7c816ad4a908792 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 15 Sep 2013 16:00:25 +0200 Subject: Fix mingw-w64 cross-compile from Linux Case-sensitivity and MSVC-isms bite again. --- CMakeLists.txt | 23 ++- FTNoIR_Tracker_PT/camera.cpp | 7 +- ftnoir_protocol_sc/ftnoir_protocol_sc.h | 6 +- ftnoir_protocol_sc/ftnoir_protocol_sc_dll.cpp | 2 +- ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.h | 31 +++- ftnoir_tracker_rift/ftnoir_rift_clientcontrols.ui | 170 ++++++++++------------ ftnoir_tracker_rift/ftnoir_tracker_rift.cpp | 2 +- 7 files changed, 133 insertions(+), 108 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/CMakeLists.txt b/CMakeLists.txt index 6c5bed0f..ba4857a2 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -342,10 +342,10 @@ endif() if(WIN32 AND SDK_VJOY) include_directories(${SDK_VJOY}) add_library(opentrack-proto-vjoy SHARED ${opentrack-proto-vjoy-c} ${opentrack-proto-vjoy-moc} ${opentrack-proto-vjoy-uih} ${opentrack-proto-vjoy-rcc}) - target_link_libraries(opentrack-proto-vjoy ${MY_QT_LIBS} "${SDK_VJOY}/vjoy.lib") + target_link_libraries(opentrack-proto-vjoy ${MY_QT_LIBS} "${SDK_VJOY}/VJoy.dll") if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_COMPILER_IS_GNUCC) SET_TARGET_PROPERTIES(opentrack-proto-vjoy - PROPERTIES LINK_FLAGS "-Wl,--version-script=${CMAKE_SOURCE_DIR}/facetracknoir/posix-version-script.txt") + PROPERTIES LINK_FLAGS "-Wl,--version-script=${CMAKE_SOURCE_DIR}/facetracknoir/posix-version-script.txt -Wl,--enable-stdcall-fixup") endif() endif() @@ -362,7 +362,7 @@ endif() add_library(opentrack-proto-simconnect SHARED ${opentrack-proto-simconnect-c} ${opentrack-proto-simconnect-moc} ${opentrack-proto-simconnect-uih} ${opentrack-proto-simconnect-rcc}) target_link_libraries(opentrack-proto-simconnect ${MY_QT_LIBS}) include_directories("${SDK_SIMCONNECT}/inc") - target_link_libraries(opentrack-proto-simconnect "${SDK_SIMCONNECT}/lib/simconnect.lib") + target_link_libraries(opentrack-proto-simconnect "${SDK_SIMCONNECT}/lib/SimConnect.lib") endif() add_library(opentrack-proto-freetrack SHARED ${opentrack-proto-freetrack-c} ${opentrack-proto-freetrack-moc} ${opentrack-proto-freetrack-uih} ${opentrack-proto-freetrack-rcc}) @@ -458,16 +458,19 @@ endif() endif() if(SDK_RIFT) - include_directories("${SDK_RIFT}/include") + include_directories("${SDK_RIFT}/Include") include_directories("${SDK_RIFT}/Src") add_library(opentrack-tracker-rift SHARED ${opentrack-tracker-rift-c} ${opentrack-tracker-rift-moc} ${opentrack-tracker-rift-uih} ${opentrack-tracker-rift-rcc}) target_link_libraries(opentrack-tracker-rift ${MY_QT_LIBS}) if(WIN32) - target_link_libraries(opentrack-tracker-rift "${SDK_RIFT}/lib/win32/libovr.lib" winmm.lib) + target_link_libraries(opentrack-tracker-rift "${SDK_RIFT}/Lib/Win32/libovr.lib" winmm.lib) endif() if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_COMPILER_IS_GNUCC) SET_TARGET_PROPERTIES(opentrack-tracker-rift - PROPERTIES LINK_FLAGS "-Wl,--version-script=${CMAKE_SOURCE_DIR}/facetracknoir/posix-version-script.txt") + PROPERTIES + LINK_FLAGS "-Wl,--version-script=${CMAKE_SOURCE_DIR}/facetracknoir/posix-version-script.txt" + COMPILE_FLAGS "-fno-strict-aliasing" + ) endif() endif() @@ -477,7 +480,13 @@ endif() add_library(opentrack-tracker-hydra SHARED ${opentrack-tracker-hydra-c} ${opentrack-tracker-hydra-moc} ${opentrack-tracker-hydra-uih} ${opentrack-tracker-hydra-rcc}) target_link_libraries(opentrack-tracker-hydra ${MY_QT_LIBS}) if(WIN32) - target_link_libraries(opentrack-tracker-hydra "${SDK_HYDRA}/lib/win32/release_static/sixense_s.lib" "${SDK_HYDRA}/lib/win32/release_static/sixense_utils_s.lib") + if(CMAKE_COMPILER_IS_GNUCXX) + target_link_libraries(opentrack-tracker-hydra "${SDK_HYDRA}/lib/win32/release_dll/sixense.lib" "${SDK_HYDRA}/lib/win32/release_dll/sixense_utils.lib") + install(FILES "${SDK_HYDRA}/bin/win32/release_dll/sixense.dll" "${SDK_HYDRA}/bin/win32/release_dll/sixense_utils.dll" + DESTINATION .) + else() + target_link_libraries(opentrack-tracker-hydra "${SDK_HYDRA}/lib/win32/release_static/sixense_s.lib" "${SDK_HYDRA}/lib/win32/release_static/sixense_utils_s.lib") + endif() endif() if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_COMPILER_IS_GNUCC) SET_TARGET_PROPERTIES(opentrack-tracker-hydra diff --git a/FTNoIR_Tracker_PT/camera.cpp b/FTNoIR_Tracker_PT/camera.cpp index a372373d..14f7a6be 100644 --- a/FTNoIR_Tracker_PT/camera.cpp +++ b/FTNoIR_Tracker_PT/camera.cpp @@ -14,6 +14,11 @@ using namespace cv; #include #endif +#if defined(OPENTRACK_API) && defined(_WIN32) +#include +#include +#endif + #ifdef OPENTRACK_API void get_camera_device_names(std::vector& device_names) { # if defined(_WIN32) @@ -23,7 +28,7 @@ void get_camera_device_names(std::vector& device_names) { hr = CoCreateInstance(CLSID_SystemDeviceEnum, NULL, CLSCTX_INPROC_SERVER, IID_ICreateDevEnum, (void **)&pSysDevEnum); if (FAILED(hr)) { - return ret; + return; } // Obtain a class enumerator for the video compressor category. IEnumMoniker *pEnumCat = NULL; diff --git a/ftnoir_protocol_sc/ftnoir_protocol_sc.h b/ftnoir_protocol_sc/ftnoir_protocol_sc.h index b3596722..8fcf7c1f 100644 --- a/ftnoir_protocol_sc/ftnoir_protocol_sc.h +++ b/ftnoir_protocol_sc/ftnoir_protocol_sc.h @@ -37,11 +37,11 @@ #define SIMCONNECT_H_NOMANIFEST #define _WIN32_WINNT 0x0502 -#include +#include #include -#include <..\ftnoir_protocol_base\ftnoir_protocol_base.h> -#include +#include +#include #include #include #include diff --git a/ftnoir_protocol_sc/ftnoir_protocol_sc_dll.cpp b/ftnoir_protocol_sc/ftnoir_protocol_sc_dll.cpp index fce8753a..59a921b8 100644 --- a/ftnoir_protocol_sc/ftnoir_protocol_sc_dll.cpp +++ b/ftnoir_protocol_sc/ftnoir_protocol_sc_dll.cpp @@ -22,7 +22,7 @@ * with this program; if not, see . * * * ********************************************************************************/ -#include "ftnoir_protocol_SC.h" +#include "ftnoir_protocol_sc.h" #include #include "facetracknoir/global-settings.h" diff --git a/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.h b/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.h index 5c260d2e..30d89572 100644 --- a/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.h +++ b/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.h @@ -28,8 +28,8 @@ #pragma once #include "ftnoir_protocol_base/ftnoir_protocol_base.h" #include "ui_ftnoir_vjoy_controls.h" -#include -#include +#include + #include #include #include @@ -92,3 +92,30 @@ public: void getIcon(QIcon *icon) { *icon = QIcon(":/images/vjoy.png"); } }; + +#define VJOY_AXIS_MIN -32768 +#define VJOY_AXIS_NIL 0 +#define VJOY_AXIS_MAX 32767 + +#include + +typedef struct _JOYSTICK_STATE +{ + UCHAR ReportId; // Report Id + SHORT XAxis; // X Axis + SHORT YAxis; // Y Axis + SHORT ZAxis; // Z Axis + SHORT XRotation; // X Rotation + SHORT YRotation; // Y Rotation + SHORT ZRotation; // Z Rotation + SHORT Slider; // Slider + SHORT Dial; // Dial + USHORT POV; // POV + UINT32 Buttons; // 32 Buttons +} JOYSTICK_STATE, * PJOYSTICK_STATE; + +#include + +extern "C" BOOL __stdcall VJoy_Initialize(PCHAR name, PCHAR serial); +extern "C" VOID __stdcall VJoy_Shutdown(); +extern "C" BOOL __stdcall VJoy_UpdateJoyState(int id, PJOYSTICK_STATE pJoyState); diff --git a/ftnoir_tracker_rift/ftnoir_rift_clientcontrols.ui b/ftnoir_tracker_rift/ftnoir_rift_clientcontrols.ui index eaf5b9d6..612c61f1 100644 --- a/ftnoir_tracker_rift/ftnoir_rift_clientcontrols.ui +++ b/ftnoir_tracker_rift/ftnoir_rift_clientcontrols.ui @@ -1,13 +1,16 @@ UIRiftControls - + + + Qt::ApplicationModal + 0 0 411 - 142 + 145 @@ -45,97 +48,78 @@ - - - - - - - Pitch: - - - - - - - - - 20 - 16777215 - - - - Qt::LeftToRight - - - - - - - - - - - - - - Yaw: - - - - - - - - - - 20 - 16777215 - - - - Qt::LeftToRight - - - - - - - - - - - - - Roll: - - - - - - - - - 20 - 16777215 - - - - Qt::LeftToRight - - - - - - - - - - - - - - + + + + Pitch: + + + + + + + + 20 + 16777215 + + + + Qt::LeftToRight + + + + + + + + + + + + + Yaw: + + + + + + + + 20 + 16777215 + + + + Qt::LeftToRight + + + + + + + + + + Roll: + + + + + + + + 20 + 16777215 + + + + Qt::LeftToRight + + + + + + diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp index f5e1f5fa..0c3984ac 100644 --- a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp +++ b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp @@ -55,7 +55,7 @@ void Rift_Tracker::StartTracker(QFrame* videoFrame) // System::Init(Log::ConfigureDefaultLog(LogMask_All)); pManager = *DeviceManager::Create(); - DeviceEnumerator& enumerator = pManager->EnumerateDevices(); + DeviceEnumerator enumerator = pManager->EnumerateDevices(); if (enumerator.IsAvailable()) { pHMD = *enumerator.CreateDevice(); -- cgit v1.2.3 From fc906d93916d04c81ae712e52045ed56c2788adc Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 15 Sep 2013 20:00:57 +0200 Subject: Simplify tracker API No need to have a separate finalization function, can just as well sleep in the destructor. --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.h | 1 - facetracknoir/global-settings.cpp | 7 ------- ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 2 ++ ftnoir_tracker_aruco/ftnoir_tracker_aruco.h | 7 ------- ftnoir_tracker_base/ftnoir_tracker_base.h | 2 -- ftnoir_tracker_ht/ftnoir_tracker_ht.cpp | 4 ++++ ftnoir_tracker_ht/ftnoir_tracker_ht.h | 10 ---------- ftnoir_tracker_udp/ftnoir_tracker_udp.cpp | 2 ++ ftnoir_tracker_udp/ftnoir_tracker_udp.h | 5 ----- 9 files changed, 8 insertions(+), 32 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h index 867378d1..7dcfc8bb 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h @@ -46,7 +46,6 @@ public: virtual void Initialize(QFrame *videoframe); #ifdef OPENTRACK_API virtual void StartTracker(QFrame* parent_window); - virtual void WaitForExit() {} virtual bool GiveHeadPoseData(double* data); #else virtual void StartTracker(HWND parent_window); diff --git a/facetracknoir/global-settings.cpp b/facetracknoir/global-settings.cpp index 4a655171..aa334463 100644 --- a/facetracknoir/global-settings.cpp +++ b/facetracknoir/global-settings.cpp @@ -8,13 +8,6 @@ SelectedLibraries* Libraries = NULL; SelectedLibraries::~SelectedLibraries() { - if (pTracker) { - pTracker->WaitForExit(); - } - if (pSecondTracker) { - pSecondTracker->WaitForExit(); - } - if (pTracker) { delete pTracker; pTracker = NULL; diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index e40c92d2..b781f390 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -137,6 +137,8 @@ Tracker::Tracker() Tracker::~Tracker() { + stop = true; + wait(); if (layout) delete layout; if (videoWidget) diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h index 7f21f020..98aba2cf 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h @@ -27,13 +27,6 @@ public: void StartTracker(QFrame* frame); bool GiveHeadPoseData(double *data); bool enableTX, enableTY, enableTZ, enableRX, enableRY, enableRZ; - bool NeedsTimeToFinish() { - return true; - } - void WaitForExit() { - stop = true; - wait(); - } void run(); private: QMutex mtx; diff --git a/ftnoir_tracker_base/ftnoir_tracker_base.h b/ftnoir_tracker_base/ftnoir_tracker_base.h index 39db6bb6..b84ce05d 100644 --- a/ftnoir_tracker_base/ftnoir_tracker_base.h +++ b/ftnoir_tracker_base/ftnoir_tracker_base.h @@ -51,8 +51,6 @@ struct ITracker virtual ~ITracker() {} virtual void StartTracker( QFrame* frame ) = 0; virtual bool GiveHeadPoseData(double *data) = 0; - - virtual void WaitForExit() = 0; virtual void NotifyCenter() {} }; diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp index 2ca5a3de..27817a0c 100644 --- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp @@ -149,6 +149,10 @@ Tracker::Tracker() : lck_shm(HT_SHM_NAME, HT_MUTEX_NAME, sizeof(ht_shm_t)), fres Tracker::~Tracker() { + if (shm) { + shm->terminate = true; + subprocess.waitForFinished(5000); + } subprocess.kill(); if (shm) shm->terminate = true; diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.h b/ftnoir_tracker_ht/ftnoir_tracker_ht.h index fcdea140..5b8eb508 100644 --- a/ftnoir_tracker_ht/ftnoir_tracker_ht.h +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.h @@ -27,16 +27,6 @@ public: bool GiveHeadPoseData(double *data); bool enableTX, enableTY, enableTZ, enableRX, enableRY, enableRZ; ht_shm_t* shm; - bool NeedsTimeToFinish() { - return true; - } - void WaitForExit() { - if (shm) { - shm->terminate = true; - subprocess.waitForFinished(5000); - } - subprocess.kill(); - } private: QTimer timer; PortableLockedShm lck_shm; diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp index e71d13bb..d67fb636 100644 --- a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp +++ b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp @@ -45,6 +45,8 @@ FTNoIR_Tracker::FTNoIR_Tracker() FTNoIR_Tracker::~FTNoIR_Tracker() { + should_quit = true; + wait(); if (inSocket) { inSocket->close(); delete inSocket; diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp.h b/ftnoir_tracker_udp/ftnoir_tracker_udp.h index 76fcacf2..e5ea7ff3 100644 --- a/ftnoir_tracker_udp/ftnoir_tracker_udp.h +++ b/ftnoir_tracker_udp/ftnoir_tracker_udp.h @@ -19,11 +19,6 @@ public: bool GiveHeadPoseData(double *data); void loadSettings(); volatile bool should_quit; - void WaitForExit() { - should_quit = true; - wait(); - } - protected: void run(); // qthread override run method -- cgit v1.2.3 From 4190c03321eefd6d2a191990c1f241245708f4d3 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Wed, 18 Sep 2013 08:02:14 +0200 Subject: Fix build error on OpenCV 2.4 (alterscape) --- FTNoIR_Tracker_PT/camera.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/camera.h b/FTNoIR_Tracker_PT/camera.h index d1a8104c..78fe8dfb 100644 --- a/FTNoIR_Tracker_PT/camera.h +++ b/FTNoIR_Tracker_PT/camera.h @@ -13,7 +13,7 @@ # include #else # include "FTNoIR_Tracker_PT/boost-compat.h" -# include +# include # include #endif #include -- cgit v1.2.3 From 864910a1fb753629d2852a91ffae4ebba374358c Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Tue, 15 Oct 2013 08:52:25 +0200 Subject: fix trackers for qt5 Assorted changes: - make filenames unique, since automoc made a boo-boo - adjust include paths, "QtGui" -> "" - use std::shared_ptr in c++11 mode (thanks Patrick!) - make class names unique, automoc sucks, but saves typing - add a dummy class in one file since moronic automoc thinks every target contains Q_OBJECTS!!! --- FTNoIR_Tracker_PT/boost-compat.h | 3 +- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 6 +- FTNoIR_Tracker_PT/ftnoir_tracker_pt.h | 9 +- FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h | 2 +- FTNoIR_Tracker_PT/pt_video_widget.cpp | 52 ++++++++ FTNoIR_Tracker_PT/pt_video_widget.h | 64 ++++++++++ FTNoIR_Tracker_PT/video_widget.cpp | 145 ----------------------- FTNoIR_Tracker_PT/video_widget.h | 95 --------------- compat/qt-bug-appeasement.cpp | 1 + facetracknoir/qt-moc.h | 10 ++ ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp | 1 + ftnoir_tracker_aruco/ar_video_widget.cpp | 30 +++++ ftnoir_tracker_aruco/ar_video_widget.h | 39 ++++++ ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 2 +- ftnoir_tracker_aruco/ftnoir_tracker_aruco.h | 5 +- ftnoir_tracker_aruco/video_widget.cpp | 30 ----- ftnoir_tracker_aruco/video_widget.h | 39 ------ ftnoir_tracker_ht/ftnoir_tracker_ht.cpp | 2 +- ftnoir_tracker_ht/ftnoir_tracker_ht.h | 4 +- ftnoir_tracker_ht/ht_video_widget.cpp | 30 +++++ ftnoir_tracker_ht/ht_video_widget.h | 39 ++++++ ftnoir_tracker_ht/video_widget.cpp | 30 ----- ftnoir_tracker_ht/video_widget.h | 39 ------ 23 files changed, 280 insertions(+), 397 deletions(-) create mode 100644 FTNoIR_Tracker_PT/pt_video_widget.cpp create mode 100644 FTNoIR_Tracker_PT/pt_video_widget.h delete mode 100644 FTNoIR_Tracker_PT/video_widget.cpp delete mode 100644 FTNoIR_Tracker_PT/video_widget.h create mode 100644 compat/qt-bug-appeasement.cpp create mode 100644 facetracknoir/qt-moc.h create mode 100644 ftnoir_tracker_aruco/ar_video_widget.cpp create mode 100644 ftnoir_tracker_aruco/ar_video_widget.h delete mode 100644 ftnoir_tracker_aruco/video_widget.cpp delete mode 100644 ftnoir_tracker_aruco/video_widget.h create mode 100644 ftnoir_tracker_ht/ht_video_widget.cpp create mode 100644 ftnoir_tracker_ht/ht_video_widget.h delete mode 100644 ftnoir_tracker_ht/video_widget.cpp delete mode 100644 ftnoir_tracker_ht/video_widget.h (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/boost-compat.h b/FTNoIR_Tracker_PT/boost-compat.h index aea5e1a2..b5be237a 100644 --- a/FTNoIR_Tracker_PT/boost-compat.h +++ b/FTNoIR_Tracker_PT/boost-compat.h @@ -1,6 +1,5 @@ #pragma once #include -#define shared_ptr auto_ptr namespace boost { - using std::auto_ptr; + using std::shared_ptr; }; diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index d4741101..745d98e9 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -12,10 +12,6 @@ #include #include -#ifdef OPENTRACK_API -# define VideoWidget VideoWidget2 -#endif - using namespace std; using namespace cv; using namespace boost; @@ -192,7 +188,7 @@ void Tracker::update_show_video_widget() { const int VIDEO_FRAME_WIDTH = 252; const int VIDEO_FRAME_HEIGHT = 189; - video_widget = new VideoWidget(video_frame, this); + video_widget = new PTVideoWidget(video_frame, this); QHBoxLayout* video_layout = new QHBoxLayout(); video_layout->setContentsMargins(0, 0, 0, 0); video_layout->addWidget(video_widget); diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h index 7dcfc8bb..2430f5f0 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h @@ -11,15 +11,13 @@ #ifdef OPENTRACK_API # include "ftnoir_tracker_base/ftnoir_tracker_base.h" # include "facetracknoir/global-settings.h" -#else -# include "..\ftnoir_tracker_base\ftnoir_tracker_base.h" #endif #include "ftnoir_tracker_pt_settings.h" #include "frame_observer.h" #include "camera.h" #include "point_extractor.h" #include "point_tracker.h" -#include "video_widget.h" +#include "pt_video_widget.h" #include "timer.h" #include @@ -82,7 +80,6 @@ protected: // --- tracking chain --- #ifdef OPENTRACK_API -#define VideoWidget VideoWidget2 CVCamera camera; #else VICamera camera; @@ -101,7 +98,9 @@ protected: void update_show_video_widget(); bool show_video_widget; - VideoWidget* video_widget; +#ifdef OPENTRACK_API + PTVideoWidget* video_widget; +#endif QFrame* video_frame; // --- misc --- diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h index 14df7ede..3e1af50a 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h @@ -16,7 +16,7 @@ #include "ftnoir_tracker_pt_settings.h" #include "ftnoir_tracker_pt.h" #include "trans_calib.h" -#include "video_widget.h" +#include "pt_video_widget.h" #include "ui_FTNoIR_PT_Controls.h" #include diff --git a/FTNoIR_Tracker_PT/pt_video_widget.cpp b/FTNoIR_Tracker_PT/pt_video_widget.cpp new file mode 100644 index 00000000..03c42fc7 --- /dev/null +++ b/FTNoIR_Tracker_PT/pt_video_widget.cpp @@ -0,0 +1,52 @@ +/* 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. + * + * 20130312, WVR: Add 7 lines to resizeGL after resize_frame. This should lower CPU-load. + */ + +#include "pt_video_widget.h" + +#include +#include + +using namespace cv; +using namespace std; + +void PTVideoWidget::update_image(const cv::Mat& frame) +{ + QMutexLocker foo(&mtx); + QImage qframe = QImage(frame.cols, frame.rows, QImage::Format_RGB888); + uchar* data = qframe.bits(); + const int pitch = qframe.bytesPerLine(); + for (int y = 0; y < frame.rows; y++) + for (int x = 0; x < frame.cols; x++) + { + const int pos = 3 * (y*frame.cols + x); + data[y * pitch + x * 3 + 0] = frame.data[pos + 2]; + data[y * pitch + x * 3 + 1] = frame.data[pos + 1]; + data[y * pitch + x * 3 + 2] = frame.data[pos + 0]; + } + qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation); + pixmap = QPixmap::fromImage(qframe); +} + +// ---------------------------------------------------------------------------- +VideoWidgetDialog::VideoWidgetDialog(QWidget *parent, FrameProvider* provider) + : QDialog(parent), + video_widget(NULL) +{ + const int VIDEO_FRAME_WIDTH = 640; + const int VIDEO_FRAME_HEIGHT = 480; + + video_widget = new PTVideoWidget(this, provider); + + QHBoxLayout* layout = new QHBoxLayout(); + layout->setContentsMargins(0, 0, 0, 0); + layout->addWidget(video_widget); + if (this->layout()) delete this->layout(); + setLayout(layout); + resize(VIDEO_FRAME_WIDTH, VIDEO_FRAME_HEIGHT); +} diff --git a/FTNoIR_Tracker_PT/pt_video_widget.h b/FTNoIR_Tracker_PT/pt_video_widget.h new file mode 100644 index 00000000..e67e6d57 --- /dev/null +++ b/FTNoIR_Tracker_PT/pt_video_widget.h @@ -0,0 +1,64 @@ +/* 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. + */ + +#pragma once + +#include "frame_observer.h" +#include +#include +#include +#include +#ifndef OPENTRACK_API +# include +# include +#else +# include "FTNoIR_Tracker_PT/boost-compat.h" +# if defined(_WIN32) +# include +# endif +#endif +#include +#include +#include + +class PTVideoWidget : public QWidget, public FrameObserver +{ + Q_OBJECT + +public: + PTVideoWidget(QWidget *parent, FrameProvider* provider) : QWidget(parent), /* to avoid linker errors */ FrameObserver(provider) { + connect(&timer, SIGNAL(timeout()), this, SLOT(update())); + timer.start(45); + } + void update_image(const cv::Mat &frame); + void update_frame_and_points() {} +protected slots: + void paintEvent( QPaintEvent* e ) { + QMutexLocker foo(&mtx); + QPainter painter(this); + painter.drawPixmap(e->rect(), pixmap, e->rect()); + } +private: + QMutex mtx; + QPixmap pixmap; + QTimer timer; +}; + +// ---------------------------------------------------------------------------- +// A VideoWidget embedded in a dialog frame +class VideoWidgetDialog : public QDialog +{ + Q_OBJECT +public: + VideoWidgetDialog(QWidget *parent, FrameProvider* provider); + virtual ~VideoWidgetDialog() {} + + PTVideoWidget* get_video_widget() { return video_widget; } + +private: + PTVideoWidget* video_widget; +}; diff --git a/FTNoIR_Tracker_PT/video_widget.cpp b/FTNoIR_Tracker_PT/video_widget.cpp deleted file mode 100644 index 0d31620f..00000000 --- a/FTNoIR_Tracker_PT/video_widget.cpp +++ /dev/null @@ -1,145 +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. - * - * 20130312, WVR: Add 7 lines to resizeGL after resize_frame. This should lower CPU-load. - */ - -#include "video_widget.h" - -#include -#include - -using namespace cv; -using namespace std; -#ifndef OPENTRACK_API -using namespace boost; -#endif -#ifndef OPENTRACK_API -// ---------------------------------------------------------------------------- -void VideoWidget::initializeGL() -{ - glClearColor(0.0, 0.0, 0.0, 0.0); - glMatrixMode(GL_MODELVIEW); - glLoadIdentity(); -} - -void VideoWidget::resizeGL(int w, int h) -{ - // setup 1 to 1 projection - glViewport(0, 0, w, h); - glMatrixMode(GL_PROJECTION); - glLoadIdentity(); - glOrtho(0, w, 0, h, -1, 1); - resize_frame(); - glDisable(GL_DEPTH_TEST); - glBegin(GL_QUADS); - glVertex2f(0,0); - glVertex2f(1,0); - glVertex2f(1,1); - glVertex2f(0,1); - glEnd(); -} - -void VideoWidget::paintGL() -{ - glClear(GL_COLOR_BUFFER_BIT); - if (!resized_qframe.isNull()) - { - glDrawPixels(resized_qframe.width(), resized_qframe.height(), GL_RGBA, GL_UNSIGNED_BYTE, resized_qframe.bits()); - - const int crosshair_radius = 10; - const int crosshair_thickness = 1; - - if (points) - { - glColor3f(1.0, 0.0, 0.0); - glLineWidth(crosshair_thickness); - int x,y; - for (vector::iterator iter = points->begin(); - iter != points->end(); - ++iter) - { - x = (*iter)[0] * resized_qframe.width() + resized_qframe.width()/2.0 + 0.5; - y = (*iter)[1] * resized_qframe.width() + resized_qframe.height()/2.0 + 0.5; - - glBegin(GL_LINES); - glVertex2i(x-crosshair_radius, y); - glVertex2i(x+crosshair_radius, y); - glEnd(); - glBegin(GL_LINES); - glVertex2i(x, y-crosshair_radius); - glVertex2i(x, y+crosshair_radius); - glEnd(); - } - } - } - glFlush(); -} - - -void VideoWidget::resize_frame() -{ - if (!qframe.isNull()) - resized_qframe = qframe.scaled(this->size(), Qt::KeepAspectRatio); -} - - -void VideoWidget::update_frame_and_points() -{ - if (!get_frame_and_points(frame, points)) return; - - // convert to QImage - if (frame.channels() == 3) - qframe = QImage((const unsigned char*)(frame.data), frame.cols, frame.rows, frame.step, QImage::Format_RGB888).rgbSwapped(); - else if (frame.channels() == 1) - qframe = QImage((const unsigned char*)(frame.data), frame.cols, frame.rows, frame.step, QImage::Format_Indexed8); - qframe = QGLWidget::convertToGLFormat(qframe); - - resize_frame(); - updateGL(); -} - -#else -void VideoWidget2::update_image(const cv::Mat& frame) -{ - QMutexLocker foo(&mtx); - QImage qframe = QImage(frame.cols, frame.rows, QImage::Format_RGB888); - uchar* data = qframe.bits(); - const int pitch = qframe.bytesPerLine(); - for (int y = 0; y < frame.rows; y++) - for (int x = 0; x < frame.cols; x++) - { - const int pos = 3 * (y*frame.cols + x); - data[y * pitch + x * 3 + 0] = frame.data[pos + 2]; - data[y * pitch + x * 3 + 1] = frame.data[pos + 1]; - data[y * pitch + x * 3 + 2] = frame.data[pos + 0]; - } - qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation); - pixmap = QPixmap::fromImage(qframe); -} -#endif - -// ---------------------------------------------------------------------------- -VideoWidgetDialog::VideoWidgetDialog(QWidget *parent, FrameProvider* provider) - : QDialog(parent), - video_widget(NULL) -{ - const int VIDEO_FRAME_WIDTH = 640; - const int VIDEO_FRAME_HEIGHT = 480; - -#ifdef OPENTRACK_API - video_widget = new VideoWidget2(this, provider); -#else - video_widget = new VideoWidget(this, provider); -#endif - - QHBoxLayout* layout = new QHBoxLayout(); - layout->setContentsMargins(0, 0, 0, 0); - layout->addWidget(video_widget); - if (this->layout()) delete this->layout(); - setLayout(layout); - resize(VIDEO_FRAME_WIDTH, VIDEO_FRAME_HEIGHT); -} diff --git a/FTNoIR_Tracker_PT/video_widget.h b/FTNoIR_Tracker_PT/video_widget.h deleted file mode 100644 index 3164dacc..00000000 --- a/FTNoIR_Tracker_PT/video_widget.h +++ /dev/null @@ -1,95 +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 VIDEOWIDGET_H -#define VIDEOWIDGET_H - -#include "frame_observer.h" - -#include -#include -#include -#ifndef OPENTRACK_API -# include -# include -#else -# include "FTNoIR_Tracker_PT/boost-compat.h" -# if defined(_WIN32) -# include -# endif -#endif -#include -#include -#include - -#ifndef OPENTRACK_API -// ---------------------------------------------------------------------------- -// OpenGL based widget to display an OpenCV image with some points on top -class VideoWidget : public QGLWidget, public FrameObserver -{ - Q_OBJECT - -public: - VideoWidget(QWidget *parent, FrameProvider* provider) : QGLWidget(parent), FrameObserver(provider) {} - - virtual void initializeGL(); - virtual void resizeGL(int w, int h); - virtual void paintGL(); - - void update_frame_and_points(); - -private: - void resize_frame(); - - cv::Mat frame; - QImage qframe; - QImage resized_qframe; - - boost::shared_ptr< std::vector > points; -}; -#else -/* Qt moc likes to skip over preprocessor directives -sh */ -class VideoWidget2 : public QWidget, public FrameObserver -{ - Q_OBJECT - -public: - VideoWidget2(QWidget *parent, FrameProvider* provider) : QWidget(parent), /* to avoid linker errors */ FrameObserver(provider) { - connect(&timer, SIGNAL(timeout()), this, SLOT(update())); - timer.start(45); - } - void update_image(const cv::Mat &frame); - void update_frame_and_points() {} -protected slots: - void paintEvent( QPaintEvent* e ) { - QMutexLocker foo(&mtx); - QPainter painter(this); - painter.drawPixmap(e->rect(), pixmap, e->rect()); - } -private: - QMutex mtx; - QPixmap pixmap; - QTimer timer; -}; -#endif - -// ---------------------------------------------------------------------------- -// A VideoWidget embedded in a dialog frame -class VideoWidgetDialog : public QDialog -{ - Q_OBJECT -public: - VideoWidgetDialog(QWidget *parent, FrameProvider* provider); - virtual ~VideoWidgetDialog() {} - - VideoWidget2* get_video_widget() { return video_widget; } - -private: - VideoWidget2* video_widget; -}; - -#endif // VIDEOWIDGET_H diff --git a/compat/qt-bug-appeasement.cpp b/compat/qt-bug-appeasement.cpp new file mode 100644 index 00000000..9a86ac0a --- /dev/null +++ b/compat/qt-bug-appeasement.cpp @@ -0,0 +1 @@ +#include "facetracknoir/qt-moc.h" diff --git a/facetracknoir/qt-moc.h b/facetracknoir/qt-moc.h new file mode 100644 index 00000000..467370f9 --- /dev/null +++ b/facetracknoir/qt-moc.h @@ -0,0 +1,10 @@ +#include + +// this file exists only such that cmake qt automoc is appeased + +class AutomocMe { + Q_OBJECT +private: + virtual void foo() = 0; + AutomocMe() = delete; +}; diff --git a/ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp b/ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp index f479ce76..cefc9bf8 100644 --- a/ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp +++ b/ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp @@ -26,6 +26,7 @@ * It is based on the (Linux) example made by Melchior FRANZ. * ********************************************************************************/ #include "ftnoir_protocol_fg.h" +#include #include #include "facetracknoir/global-settings.h" diff --git a/ftnoir_tracker_aruco/ar_video_widget.cpp b/ftnoir_tracker_aruco/ar_video_widget.cpp new file mode 100644 index 00000000..6a4572a0 --- /dev/null +++ b/ftnoir_tracker_aruco/ar_video_widget.cpp @@ -0,0 +1,30 @@ +/* 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 "ar_video_widget.h" + +#include + +using namespace std; + +void ArucoVideoWidget::update_image(unsigned char *frame, int width, int height) +{ + QMutexLocker foo(&mtx); + QImage qframe = QImage(width, height, QImage::Format_RGB888); + uchar* data = qframe.bits(); + const int pitch = qframe.bytesPerLine(); + for (int y = 0; y < height; y++) + for (int x = 0; x < width; x++) + { + const int pos = 3 * (y*width + x); + data[y * pitch + x * 3 + 0] = frame[pos + 2]; + data[y * pitch + x * 3 + 1] = frame[pos + 1]; + data[y * pitch + x * 3 + 2] = frame[pos + 0]; + } + qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation); + pixmap = QPixmap::fromImage(qframe); +} diff --git a/ftnoir_tracker_aruco/ar_video_widget.h b/ftnoir_tracker_aruco/ar_video_widget.h new file mode 100644 index 00000000..dd0c16ac --- /dev/null +++ b/ftnoir_tracker_aruco/ar_video_widget.h @@ -0,0 +1,39 @@ +/* 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 VIDEOWIDGET_H +#define VIDEOWIDGET_H + +#include +#include +#include +#include +#include +#include +#include + +// ---------------------------------------------------------------------------- +class ArucoVideoWidget : public QWidget +{ + Q_OBJECT + +public: + ArucoVideoWidget(QWidget *parent) : QWidget(parent), mtx() { + } + void update_image(unsigned char* frame, int width, int height); +protected slots: + void paintEvent( QPaintEvent* e ) { + QMutexLocker foo(&mtx); + QPainter painter(this); + painter.drawPixmap(e->rect(), pixmap, e->rect()); + } +private: + QMutex mtx; + QPixmap pixmap; +}; + +#endif // VIDEOWIDGET_H diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index 8025e956..c735b479 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -148,7 +148,7 @@ Tracker::~Tracker() void Tracker::StartTracker(QFrame* videoframe) { videoframe->show(); - videoWidget = new VideoWidget(videoframe); + videoWidget = new ArucoVideoWidget(videoframe); QHBoxLayout* layout = new QHBoxLayout(); layout->setContentsMargins(0, 0, 0, 0); layout->addWidget(videoWidget); diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h index 98aba2cf..ddbdd179 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h @@ -10,12 +10,13 @@ #include "ftnoir_tracker_base/ftnoir_tracker_base.h" #include "ui_aruco-trackercontrols.h" -#include "video_widget.h" +#include "ar_video_widget.h" #include #include #include #include #include +#include #include class Tracker : public QThread, public ITracker @@ -31,7 +32,7 @@ public: private: QMutex mtx; QTimer timer; - VideoWidget* videoWidget; + ArucoVideoWidget* videoWidget; QHBoxLayout* layout; volatile bool fresh, stop; float fov; diff --git a/ftnoir_tracker_aruco/video_widget.cpp b/ftnoir_tracker_aruco/video_widget.cpp deleted file mode 100644 index 84cba6a3..00000000 --- a/ftnoir_tracker_aruco/video_widget.cpp +++ /dev/null @@ -1,30 +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 "video_widget.h" - -#include - -using namespace std; - -void VideoWidget::update_image(unsigned char *frame, int width, int height) -{ - QMutexLocker foo(&mtx); - QImage qframe = QImage(width, height, QImage::Format_RGB888); - uchar* data = qframe.bits(); - const int pitch = qframe.bytesPerLine(); - for (int y = 0; y < height; y++) - for (int x = 0; x < width; x++) - { - const int pos = 3 * (y*width + x); - data[y * pitch + x * 3 + 0] = frame[pos + 2]; - data[y * pitch + x * 3 + 1] = frame[pos + 1]; - data[y * pitch + x * 3 + 2] = frame[pos + 0]; - } - qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation); - pixmap = QPixmap::fromImage(qframe); -} diff --git a/ftnoir_tracker_aruco/video_widget.h b/ftnoir_tracker_aruco/video_widget.h deleted file mode 100644 index 87b6278a..00000000 --- a/ftnoir_tracker_aruco/video_widget.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 VIDEOWIDGET_H -#define VIDEOWIDGET_H - -#include -#include -#include -#include -#include -#include -#include - -// ---------------------------------------------------------------------------- -class VideoWidget : public QWidget -{ - Q_OBJECT - -public: - VideoWidget(QWidget *parent) : QWidget(parent), mtx() { - } - void update_image(unsigned char* frame, int width, int height); -protected slots: - void paintEvent( QPaintEvent* e ) { - QMutexLocker foo(&mtx); - QPainter painter(this); - painter.drawPixmap(e->rect(), pixmap, e->rect()); - } -private: - QMutex mtx; - QPixmap pixmap; -}; - -#endif // VIDEOWIDGET_H diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp index 27817a0c..b4fd03f6 100644 --- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp @@ -165,7 +165,7 @@ Tracker::~Tracker() void Tracker::StartTracker(QFrame* videoframe) { videoframe->show(); - videoWidget = new VideoWidget(videoframe); + videoWidget = new HTVideoWidget(videoframe); QHBoxLayout* layout = new QHBoxLayout(); layout->setContentsMargins(0, 0, 0, 0); layout->addWidget(videoWidget); diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.h b/ftnoir_tracker_ht/ftnoir_tracker_ht.h index 5b8eb508..96607411 100644 --- a/ftnoir_tracker_ht/ftnoir_tracker_ht.h +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.h @@ -12,7 +12,7 @@ #include "ftnoir_tracker_base/ftnoir_tracker_base.h" #include "headtracker-ftnoir.h" #include "ui_ht-trackercontrols.h" -#include "video_widget.h" +#include "ht_video_widget.h" #include "compat/compat.h" #include #include @@ -31,7 +31,7 @@ private: QTimer timer; PortableLockedShm lck_shm; QProcess subprocess; - VideoWidget* videoWidget; + HTVideoWidget* videoWidget; QHBoxLayout* layout; volatile bool fresh; private slots: diff --git a/ftnoir_tracker_ht/ht_video_widget.cpp b/ftnoir_tracker_ht/ht_video_widget.cpp new file mode 100644 index 00000000..4d7d66a2 --- /dev/null +++ b/ftnoir_tracker_ht/ht_video_widget.cpp @@ -0,0 +1,30 @@ +/* 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 "ht_video_widget.h" + +#include + +using namespace std; + +void HTVideoWidget::update_image(unsigned char *frame, int width, int height) +{ + QMutexLocker foo(&mtx); + QImage qframe = QImage(width, height, QImage::Format_RGB888); + uchar* data = qframe.bits(); + const int pitch = qframe.bytesPerLine(); + for (int y = 0; y < height; y++) + for (int x = 0; x < width; x++) + { + const int pos = 3 * (y*width + x); + data[y * pitch + x * 3 + 0] = frame[pos + 2]; + data[y * pitch + x * 3 + 1] = frame[pos + 1]; + data[y * pitch + x * 3 + 2] = frame[pos + 0]; + } + qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation); + pixmap = QPixmap::fromImage(qframe); +} diff --git a/ftnoir_tracker_ht/ht_video_widget.h b/ftnoir_tracker_ht/ht_video_widget.h new file mode 100644 index 00000000..b1182d8b --- /dev/null +++ b/ftnoir_tracker_ht/ht_video_widget.h @@ -0,0 +1,39 @@ +/* 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 VIDEOWIDGET_H +#define VIDEOWIDGET_H + +#include +#include +#include +#include +#include +#include +#include + +// ---------------------------------------------------------------------------- +class HTVideoWidget : public QWidget +{ + Q_OBJECT + +public: + HTVideoWidget(QWidget *parent) : QWidget(parent), mtx() { + } + void update_image(unsigned char* frame, int width, int height); +protected slots: + void paintEvent( QPaintEvent* e ) { + QMutexLocker foo(&mtx); + QPainter painter(this); + painter.drawPixmap(e->rect(), pixmap, e->rect()); + } +private: + QMutex mtx; + QPixmap pixmap; +}; + +#endif // VIDEOWIDGET_H diff --git a/ftnoir_tracker_ht/video_widget.cpp b/ftnoir_tracker_ht/video_widget.cpp deleted file mode 100644 index 84cba6a3..00000000 --- a/ftnoir_tracker_ht/video_widget.cpp +++ /dev/null @@ -1,30 +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 "video_widget.h" - -#include - -using namespace std; - -void VideoWidget::update_image(unsigned char *frame, int width, int height) -{ - QMutexLocker foo(&mtx); - QImage qframe = QImage(width, height, QImage::Format_RGB888); - uchar* data = qframe.bits(); - const int pitch = qframe.bytesPerLine(); - for (int y = 0; y < height; y++) - for (int x = 0; x < width; x++) - { - const int pos = 3 * (y*width + x); - data[y * pitch + x * 3 + 0] = frame[pos + 2]; - data[y * pitch + x * 3 + 1] = frame[pos + 1]; - data[y * pitch + x * 3 + 2] = frame[pos + 0]; - } - qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation); - pixmap = QPixmap::fromImage(qframe); -} diff --git a/ftnoir_tracker_ht/video_widget.h b/ftnoir_tracker_ht/video_widget.h deleted file mode 100644 index 87b6278a..00000000 --- a/ftnoir_tracker_ht/video_widget.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 VIDEOWIDGET_H -#define VIDEOWIDGET_H - -#include -#include -#include -#include -#include -#include -#include - -// ---------------------------------------------------------------------------- -class VideoWidget : public QWidget -{ - Q_OBJECT - -public: - VideoWidget(QWidget *parent) : QWidget(parent), mtx() { - } - void update_image(unsigned char* frame, int width, int height); -protected slots: - void paintEvent( QPaintEvent* e ) { - QMutexLocker foo(&mtx); - QPainter painter(this); - painter.drawPixmap(e->rect(), pixmap, e->rect()); - } -private: - QMutex mtx; - QPixmap pixmap; -}; - -#endif // VIDEOWIDGET_H -- cgit v1.2.3 From a8a8cfac5f1be7e0cbfadcc2def8aaa0e8d9d9a0 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Wed, 16 Oct 2013 23:44:58 +0200 Subject: all except 3rdparty-maintained stuff pass -Wall -Wextra -pedantic Signed-off-by: Stanislaw Halik --- FTNoIR_Tracker_PT/boost-compat.h | 2 +- ftnoir_csv/csv.cpp | 4 ++-- ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 4 ++-- ftnoir_tracker_aruco/ftnoir_tracker_aruco.h | 4 ++-- ftnoir_tracker_aruco/include/boarddetector.h | 2 +- ftnoir_tracker_aruco/include/cvdrawingutils.h | 2 +- ftnoir_tracker_aruco/include/markerdetector.h | 6 +----- ftnoir_tracker_ht/ftnoir_tracker_ht.cpp | 4 ++-- ftnoir_tracker_ht/ftnoir_tracker_ht.h | 6 +++--- ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp | 5 +---- ftnoir_tracker_hydra/ftnoir_tracker_hydra.h | 8 ++++---- ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp | 2 +- ftnoir_tracker_udp/ftnoir_tracker_udp.cpp | 2 +- ftnoir_tracker_udp/ftnoir_tracker_udp.h | 8 ++++---- ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp | 2 +- x-plane-plugin/plugin.c | 20 +++++++++++++------- 16 files changed, 40 insertions(+), 41 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/boost-compat.h b/FTNoIR_Tracker_PT/boost-compat.h index b5be237a..612f2c4d 100644 --- a/FTNoIR_Tracker_PT/boost-compat.h +++ b/FTNoIR_Tracker_PT/boost-compat.h @@ -2,4 +2,4 @@ #include namespace boost { using std::shared_ptr; -}; +} diff --git a/ftnoir_csv/csv.cpp b/ftnoir_csv/csv.cpp index 4e76e844..ebdf50bb 100644 --- a/ftnoir_csv/csv.cpp +++ b/ftnoir_csv/csv.cpp @@ -138,7 +138,7 @@ void CSV::getGameData( const int id, unsigned char* table, QString& gamename) if (gameLine.at(6).compare( gameID, Qt::CaseInsensitive ) == 0) { QByteArray id = gameLine.at(7).toLatin1(); unsigned int tmp[8]; - int fuzz[3]; + unsigned int fuzz[3]; if (gameLine.at(3) == QString("V160")) { qDebug() << "no table"; @@ -155,7 +155,7 @@ void CSV::getGameData( const int id, unsigned char* table, QString& gamename) tmp + 6, tmp + 5, tmp + 4, - fuzz + 1) != 11 || ((fuzz[2] << 8) | fuzz[0]) != gameLine.at(0).toInt()) + fuzz + 1) != 11 || (int) ((fuzz[2] << 8) | fuzz[0]) != gameLine.at(0).toInt()) { qDebug() << "scanf failed" << fuzz[0] << fuzz[1] << fuzz[2]; } diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index c735b479..a221c2ff 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -385,11 +385,11 @@ TrackerControls::~TrackerControls() { } -void TrackerControls::showEvent(QShowEvent *event) +void TrackerControls::showEvent(QShowEvent *) { } -void TrackerControls::Initialize(QWidget* parent) +void TrackerControls::Initialize(QWidget*) { loadSettings(); show(); diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h index 0f811f5d..260ca41e 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h @@ -54,9 +54,9 @@ public: explicit TrackerControls(); virtual ~TrackerControls(); - void showEvent ( QShowEvent * event ); + void showEvent (QShowEvent *); - void Initialize(QWidget *parent); + void Initialize(QWidget *); void registerTracker(ITracker *) {} void unRegisterTracker() {} diff --git a/ftnoir_tracker_aruco/include/boarddetector.h b/ftnoir_tracker_aruco/include/boarddetector.h index a0ee2361..4770b5c9 100644 --- a/ftnoir_tracker_aruco/include/boarddetector.h +++ b/ftnoir_tracker_aruco/include/boarddetector.h @@ -134,6 +134,6 @@ private: }; -}; +} #endif diff --git a/ftnoir_tracker_aruco/include/cvdrawingutils.h b/ftnoir_tracker_aruco/include/cvdrawingutils.h index ff67242f..38e9986e 100644 --- a/ftnoir_tracker_aruco/include/cvdrawingutils.h +++ b/ftnoir_tracker_aruco/include/cvdrawingutils.h @@ -46,7 +46,7 @@ namespace aruco static void draw3dCube(cv::Mat &Image,Board &m,const CameraParameters &CP); }; -}; +} #endif diff --git a/ftnoir_tracker_aruco/include/markerdetector.h b/ftnoir_tracker_aruco/include/markerdetector.h index 68aa7f8a..4d6e7b90 100644 --- a/ftnoir_tracker_aruco/include/markerdetector.h +++ b/ftnoir_tracker_aruco/include/markerdetector.h @@ -353,9 +353,5 @@ private: void draw(cv::Mat out,const std::vector &markers ); }; - - - - -}; +} #endif diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp index b4fd03f6..14cd3942 100644 --- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp @@ -305,11 +305,11 @@ TrackerControls::~TrackerControls() { } -void TrackerControls::showEvent(QShowEvent *event) +void TrackerControls::showEvent(QShowEvent *) { } -void TrackerControls::Initialize(QWidget* parent) +void TrackerControls::Initialize(QWidget*) { loadSettings(); show(); diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.h b/ftnoir_tracker_ht/ftnoir_tracker_ht.h index 96607411..aae4e6d6 100644 --- a/ftnoir_tracker_ht/ftnoir_tracker_ht.h +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.h @@ -46,10 +46,10 @@ public: explicit TrackerControls(); virtual ~TrackerControls(); - void showEvent ( QShowEvent * event ); + void showEvent (QShowEvent *); - void Initialize(QWidget *parent); - void registerTracker(ITracker *tracker) {} + void Initialize(QWidget *); + void registerTracker(ITracker *) {} void unRegisterTracker() {} private: diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp index 7333fbc4..86ca8888 100644 --- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp @@ -48,7 +48,7 @@ void controller_manager_setup_callback( sixenseUtils::ControllerManager::setup_s } }*/ -void Hydra_Tracker::StartTracker(QFrame* videoFrame) +void Hydra_Tracker::StartTracker(QFrame*) { //QMessageBox::warning(0,"FaceTrackNoIR Notification", "Tracking loading settings...",QMessageBox::Ok,QMessageBox::NoButton); loadSettings(); @@ -78,9 +78,6 @@ bool Hydra_Tracker::GiveHeadPoseData(double *data) //Rotation quat = Rotation(acd.controllers[0].rot_quat[1],acd.controllers[0].rot_quat[2],acd.controllers[0].rot_quat[3],acd.controllers[0].rot_quat[0]); sixenseMath::Matrix4 mat = sixenseMath::Matrix4(acd.controllers[0].rot_mat);// sixenseMath::Quat(acd.controllers[0].rot_quat[1],acd.controllers[0].rot_quat[2],acd.controllers[0].rot_quat[3],acd.controllers[0].rot_quat[0]); - double yaw = 0.0f; - double pitch = 0.0f; - double roll = 0.0f; float ypr[3]; mat.getEulerAngles().fill(ypr); diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h index 82a72f56..19f2a685 100644 --- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h @@ -11,7 +11,7 @@ public: Hydra_Tracker(); ~Hydra_Tracker(); - void StartTracker( QFrame *videoframe ); + void StartTracker(QFrame *); bool GiveHeadPoseData(double *data); void loadSettings(); volatile bool should_quit; @@ -44,11 +44,11 @@ public: explicit TrackerControls(); ~TrackerControls(); - void showEvent ( QShowEvent * event ); + void showEvent (QShowEvent *); void Initialize(QWidget *parent); - void registerTracker(ITracker *tracker) {}; - void unRegisterTracker() {}; + void registerTracker(ITracker *) {} + void unRegisterTracker() {} private: Ui::UIHydraControls ui; diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp index 913f8070..165f8573 100644 --- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp @@ -81,7 +81,7 @@ void TrackerControls::doOK() { } // override show event -void TrackerControls::showEvent ( QShowEvent * event ) { +void TrackerControls::showEvent ( QShowEvent * ) { loadSettings(); } diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp index d67fb636..1539707e 100644 --- a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp +++ b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp @@ -88,7 +88,7 @@ quint16 senderPort; } } -void FTNoIR_Tracker::StartTracker(QFrame* videoFrame) +void FTNoIR_Tracker::StartTracker(QFrame*) { loadSettings(); // diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp.h b/ftnoir_tracker_udp/ftnoir_tracker_udp.h index e5ea7ff3..d158630b 100644 --- a/ftnoir_tracker_udp/ftnoir_tracker_udp.h +++ b/ftnoir_tracker_udp/ftnoir_tracker_udp.h @@ -15,7 +15,7 @@ public: FTNoIR_Tracker(); ~FTNoIR_Tracker(); - void StartTracker( QFrame *videoframe ); + void StartTracker(QFrame *); bool GiveHeadPoseData(double *data); void loadSettings(); volatile bool should_quit; @@ -49,11 +49,11 @@ public: explicit TrackerControls(); ~TrackerControls(); - void showEvent ( QShowEvent * event ); + void showEvent (QShowEvent *); void Initialize(QWidget *parent); - void registerTracker(ITracker *tracker) {}; - void unRegisterTracker() {}; + void registerTracker(ITracker *) {} + void unRegisterTracker() {} private: Ui::UICFTNClientControls ui; diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp b/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp index 55bb6c97..e17d5c32 100644 --- a/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp +++ b/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp @@ -81,7 +81,7 @@ void TrackerControls::doOK() { } // override show event -void TrackerControls::showEvent ( QShowEvent * event ) { +void TrackerControls::showEvent ( QShowEvent * ) { loadSettings(); } diff --git a/x-plane-plugin/plugin.c b/x-plane-plugin/plugin.c index 67dab7ad..38e1e7bf 100644 --- a/x-plane-plugin/plugin.c +++ b/x-plane-plugin/plugin.c @@ -40,7 +40,13 @@ static WineSHM* shm_posix = NULL; static void *view_x, *view_y, *view_z, *view_heading, *view_pitch; static float offset_x, offset_y, offset_z; -PortableLockedShm* PortableLockedShm_init(const char *shmName, const char *mutexName, int mapSize) +#ifdef __GNUC__ +# define OT_UNUSED(varname) varname __attribute__((__unused__)) +#else +# define OT_UNUSED(varname) varname +#endif + +PortableLockedShm* PortableLockedShm_init(const char *shmName, const char *OT_UNUSED(mutexName), int mapSize) { PortableLockedShm* self = malloc(sizeof(PortableLockedShm)); char shm_filename[NAME_MAX]; @@ -83,9 +89,9 @@ static void reinit_offset() { } int write_head_position( - XPLMDrawingPhase inPhase, - int inIsBefore, - void * inRefcon) + XPLMDrawingPhase OT_UNUSED(inPhase), + int OT_UNUSED(inIsBefore), + void * OT_UNUSED(inRefcon)) { if (lck_posix != NULL && shm_posix != NULL) { PortableLockedShm_lock(lck_posix); @@ -140,9 +146,9 @@ PLUGIN_API void XPluginDisable ( void ) { } PLUGIN_API void XPluginReceiveMessage( - XPLMPluginID inFromWho, - int inMessage, - void * inParam) + XPLMPluginID OT_UNUSED(inFromWho), + int OT_UNUSED(inMessage), + void * OT_UNUSED(inParam)) { if (inMessage == XPLM_MSG_AIRPORT_LOADED) reinit_offset(); -- cgit v1.2.3 From 136151e9499ac8f2f7ec1a169a973d65b15820bb Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 19 Oct 2013 15:43:21 +0200 Subject: untested unbreakage Signed-off-by: Stanislaw Halik --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.h | 2 +- ftnoir_tracker_aruco/ftnoir_tracker_aruco.h | 2 +- ftnoir_tracker_base/ftnoir_tracker_base.h | 2 +- ftnoir_tracker_ht/ftnoir_tracker_ht.h | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h index 2430f5f0..e00ab1df 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h @@ -38,7 +38,7 @@ class Tracker : public ITracker, QThread, public FrameProvider { public: Tracker(); - ~Tracker(); + virtual ~Tracker() override; // --- ITracker interface --- virtual void Initialize(QFrame *videoframe); diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h index 260ca41e..ec4c6c9d 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h @@ -24,7 +24,7 @@ class Tracker : public QThread, public ITracker Q_OBJECT public: Tracker(); - ~Tracker(); + virtual ~Tracker() override; void StartTracker(QFrame* frame); bool GiveHeadPoseData(double *data); bool enableTX, enableTY, enableTZ, enableRX, enableRY, enableRZ; diff --git a/ftnoir_tracker_base/ftnoir_tracker_base.h b/ftnoir_tracker_base/ftnoir_tracker_base.h index e9e11b61..66304bd7 100644 --- a/ftnoir_tracker_base/ftnoir_tracker_base.h +++ b/ftnoir_tracker_base/ftnoir_tracker_base.h @@ -41,7 +41,7 @@ // Instances are obtained via factory function. struct ITracker { - virtual ~ITracker() {} + virtual ~ITracker() = 0; virtual void StartTracker( QFrame* frame ) = 0; virtual bool GiveHeadPoseData(double *data) = 0; }; diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.h b/ftnoir_tracker_ht/ftnoir_tracker_ht.h index aae4e6d6..20648c51 100644 --- a/ftnoir_tracker_ht/ftnoir_tracker_ht.h +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.h @@ -22,7 +22,7 @@ class Tracker : public QObject, public ITracker Q_OBJECT public: Tracker(); - ~Tracker(); + virtual ~Tracker() override; void StartTracker(QFrame* frame); bool GiveHeadPoseData(double *data); bool enableTX, enableTY, enableTZ, enableRX, enableRY, enableRZ; -- cgit v1.2.3 From 7153a0b4daa30cef7d6e721e7b2edc511a1adf71 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 19 Oct 2013 15:55:52 +0200 Subject: unbreak build Signed-off-by: Stanislaw Halik Reported-by: mm0zct --- CMakeLists.txt | 5 ++++- FTNoIR_Tracker_PT/ftnoir_tracker_pt.h | 2 +- ftnoir_tracker_aruco/ftnoir_tracker_aruco.h | 2 +- ftnoir_tracker_ht/ftnoir_tracker_ht.h | 2 +- 4 files changed, 7 insertions(+), 4 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/CMakeLists.txt b/CMakeLists.txt index adf692af..f875665f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,6 +1,9 @@ project(opentrack) cmake_minimum_required(VERSION 2.8) -cmake_policy(SET CMP0020 NEW) + +if(NOT CMAKE_VERSION LESS "2.10.0") + cmake_policy(SET CMP0020 NEW) +endif() set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_SOURCE_DIR}/cmake/") SET(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE) SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE) diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h index e00ab1df..64f282b6 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h @@ -38,7 +38,7 @@ class Tracker : public ITracker, QThread, public FrameProvider { public: Tracker(); - virtual ~Tracker() override; + virtual ~Tracker(); // --- ITracker interface --- virtual void Initialize(QFrame *videoframe); diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h index ec4c6c9d..815ca91c 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h @@ -24,7 +24,7 @@ class Tracker : public QThread, public ITracker Q_OBJECT public: Tracker(); - virtual ~Tracker() override; + virtual ~Tracker(); void StartTracker(QFrame* frame); bool GiveHeadPoseData(double *data); bool enableTX, enableTY, enableTZ, enableRX, enableRY, enableRZ; diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.h b/ftnoir_tracker_ht/ftnoir_tracker_ht.h index 20648c51..bde4ca67 100644 --- a/ftnoir_tracker_ht/ftnoir_tracker_ht.h +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.h @@ -22,7 +22,7 @@ class Tracker : public QObject, public ITracker Q_OBJECT public: Tracker(); - virtual ~Tracker() override; + virtual ~Tracker(); void StartTracker(QFrame* frame); bool GiveHeadPoseData(double *data); bool enableTX, enableTY, enableTZ, enableRX, enableRY, enableRZ; -- cgit v1.2.3 From 245f909db8ab5549ae2e08e39178a4c7463419ef Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Tue, 22 Oct 2013 01:52:22 +0200 Subject: fix race Signed-off-by: Stanislaw Halik --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index 745d98e9..43ecc775 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -30,11 +30,6 @@ Tracker::Tracker() tracking_valid(false) { qDebug()<<"Tracker::Tracker"; - TrackerSettings settings; - settings.load_ini(); - apply(settings); - camera.start(); - start(); } Tracker::~Tracker() @@ -207,6 +202,11 @@ void Tracker::Initialize(QFrame *video_frame) video_frame->setAttribute(Qt::WA_NativeWindow); video_frame->show(); update_show_video_widget(); + TrackerSettings settings; + settings.load_ini(); + apply(settings); + camera.start(); + start(); } void Tracker::refreshVideo() -- cgit v1.2.3 From f50036627c4175ad307552fa40a78042934139f2 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Tue, 22 Oct 2013 01:52:44 +0200 Subject: fix camera name & crash bug Signed-off-by: Stanislaw Halik --- FTNoIR_Tracker_PT/camera.cpp | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/camera.cpp b/FTNoIR_Tracker_PT/camera.cpp index 14f7a6be..0ef617c3 100644 --- a/FTNoIR_Tracker_PT/camera.cpp +++ b/FTNoIR_Tracker_PT/camera.cpp @@ -6,6 +6,7 @@ */ #include "camera.h" +#include #include using namespace cv; @@ -48,7 +49,9 @@ void get_camera_device_names(std::vector& device_names) { hr = pPropBag->Read(L"FriendlyName", &varName, 0); if (SUCCEEDED(hr)) { - device_names.push_back(std::string(reinterpret_cast(varName.bstrVal))); + auto wstr = std::wstring(varName.bstrVal); + auto str = std::string(wstr.begin(), wstr.end()); + device_names.push_back(str); } VariantClear(&varName); @@ -71,8 +74,6 @@ void get_camera_device_names(std::vector& device_names) { sprintf(buf, "/dev/video%d", i); if (access(buf, R_OK | W_OK) == 0) { device_names.push_back(std::string(buf)); - } else { - continue; } } # endif @@ -162,10 +163,6 @@ void CVCamera::start() cam_info.res_x = cap->get(CV_CAP_PROP_FRAME_WIDTH); cam_info.res_y = cap->get(CV_CAP_PROP_FRAME_HEIGHT); } - else { - delete cap; - cap = NULL; - } } void CVCamera::stop() @@ -180,7 +177,7 @@ void CVCamera::stop() bool CVCamera::_get_frame(Mat* frame) { - if (cap) + if (cap && cap->isOpened()) { Mat img; /* @@ -188,9 +185,12 @@ bool CVCamera::_get_frame(Mat* frame) * frames and then some every once in a while * -sh */ - while (!cap->read(img))\ + while (!cap->read(img)) ;; + if (img.empty()) + return false; + *frame = img; return true; } -- cgit v1.2.3 From d7d733131d62777481c9a72fee9005dd58cf0c74 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Tue, 22 Oct 2013 02:33:11 +0200 Subject: Optimize widget redraw Signed-off-by: Stanislaw Halik --- FTNoIR_Tracker_PT/pt_video_widget.cpp | 35 ++++++++++++++++++++------------ FTNoIR_Tracker_PT/pt_video_widget.h | 4 +++- ftnoir_tracker_aruco/ar_video_widget.cpp | 26 ++++++++++++++++++------ ftnoir_tracker_aruco/ar_video_widget.h | 10 ++++++++- 4 files changed, 54 insertions(+), 21 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/pt_video_widget.cpp b/FTNoIR_Tracker_PT/pt_video_widget.cpp index 03c42fc7..35a2c42b 100644 --- a/FTNoIR_Tracker_PT/pt_video_widget.cpp +++ b/FTNoIR_Tracker_PT/pt_video_widget.cpp @@ -18,19 +18,7 @@ using namespace std; void PTVideoWidget::update_image(const cv::Mat& frame) { QMutexLocker foo(&mtx); - QImage qframe = QImage(frame.cols, frame.rows, QImage::Format_RGB888); - uchar* data = qframe.bits(); - const int pitch = qframe.bytesPerLine(); - for (int y = 0; y < frame.rows; y++) - for (int x = 0; x < frame.cols; x++) - { - const int pos = 3 * (y*frame.cols + x); - data[y * pitch + x * 3 + 0] = frame.data[pos + 2]; - data[y * pitch + x * 3 + 1] = frame.data[pos + 1]; - data[y * pitch + x * 3 + 2] = frame.data[pos + 0]; - } - qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation); - pixmap = QPixmap::fromImage(qframe); + _frame = frame; } // ---------------------------------------------------------------------------- @@ -50,3 +38,24 @@ VideoWidgetDialog::VideoWidgetDialog(QWidget *parent, FrameProvider* provider) setLayout(layout); resize(VIDEO_FRAME_WIDTH, VIDEO_FRAME_HEIGHT); } + +void PTVideoWidget::update_and_repaint() +{ + QMutexLocker foo(&mtx); + if (_frame.empty()) + return; + QImage qframe = QImage(_frame.cols, _frame.rows, QImage::Format_RGB888); + uchar* data = qframe.bits(); + const int pitch = qframe.bytesPerLine(); + for (int y = 0; y < _frame.rows; y++) + for (int x = 0; x < _frame.cols; x++) + { + const int pos = 3 * (y*_frame.cols + x); + data[y * pitch + x * 3 + 0] = _frame.data[pos + 2]; + data[y * pitch + x * 3 + 1] = _frame.data[pos + 1]; + data[y * pitch + x * 3 + 2] = _frame.data[pos + 0]; + } + qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation); + pixmap = QPixmap::fromImage(qframe); + update(); +} diff --git a/FTNoIR_Tracker_PT/pt_video_widget.h b/FTNoIR_Tracker_PT/pt_video_widget.h index e67e6d57..f5663e47 100644 --- a/FTNoIR_Tracker_PT/pt_video_widget.h +++ b/FTNoIR_Tracker_PT/pt_video_widget.h @@ -31,7 +31,7 @@ class PTVideoWidget : public QWidget, public FrameObserver public: PTVideoWidget(QWidget *parent, FrameProvider* provider) : QWidget(parent), /* to avoid linker errors */ FrameObserver(provider) { - connect(&timer, SIGNAL(timeout()), this, SLOT(update())); + connect(&timer, SIGNAL(timeout()), this, SLOT(update_and_repaint())); timer.start(45); } void update_image(const cv::Mat &frame); @@ -42,10 +42,12 @@ protected slots: QPainter painter(this); painter.drawPixmap(e->rect(), pixmap, e->rect()); } + void update_and_repaint(); private: QMutex mtx; QPixmap pixmap; QTimer timer; + cv::Mat _frame; }; // ---------------------------------------------------------------------------- diff --git a/ftnoir_tracker_aruco/ar_video_widget.cpp b/ftnoir_tracker_aruco/ar_video_widget.cpp index 6a4572a0..b727679b 100644 --- a/ftnoir_tracker_aruco/ar_video_widget.cpp +++ b/ftnoir_tracker_aruco/ar_video_widget.cpp @@ -14,17 +14,31 @@ using namespace std; void ArucoVideoWidget::update_image(unsigned char *frame, int width, int height) { QMutexLocker foo(&mtx); + memcpy(fb, frame, width * height * 3); + this->width = width; + this->height = height; +} + +void ArucoVideoWidget::update_and_repaint() +{ + QMutexLocker foo(&mtx); + if (width*height <= 0) + return; QImage qframe = QImage(width, height, QImage::Format_RGB888); uchar* data = qframe.bits(); const int pitch = qframe.bytesPerLine(); for (int y = 0; y < height; y++) + { + const int part = y*width; for (int x = 0; x < width; x++) { - const int pos = 3 * (y*width + x); - data[y * pitch + x * 3 + 0] = frame[pos + 2]; - data[y * pitch + x * 3 + 1] = frame[pos + 1]; - data[y * pitch + x * 3 + 2] = frame[pos + 0]; + const int pos = 3 * (part + x); + data[y * pitch + x * 3 + 0] = fb[pos + 2]; + data[y * pitch + x * 3 + 1] = fb[pos + 1]; + data[y * pitch + x * 3 + 2] = fb[pos + 0]; } - qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation); - pixmap = QPixmap::fromImage(qframe); + } + auto qframe2 = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation); + pixmap = QPixmap::fromImage(qframe2); + update(); } diff --git a/ftnoir_tracker_aruco/ar_video_widget.h b/ftnoir_tracker_aruco/ar_video_widget.h index dd0c16ac..3a1574cd 100644 --- a/ftnoir_tracker_aruco/ar_video_widget.h +++ b/ftnoir_tracker_aruco/ar_video_widget.h @@ -15,6 +15,7 @@ #include #include #include +#include // ---------------------------------------------------------------------------- class ArucoVideoWidget : public QWidget @@ -22,7 +23,9 @@ class ArucoVideoWidget : public QWidget Q_OBJECT public: - ArucoVideoWidget(QWidget *parent) : QWidget(parent), mtx() { + ArucoVideoWidget(QWidget *parent) : QWidget(parent), width(0), height(0), fb{0} { + connect(&timer, SIGNAL(timeout()), this, SLOT(update_and_repaint())); + timer.start(60); } void update_image(unsigned char* frame, int width, int height); protected slots: @@ -31,9 +34,14 @@ protected slots: QPainter painter(this); painter.drawPixmap(e->rect(), pixmap, e->rect()); } + void update_and_repaint(); + private: QMutex mtx; QPixmap pixmap; + QTimer timer; + char fb[2048*2048*3]; + int width,height; }; #endif // VIDEOWIDGET_H -- cgit v1.2.3 From e246c43fc97171d3c70310684a1335ed231ceed0 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Wed, 23 Oct 2013 12:34:45 +0200 Subject: pt fix: frame race, framerate Signed-off-by: Stanislaw Halik --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index 43ecc775..b1392953 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -88,7 +88,7 @@ void Tracker::run() tracking_valid = point_tracker.track(points, camera.get_info().f, dt); frame_count++; #ifdef OPENTRACK_API - video_widget->update_image(frame); + video_widget->update_image(frame.clone()); #endif } #ifdef PT_PERF_LOG @@ -206,6 +206,7 @@ void Tracker::Initialize(QFrame *video_frame) settings.load_ini(); apply(settings); camera.start(); + apply(settings); start(); } -- cgit v1.2.3 From 866441314a5dd6294a1e396d9f24f3dfdef8f953 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Wed, 23 Oct 2013 12:34:52 +0200 Subject: fix Unix frame counter Signed-off-by: Stanislaw Halik --- FTNoIR_Tracker_PT/timer.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/timer.cpp b/FTNoIR_Tracker_PT/timer.cpp index ed7606e5..a3141113 100644 --- a/FTNoIR_Tracker_PT/timer.cpp +++ b/FTNoIR_Tracker_PT/timer.cpp @@ -58,9 +58,9 @@ double Timer::elapsed() if(running) gettimeofday(&endCount, NULL); - startTime = (startCount.tv_sec * 1e3) + startCount.tv_usec; - endTime = (endCount.tv_sec * 1e3) + endCount.tv_usec; + startTime = (startCount.tv_sec) + startCount.tv_usec * 1e-6; + endTime = (endCount.tv_sec) + endCount.tv_usec * 1e-6; #endif - return endTime - startTime; + return (endTime - startTime) * 1e3; } -- cgit v1.2.3 From e5f2a0407077e1352d6633c5b7f6fbe3b5c5b250 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Fri, 25 Oct 2013 22:32:18 +0200 Subject: PT: possibly fix applying settings Signed-off-by: Stanislaw Halik --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 1 - 1 file changed, 1 deletion(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index b1392953..e3bcafc0 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -206,7 +206,6 @@ void Tracker::Initialize(QFrame *video_frame) settings.load_ini(); apply(settings); camera.start(); - apply(settings); start(); } -- cgit v1.2.3 From aba4019cb6c33dce5ed1b2b637c8a1e8df76508b Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Fri, 25 Oct 2013 22:40:37 +0200 Subject: PT: don't loop forever on camera unplug --- FTNoIR_Tracker_PT/camera.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/camera.cpp b/FTNoIR_Tracker_PT/camera.cpp index 0ef617c3..d360a819 100644 --- a/FTNoIR_Tracker_PT/camera.cpp +++ b/FTNoIR_Tracker_PT/camera.cpp @@ -185,7 +185,7 @@ bool CVCamera::_get_frame(Mat* frame) * frames and then some every once in a while * -sh */ - while (!cap->read(img)) + for (int i = 0; i < 100 && !cap->read(img); i++) ;; if (img.empty()) -- cgit v1.2.3 From 1538a796e1202dc9769565a6f7556adcea877478 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Fri, 25 Oct 2013 23:00:25 +0200 Subject: PT: fix for Windows framerate display Signed-off-by: Stanislaw Halik --- FTNoIR_Tracker_PT/timer.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/timer.cpp b/FTNoIR_Tracker_PT/timer.cpp index a3141113..080dd713 100644 --- a/FTNoIR_Tracker_PT/timer.cpp +++ b/FTNoIR_Tracker_PT/timer.cpp @@ -54,13 +54,13 @@ double Timer::elapsed() startTime = startCount.QuadPart * (1e3 / frequency.QuadPart); endTime = endCount.QuadPart * (1e3 / frequency.QuadPart); + return endTime - startTime; #else if(running) gettimeofday(&endCount, NULL); startTime = (startCount.tv_sec) + startCount.tv_usec * 1e-6; endTime = (endCount.tv_sec) + endCount.tv_usec * 1e-6; -#endif - return (endTime - startTime) * 1e3; +#endif } -- cgit v1.2.3 From 2ef588a212334ea88a00b8579af7a4b7d134a13c Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 26 Oct 2013 15:51:22 +0200 Subject: Hopefully fix PT fps now Signed-off-by: Stanislaw Halik --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index e3bcafc0..f13021a9 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -204,8 +204,8 @@ void Tracker::Initialize(QFrame *video_frame) update_show_video_widget(); TrackerSettings settings; settings.load_ini(); - apply(settings); - camera.start(); + camera.start(); + apply(settings); start(); } -- cgit v1.2.3 From fe020b5b69549ef652b41c2deca0c2dedde3c13c Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 26 Oct 2013 16:09:48 +0200 Subject: fix one more PT edge case Signed-off-by: Stanislaw Halik --- FTNoIR_Tracker_PT/camera.cpp | 1 + 1 file changed, 1 insertion(+) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/camera.cpp b/FTNoIR_Tracker_PT/camera.cpp index d360a819..e5ecdc99 100644 --- a/FTNoIR_Tracker_PT/camera.cpp +++ b/FTNoIR_Tracker_PT/camera.cpp @@ -132,6 +132,7 @@ void Camera::set_res(int x_res, int y_res) cam_desired.res_x = x_res; cam_desired.res_y = y_res; _set_res(); + _set_fps(); } } -- cgit v1.2.3 From ef7bba81d346e86e92428b75f41ff6ef148e4928 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 26 Oct 2013 16:26:27 +0200 Subject: pt: decruft following c++11 requirement Signed-off-by: Stanislaw Halik --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 4 ---- 1 file changed, 4 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index f13021a9..9aed5a1f 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -115,11 +115,7 @@ void Tracker::apply(const TrackerSettings& settings) point_extractor.threshold_val = settings.threshold; point_extractor.min_size = settings.min_point_size; point_extractor.max_size = settings.max_point_size; -#ifdef OPENTRACK_API - point_tracker.point_model.reset(new PointModel(settings.M01, settings.M02)); -#else point_tracker.point_model = boost::shared_ptr(new PointModel(settings.M01, settings.M02)); -#endif point_tracker.dynamic_pose_resolution = settings.dyn_pose_res; sleep_time = settings.sleep_time; point_tracker.dt_reset = settings.reset_time / 1000.0; -- cgit v1.2.3 From a3885f8346920a8238d890361e417585d67ed1eb Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 26 Oct 2013 16:31:40 +0200 Subject: PT: use full frame size Signed-off-by: Stanislaw Halik --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index 9aed5a1f..5cb7bdf3 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -177,8 +177,8 @@ void Tracker::update_show_video_widget() } else if (video_frame && show_video_widget && !video_widget) { - const int VIDEO_FRAME_WIDTH = 252; - const int VIDEO_FRAME_HEIGHT = 189; + const int VIDEO_FRAME_WIDTH = 320; + const int VIDEO_FRAME_HEIGHT = 240; video_widget = new PTVideoWidget(video_frame, this); QHBoxLayout* video_layout = new QHBoxLayout(); video_layout->setContentsMargins(0, 0, 0, 0); -- cgit v1.2.3 From 2a25e74721d0e014d8386f5c23e7d882ed47aa52 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Tue, 29 Oct 2013 00:09:46 +0100 Subject: don't use .ico, doesn't work on mingw qt Signed-off-by: Stanislaw Halik --- FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.cpp index be1705c0..f3fbbef7 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.cpp @@ -26,7 +26,7 @@ void TrackerDll::getDescription(QString *strToBeFilled) void TrackerDll::getIcon(QIcon *icon) { - *icon = QIcon(":/Resources/icon.ico"); + *icon = QIcon(":/Resources/Logo_IR.png"); } -- cgit v1.2.3 From 6e1aa998ea5d2f54c704fdbaad1008bb2472825e Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 3 Nov 2013 14:08:11 +0100 Subject: "fix" crapintosh build --- CMakeLists.txt | 32 ++++++++++++++++++++++++++------ FTNoIR_Tracker_PT/camera.cpp | 2 +- facetracknoir/facetracknoir.cpp | 2 +- qxt-mini/qxtglobalshortcut.cpp | 12 ++++++------ qxt-mini/qxtglobalshortcut_p.h | 10 ++++++---- 5 files changed, 40 insertions(+), 18 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/CMakeLists.txt b/CMakeLists.txt index c1cc757e..952584e4 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -327,7 +327,7 @@ if(SDK_XPLANE) LIBRARY_OUTPUT_NAME "opentrack.xpl" PREFIX "" SUFFIX "") endif() - if(UNIX) + if(UNIX AND NOT APPLE) target_link_libraries(opentrack-xplane-plugin rt) endif() endif() @@ -345,7 +345,7 @@ if(CMAKE_COMPILER_IS_GNUCC OR CMAKE_COMPILER_IS_GNUCXX) endif() add_library(opentrack-compat SHARED ${opentrack-compat-c} ${opentrack-compat-h}) -if(NOT WIN32) +if(NOT WIN32 AND NOT APPLE) target_link_libraries(opentrack-compat rt) endif() @@ -354,7 +354,12 @@ endif() if(WIN32) set(my-qt-deps ws2_32) endif() -SET(MY_QT_LIBS ${Qt5Widgets_LIBRARIES} ${Qt5Gui_LIBRARIES} ${Qt5Network_LIBRARIES} ${Qt5Xml_LIBRARIES} ${Qt5Core_LIBRARIES} ${my-qt-deps}) +if(APPLE) + link_directories(${CMAKE_INSTALL_PREFIX}) + SET(MY_QT_LIBS QtWidgets QtGui QtNetwork QtXml QtCore) +else() + SET(MY_QT_LIBS ${Qt5Widgets_LIBRARIES} ${Qt5Gui_LIBRARIES} ${Qt5Network_LIBRARIES} ${Qt5Xml_LIBRARIES} ${Qt5Core_LIBRARIES} ${my-qt-deps}) +endif() add_library(opentrack-csv SHARED ${opentrack-csv-c} ${opentrack-csv-h}) target_link_libraries(opentrack-csv ${MY_QT_LIBS}) @@ -550,7 +555,11 @@ if(SDK_RIFT) if(WIN32) target_link_libraries(opentrack-tracker-rift "${SDK_RIFT}/libLibOVR.a" winmm.lib setupapi.lib) else() - target_link_libraries(opentrack-tracker-rift "${SDK_RIFT}/libLibOVR.a" udev Xinerama) + if (NOT APPLE) + target_link_libraries(opentrack-tracker-rift "${SDK_RIFT}/libLibOVR.a" udev Xinerama) + else() # crapintosh + target_link_libraries(opentrack-tracker-rift "${SDK_RIFT}/libLibOVR.a") + endif() endif() endif() if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_COMPILER_IS_GNUCC) @@ -560,6 +569,10 @@ if(SDK_RIFT) COMPILE_FLAGS "-fno-strict-aliasing" ) endif() + if(APPLE) + SET_TARGET_PROPERTIES(opentrack-tracker-rift + PROPERTIES LINK_FLAGS "-framework CoreFoundation -framework CoreGraphics -framework IOKit -framework Quartz") + endif() endif() if(SDK_HYDRA) @@ -604,16 +617,23 @@ if(WIN32 AND NOT SDK_CONSOLE_DEBUG) else() set(opentrack-win32-executable "") endif() -if(UNIX) +if(UNIX OR APPLE) add_library(opentrack-qxt-mini SHARED ${qxt-mini-c}) SET_TARGET_PROPERTIES(opentrack-qxt-mini PROPERTIES COMPILE_FLAGS "-DBUILD_QXT_CORE=42 -DBUILD_QXT_WIDGETS=42 -DBUILD_QXT_GUI=42") - target_link_libraries(opentrack-qxt-mini ${MY_QT_LIBS} X11) + target_link_libraries(opentrack-qxt-mini ${MY_QT_LIBS}) + if(NOT APPLE) + target_link_libraries(opentrack-qxt-mini X11) + endif() endif() add_executable(opentrack ${opentrack-win32-executable} ${opentrack-bin-c} ${opentrack-bin-h} ${opentrack-bin-moc} ${opentrack-bin-uih} ${opentrack-bin-rcc}) set_target_properties(opentrack PROPERTIES COMPILE_DEFINITIONS OPENTRACK_VERSION=\"${OPENTRACK__COMMIT}\") set(OPENTRACK_COMMIT_VERSION \"${OPENTRACK__COMMIT}\") configure_file("${CMAKE_SOURCE_DIR}/opentrack-version.h" "${CMAKE_BINARY_DIR}/opentrack-version.h" @ONLY NEWLINE_STYLE UNIX) +if(APPLE) + SET_TARGET_PROPERTIES(opentrack-qxt-mini PROPERTIES LINK_FLAGS "-framework Carbon -framework CoreFoundation") +endif() + add_library(opentrack-api SHARED ${opentrack-lib-c} ${opentrack-lib-h} ${opentrack-lib-moc}) target_link_libraries(opentrack-api ${MY_QT_LIBS}) if(CMAKE_COMPILER_IS_GNUCXX) diff --git a/FTNoIR_Tracker_PT/camera.cpp b/FTNoIR_Tracker_PT/camera.cpp index e5ecdc99..b4d2509f 100644 --- a/FTNoIR_Tracker_PT/camera.cpp +++ b/FTNoIR_Tracker_PT/camera.cpp @@ -11,7 +11,7 @@ using namespace cv; -#if defined(OPENTRACK_API) && (defined(__unix) || defined(__linux)) +#if defined(OPENTRACK_API) && (defined(__unix) || defined(__linux) || defined(__APPLE__)) #include #endif diff --git a/facetracknoir/facetracknoir.cpp b/facetracknoir/facetracknoir.cpp index 1e83110c..ef470c7a 100644 --- a/facetracknoir/facetracknoir.cpp +++ b/facetracknoir/facetracknoir.cpp @@ -49,7 +49,7 @@ # define LIB_PREFIX "lib" #endif -#if defined(__unix) || defined(__linux) +#if defined(__unix) || defined(__linux) || defined(__APPLE__) # include #endif diff --git a/qxt-mini/qxtglobalshortcut.cpp b/qxt-mini/qxtglobalshortcut.cpp index 72548d6f..44b9f917 100644 --- a/qxt-mini/qxtglobalshortcut.cpp +++ b/qxt-mini/qxtglobalshortcut.cpp @@ -33,17 +33,17 @@ #include #include -#ifndef Q_WS_MAC +#ifndef Q_OS_MAC int QxtGlobalShortcutPrivate::ref = 0; # if QT_VERSION < QT_VERSION_CHECK(5,0,0) QAbstractEventDispatcher::EventFilter QxtGlobalShortcutPrivate::prevEventFilter = 0; # endif -#endif // Q_WS_MAC +#endif // Q_OS_MAC QHash, QxtGlobalShortcut*> QxtGlobalShortcutPrivate::shortcuts; QxtGlobalShortcutPrivate::QxtGlobalShortcutPrivate() : enabled(true), key(Qt::Key(0)), mods(Qt::NoModifier) { -#ifndef Q_WS_MAC +#ifndef Q_OS_MAC if (ref == 0) { # if QT_VERSION < QT_VERSION_CHECK(5,0,0) prevEventFilter = QAbstractEventDispatcher::instance()->setEventFilter(eventFilter); @@ -52,12 +52,12 @@ QxtGlobalShortcutPrivate::QxtGlobalShortcutPrivate() : enabled(true), key(Qt::Ke #endif } ++ref; -#endif // Q_WS_MAC +#endif // Q_OS_MAC } QxtGlobalShortcutPrivate::~QxtGlobalShortcutPrivate() { -#ifndef Q_WS_MAC +#ifndef Q_OS_MAC --ref; if (ref == 0) { QAbstractEventDispatcher *ed = QAbstractEventDispatcher::instance(); @@ -69,7 +69,7 @@ QxtGlobalShortcutPrivate::~QxtGlobalShortcutPrivate() # endif } } -#endif // Q_WS_MAC +#endif // Q_OS_MAC } bool QxtGlobalShortcutPrivate::setShortcut(const QKeySequence& shortcut) diff --git a/qxt-mini/qxtglobalshortcut_p.h b/qxt-mini/qxtglobalshortcut_p.h index 1a788852..0d88b354 100644 --- a/qxt-mini/qxtglobalshortcut_p.h +++ b/qxt-mini/qxtglobalshortcut_p.h @@ -59,14 +59,16 @@ public: bool unsetShortcut(); static bool error; -#ifndef Q_WS_MAC +#ifndef Q_OS_DARWIN static int ref; -#if QT_VERSION < QT_VERSION_CHECK(5,0,0) +# if QT_VERSION < QT_VERSION_CHECK(5,0,0) static QAbstractEventDispatcher::EventFilter prevEventFilter; static bool eventFilter(void* message); -#else +# else virtual bool nativeEventFilter(const QByteArray & eventType, void * message, long * result); -#endif // QT_VERSION < QT_VERSION_CHECK(5,0,0) +# endif // QT_VERSION < QT_VERSION_CHECK(5,0,0) +# else + virtual bool nativeEventFilter(const QByteArray & eventType, void * message, long * result) {} #endif // Q_WS_MAC static void activateShortcut(quint32 nativeKey, quint32 nativeMods); -- cgit v1.2.3 From 4be56b29b1480457b64298ea2e1e7a01a4943adb Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 2 Nov 2013 06:51:45 +0100 Subject: pt: downcase settings/ dirname Signed-off-by: Stanislaw Halik --- FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp index 13ef49ec..db908465 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp @@ -15,7 +15,7 @@ void TrackerSettings::load_ini() qDebug("TrackerSettings::load_ini()"); QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // Registry settings (in HK_USER) - QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString(); + QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString(); QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file) iniFile.beginGroup( "PointTracker" ); @@ -60,7 +60,7 @@ void TrackerSettings::save_ini() const qDebug("TrackerSettings::save_ini()"); QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // Registry settings (in HK_USER) - QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString(); + QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString(); QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file) iniFile.beginGroup ( "PointTracker" ); @@ -106,7 +106,7 @@ void TrackerDialogSettings::load_ini() qDebug("TrackerDialogSettings::load_ini()"); QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // Registry settings (in HK_USER) - QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString(); + QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString(); QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file) iniFile.beginGroup( "PointTrackerDialog" ); @@ -132,7 +132,7 @@ void TrackerDialogSettings::save_ini() const qDebug("TrackerDialogSettings::save_ini()"); QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // Registry settings (in HK_USER) - QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString(); + QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString(); QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file) iniFile.beginGroup ( "PointTrackerDialog" ); @@ -151,4 +151,4 @@ void TrackerDialogSettings::save_ini() const iniFile.setValue("CapHalfWidth", cap_x); iniFile.setValue("CapHeight", cap_y); iniFile.setValue("CapLength", cap_z); -} \ No newline at end of file +} -- cgit v1.2.3 From 167e1517c64974ca0a7de6ea07de53df57e2b4b7 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Thu, 7 Nov 2013 17:20:44 +0100 Subject: (hopefully) fix pitch issues on Mac Signed-off-by: Stanislaw Halik --- FTNoIR_Tracker_PT/pt_video_widget.cpp | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/pt_video_widget.cpp b/FTNoIR_Tracker_PT/pt_video_widget.cpp index 35a2c42b..122ab4fd 100644 --- a/FTNoIR_Tracker_PT/pt_video_widget.cpp +++ b/FTNoIR_Tracker_PT/pt_video_widget.cpp @@ -50,10 +50,11 @@ void PTVideoWidget::update_and_repaint() for (int y = 0; y < _frame.rows; y++) for (int x = 0; x < _frame.cols; x++) { - const int pos = 3 * (y*_frame.cols + x); - data[y * pitch + x * 3 + 0] = _frame.data[pos + 2]; - data[y * pitch + x * 3 + 1] = _frame.data[pos + 1]; - data[y * pitch + x * 3 + 2] = _frame.data[pos + 0]; + const auto& elt = _frame.at(y, x); + const CvScalar elt2 = elt; + data[y * pitch + x * 3 + 0] = elt2.val[2]; + data[y * pitch + x * 3 + 1] = elt2.val[1]; + data[y * pitch + x * 3 + 2] = elt2.val[0]; } qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation); pixmap = QPixmap::fromImage(qframe); -- cgit v1.2.3 From e72d2694f613344022b1e548e5d5564d11833173 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Thu, 7 Nov 2013 22:57:11 +0100 Subject: fix build error on ocv 2.4 branch --- FTNoIR_Tracker_PT/pt_video_widget.cpp | 2 +- ftnoir_tracker_aruco/ar_video_widget.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/pt_video_widget.cpp b/FTNoIR_Tracker_PT/pt_video_widget.cpp index 122ab4fd..c73fa780 100644 --- a/FTNoIR_Tracker_PT/pt_video_widget.cpp +++ b/FTNoIR_Tracker_PT/pt_video_widget.cpp @@ -51,7 +51,7 @@ void PTVideoWidget::update_and_repaint() for (int x = 0; x < _frame.cols; x++) { const auto& elt = _frame.at(y, x); - const CvScalar elt2 = elt; + const cv::Scalar elt2 = elt; data[y * pitch + x * 3 + 0] = elt2.val[2]; data[y * pitch + x * 3 + 1] = elt2.val[1]; data[y * pitch + x * 3 + 2] = elt2.val[0]; diff --git a/ftnoir_tracker_aruco/ar_video_widget.cpp b/ftnoir_tracker_aruco/ar_video_widget.cpp index 149a19ee..b0d78fe2 100644 --- a/ftnoir_tracker_aruco/ar_video_widget.cpp +++ b/ftnoir_tracker_aruco/ar_video_widget.cpp @@ -30,7 +30,7 @@ void ArucoVideoWidget::update_and_repaint() for (int x = 0; x < _frame.cols; x++) { const auto& elt = _frame.at(y, x); - const CvScalar elt2 = elt; + const cv::Scalar elt2 = elt; data[y * pitch + x * 3 + 0] = elt2.val[2]; data[y * pitch + x * 3 + 1] = elt2.val[1]; data[y * pitch + x * 3 + 2] = elt2.val[0]; -- cgit v1.2.3 From 30658e31df61825c862dc4b5400f9124dd3b6c2b Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 10 Nov 2013 16:20:39 +0100 Subject: fix build Signed-off-by: Stanislaw Halik --- FTNoIR_Tracker_PT/pt_video_widget.cpp | 2 +- ftnoir_tracker_aruco/ar_video_widget.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/pt_video_widget.cpp b/FTNoIR_Tracker_PT/pt_video_widget.cpp index c73fa780..d0fc8d42 100644 --- a/FTNoIR_Tracker_PT/pt_video_widget.cpp +++ b/FTNoIR_Tracker_PT/pt_video_widget.cpp @@ -51,7 +51,7 @@ void PTVideoWidget::update_and_repaint() for (int x = 0; x < _frame.cols; x++) { const auto& elt = _frame.at(y, x); - const cv::Scalar elt2 = elt; + const cv::Scalar elt2 = static_cast(elt); data[y * pitch + x * 3 + 0] = elt2.val[2]; data[y * pitch + x * 3 + 1] = elt2.val[1]; data[y * pitch + x * 3 + 2] = elt2.val[0]; diff --git a/ftnoir_tracker_aruco/ar_video_widget.cpp b/ftnoir_tracker_aruco/ar_video_widget.cpp index b0d78fe2..645ea3a9 100644 --- a/ftnoir_tracker_aruco/ar_video_widget.cpp +++ b/ftnoir_tracker_aruco/ar_video_widget.cpp @@ -30,7 +30,7 @@ void ArucoVideoWidget::update_and_repaint() for (int x = 0; x < _frame.cols; x++) { const auto& elt = _frame.at(y, x); - const cv::Scalar elt2 = elt; + const cv::Scalar elt2 = static_cast(elt); data[y * pitch + x * 3 + 0] = elt2.val[2]; data[y * pitch + x * 3 + 1] = elt2.val[1]; data[y * pitch + x * 3 + 2] = elt2.val[0]; -- cgit v1.2.3 From aeac8a4b7199d0705b803f06bb2c1d443821d252 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Wed, 27 Nov 2013 19:18:54 +0100 Subject: pt, hatire: save settings in correct place Signed-off-by: Stanislaw Halik --- FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp | 8 ++++---- ftnoir_tracker_hatire/ftnoir_tracker_hat_settings.cpp | 4 ++-- 2 files changed, 6 insertions(+), 6 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp index db908465..62ba1e3e 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp @@ -14,7 +14,7 @@ void TrackerSettings::load_ini() { qDebug("TrackerSettings::load_ini()"); - QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // Registry settings (in HK_USER) + QSettings settings("opentrack"); QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString(); QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file) @@ -59,7 +59,7 @@ void TrackerSettings::save_ini() const { qDebug("TrackerSettings::save_ini()"); - QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // Registry settings (in HK_USER) + QSettings settings("opentrack"); QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString(); QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file) @@ -105,7 +105,7 @@ void TrackerDialogSettings::load_ini() { qDebug("TrackerDialogSettings::load_ini()"); - QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // Registry settings (in HK_USER) + QSettings settings("opentrack"); QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString(); QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file) @@ -131,7 +131,7 @@ void TrackerDialogSettings::save_ini() const { qDebug("TrackerDialogSettings::save_ini()"); - QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // Registry settings (in HK_USER) + QSettings settings("opentrack"); QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString(); QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file) diff --git a/ftnoir_tracker_hatire/ftnoir_tracker_hat_settings.cpp b/ftnoir_tracker_hatire/ftnoir_tracker_hat_settings.cpp index 1d2643ee..a9466304 100644 --- a/ftnoir_tracker_hatire/ftnoir_tracker_hat_settings.cpp +++ b/ftnoir_tracker_hatire/ftnoir_tracker_hat_settings.cpp @@ -6,7 +6,7 @@ void TrackerSettings::load_ini() { qDebug("TrackerSettings::load_ini()"); - QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // Registry settings (in HK_USER) + QSettings settings("opentrack"); QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString(); QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file) @@ -45,7 +45,7 @@ void TrackerSettings::save_ini() const { qDebug("TrackerSettings::save_ini()"); - QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // Registry settings (in HK_USER) + QSettings settings("opentrack"); QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString(); QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file) -- cgit v1.2.3 From 502daa65f45952893060a70f5f95d1626d53050a Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Wed, 27 Nov 2013 23:20:18 +0100 Subject: PT: don't crash on camera lackage (issue #9) Reported-by: runningman84 Signed-off-by: Stanislaw Halik --- FTNoIR_Tracker_PT/camera.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/camera.cpp b/FTNoIR_Tracker_PT/camera.cpp index b4d2509f..5f6db57c 100644 --- a/FTNoIR_Tracker_PT/camera.cpp +++ b/FTNoIR_Tracker_PT/camera.cpp @@ -163,7 +163,10 @@ void CVCamera::start() active_index = desired_index; cam_info.res_x = cap->get(CV_CAP_PROP_FRAME_WIDTH); cam_info.res_y = cap->get(CV_CAP_PROP_FRAME_HEIGHT); - } + } else { + delete cap; + cap = nullptr; + } } void CVCamera::stop() -- cgit v1.2.3 From 79119a08157aa954b3b2ecd18c8384b80a03970f Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Wed, 4 Dec 2013 18:46:27 +0100 Subject: draw images directly, without pixmaps --- FTNoIR_Tracker_PT/pt_video_widget.cpp | 2 +- FTNoIR_Tracker_PT/pt_video_widget.h | 4 ++-- ftnoir_posewidget/glwidget.cpp | 4 ++-- ftnoir_posewidget/glwidget.h | 2 +- ftnoir_tracker_aruco/ar_video_widget.cpp | 2 +- ftnoir_tracker_aruco/ar_video_widget.h | 4 ++-- ftnoir_tracker_ht/ht_video_widget.cpp | 2 +- ftnoir_tracker_ht/ht_video_widget.h | 4 ++-- 8 files changed, 12 insertions(+), 12 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/pt_video_widget.cpp b/FTNoIR_Tracker_PT/pt_video_widget.cpp index d0fc8d42..5ac002f4 100644 --- a/FTNoIR_Tracker_PT/pt_video_widget.cpp +++ b/FTNoIR_Tracker_PT/pt_video_widget.cpp @@ -57,6 +57,6 @@ void PTVideoWidget::update_and_repaint() data[y * pitch + x * 3 + 2] = elt2.val[0]; } qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation); - pixmap = QPixmap::fromImage(qframe); + texture = qframe; update(); } diff --git a/FTNoIR_Tracker_PT/pt_video_widget.h b/FTNoIR_Tracker_PT/pt_video_widget.h index f5663e47..acff43fb 100644 --- a/FTNoIR_Tracker_PT/pt_video_widget.h +++ b/FTNoIR_Tracker_PT/pt_video_widget.h @@ -40,12 +40,12 @@ protected slots: void paintEvent( QPaintEvent* e ) { QMutexLocker foo(&mtx); QPainter painter(this); - painter.drawPixmap(e->rect(), pixmap, e->rect()); + painter.drawImage(e->rect(), texture); } void update_and_repaint(); private: QMutex mtx; - QPixmap pixmap; + QImage texture; QTimer timer; cv::Mat _frame; }; diff --git a/ftnoir_posewidget/glwidget.cpp b/ftnoir_posewidget/glwidget.cpp index 71af8a08..93c98c9c 100644 --- a/ftnoir_posewidget/glwidget.cpp +++ b/ftnoir_posewidget/glwidget.cpp @@ -26,7 +26,7 @@ void GLWidget::paintEvent ( QPaintEvent * event ) { QWidget::paintEvent(event); QPainter p(this); project_quad_texture(); - p.drawPixmap(event->rect(), pixmap, event->rect()); + p.drawImage(event->rect(), texture); } void GLWidget::rotateBy(double xAngle, double yAngle, double zAngle) @@ -226,5 +226,5 @@ void GLWidget::project_quad_texture() { } } } - pixmap = QPixmap::fromImage(texture); + this->texture = texture; } diff --git a/ftnoir_posewidget/glwidget.h b/ftnoir_posewidget/glwidget.h index 0bb693c8..c4b2e09d 100644 --- a/ftnoir_posewidget/glwidget.h +++ b/ftnoir_posewidget/glwidget.h @@ -91,7 +91,7 @@ private: double matrix[9]; QImage front; QImage back; - QPixmap pixmap; + QImage texture; }; #endif diff --git a/ftnoir_tracker_aruco/ar_video_widget.cpp b/ftnoir_tracker_aruco/ar_video_widget.cpp index c452a638..9a089213 100644 --- a/ftnoir_tracker_aruco/ar_video_widget.cpp +++ b/ftnoir_tracker_aruco/ar_video_widget.cpp @@ -37,6 +37,6 @@ void ArucoVideoWidget::update_and_repaint() } } auto qframe2 = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation); - pixmap = QPixmap::fromImage(qframe2); + texture = qframe2; update(); } diff --git a/ftnoir_tracker_aruco/ar_video_widget.h b/ftnoir_tracker_aruco/ar_video_widget.h index b95d1873..e2cf4d9f 100644 --- a/ftnoir_tracker_aruco/ar_video_widget.h +++ b/ftnoir_tracker_aruco/ar_video_widget.h @@ -33,13 +33,13 @@ protected slots: void paintEvent( QPaintEvent* e ) { QMutexLocker foo(&mtx); QPainter painter(this); - painter.drawPixmap(e->rect(), pixmap, e->rect()); + painter.drawImage(e->rect(), texture); } void update_and_repaint(); private: QMutex mtx; - QPixmap pixmap; + QImage texture; QTimer timer; cv::Mat _frame; }; diff --git a/ftnoir_tracker_ht/ht_video_widget.cpp b/ftnoir_tracker_ht/ht_video_widget.cpp index 8ccec997..c6d59b34 100644 --- a/ftnoir_tracker_ht/ht_video_widget.cpp +++ b/ftnoir_tracker_ht/ht_video_widget.cpp @@ -39,6 +39,6 @@ void HTVideoWidget::update_and_repaint() } } auto qframe2 = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation); - pixmap = QPixmap::fromImage(qframe2); + texture = qframe2; update(); } diff --git a/ftnoir_tracker_ht/ht_video_widget.h b/ftnoir_tracker_ht/ht_video_widget.h index 3fff395e..cbfe6ddc 100644 --- a/ftnoir_tracker_ht/ht_video_widget.h +++ b/ftnoir_tracker_ht/ht_video_widget.h @@ -32,13 +32,13 @@ protected slots: void paintEvent( QPaintEvent* e ) { QMutexLocker foo(&mtx); QPainter painter(this); - painter.drawPixmap(e->rect(), pixmap, e->rect()); + painter.drawImage(e->rect(), texture); } void update_and_repaint(); private: QMutex mtx; - QPixmap pixmap; + QImage texture; QTimer timer; char fb[2048*2048*3]; int width,height; -- cgit v1.2.3 From 28fcbb913ed0969b22fd07c32c63c2a54568b6c6 Mon Sep 17 00:00:00 2001 From: usrusr Date: Tue, 10 Dec 2013 01:52:43 +0100 Subject: add an optional per-pixel hysteresis to remove pixel noise at the expense of a moderate movement threshold (but no lag) --- FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui | 32 ++++++++++ FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 1 + FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp | 2 + FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h | 1 + FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp | 2 + FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h | 2 + FTNoIR_Tracker_PT/point_extractor.cpp | 80 +++++++++++++++++++++--- FTNoIR_Tracker_PT/point_extractor.h | 6 ++ 8 files changed, 117 insertions(+), 9 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui index 1495249a..9ad4f83c 100644 --- a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui +++ b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui @@ -848,6 +848,38 @@ + + + + + + + Hysteresis + + + threshold_secondary_slider + + + + + + + Per pixel hysteresis width (leave left if there is little difference between dot and non-dot, move right for increased stability against pixel noise) + + + 255 + + + 100 + + + Qt::Horizontal + + + + + + diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index 5cb7bdf3..dcf28f04 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -113,6 +113,7 @@ void Tracker::apply(const TrackerSettings& settings) camera.set_f(settings.cam_f); frame_rotation.rotation = static_cast(settings.cam_roll); point_extractor.threshold_val = settings.threshold; + point_extractor.threshold_secondary_val = settings.threshold_secondary; point_extractor.min_size = settings.min_point_size; point_extractor.max_size = settings.max_point_size; point_tracker.point_model = boost::shared_ptr(new PointModel(settings.M01, settings.M02)); diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp index fe995163..f8afa790 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp @@ -63,6 +63,7 @@ TrackerDialog::TrackerDialog() ui.campitch_spin->setValue(settings.cam_pitch); ui.camyaw_spin->setValue(settings.cam_yaw); ui.threshold_slider->setValue(settings.threshold); + ui.threshold_secondary_slider->setValue(settings.threshold_secondary); ui.chkEnableRoll->setChecked(settings.bEnableRoll); ui.chkEnablePitch->setChecked(settings.bEnablePitch); @@ -105,6 +106,7 @@ TrackerDialog::TrackerDialog() connect( ui.campitch_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cam_pitch(int)) ); connect( ui.camyaw_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cam_yaw(int)) ); connect( ui.threshold_slider,SIGNAL(sliderMoved(int)), this,SLOT(set_threshold(int)) ); + connect( ui.threshold_secondary_slider,SIGNAL(sliderMoved(int)), this,SLOT(set_threshold_secondary(int)) ); connect( ui.chkEnableRoll,SIGNAL(toggled(bool)), this,SLOT(set_ena_roll(bool)) ); connect( ui.chkEnablePitch,SIGNAL(toggled(bool)), this,SLOT(set_ena_pitch(bool)) ); diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h index 3e1af50a..de743ad8 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h @@ -54,6 +54,7 @@ protected slots: void set_min_point_size(int val) { settings.min_point_size = val; settings_changed(); } void set_max_point_size(int val) { settings.max_point_size = val; settings_changed(); } void set_threshold(int val) { settings.threshold = val; settings_changed(); } + void set_threshold_secondary(int val) { settings.threshold_secondary = val; settings_changed(); } void set_ena_roll(bool val) { settings.bEnableRoll = val; settings_changed(); } void set_ena_pitch(bool val) { settings.bEnablePitch = val; settings_changed(); } void set_ena_yaw(bool val) { settings.bEnableYaw = val; settings_changed(); } diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp index 62ba1e3e..50835cb8 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp @@ -29,6 +29,7 @@ void TrackerSettings::load_ini() cam_pitch = iniFile.value("CameraPitch", 0).toInt(); cam_yaw = iniFile.value("CameraYaw", 0).toInt(); threshold = iniFile.value("PointExtractThreshold", 128).toInt(); + threshold_secondary = iniFile.value("PointExtractThresholdSecondary", 128).toInt(); min_point_size = iniFile.value("PointExtractMinSize", 2).toInt(); max_point_size = iniFile.value("PointExtractMaxSize", 50).toInt(); M01[0] = iniFile.value("PointModelM01x", 0).toFloat(); @@ -74,6 +75,7 @@ void TrackerSettings::save_ini() const iniFile.setValue("CameraPitch", cam_pitch); iniFile.setValue("CameraYaw", cam_yaw); iniFile.setValue("PointExtractThreshold", threshold); + iniFile.setValue("PointExtractThresholdSecondary", threshold_secondary); iniFile.setValue("PointExtractMinSize", min_point_size); iniFile.setValue("PointExtractMaxSize", max_point_size); iniFile.setValue("PointModelM01x", M01[0]); diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h index 1cf60853..91a7a8d5 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h @@ -28,6 +28,8 @@ struct TrackerSettings // point extraction int threshold; + int threshold_secondary; + int min_point_size; int max_point_size; diff --git a/FTNoIR_Tracker_PT/point_extractor.cpp b/FTNoIR_Tracker_PT/point_extractor.cpp index 261de60f..27a14713 100644 --- a/FTNoIR_Tracker_PT/point_extractor.cpp +++ b/FTNoIR_Tracker_PT/point_extractor.cpp @@ -8,15 +8,27 @@ #include "point_extractor.h" #include + using namespace cv; using namespace std; + +PointExtractor::PointExtractor(){ + first = true; + + + //if (!AllocConsole()){} + //else SetConsoleTitle("debug"); + //freopen("CON", "w", stdout); + //freopen("CON", "w", stderr); +} // ---------------------------------------------------------------------------- const vector& PointExtractor::extract_points(Mat frame, float dt, bool draw_output) { const int W = frame.cols; const int H = frame.rows; + // clear old points points.clear(); @@ -24,10 +36,41 @@ const vector& PointExtractor::extract_points(Mat frame, float dt, bool dr Mat frame_gray; cvtColor(frame, frame_gray, CV_RGB2GRAY); - // convert to binary + int secondary = threshold_secondary_val; + + // mask for everything that passes the threshold (or: the upper threshold of the hysteresis) Mat frame_bin; - threshold(frame_gray, frame_bin, threshold_val, 255, THRESH_BINARY); + // only used if draw_output + Mat frame_bin_copy; + // mask for everything that passes + Mat frame_bin_low; + // mask for lower-threshold && combined result of last, needs to remain in scope until drawing, but is only used if secondary != 0 + Mat frame_last_and_low; + if(secondary==0){ + threshold(frame_gray, frame_bin, threshold_val, 255, THRESH_BINARY); + }else{ + // we recombine a number of buffers, this might be slower than a single loop of per-pixel logic + // but it might as well be faster if openCV makes good use of SIMD + float t = threshold_val; + //float hyst = float(threshold_secondary_val)/512.; + //threshold(frame_gray, frame_bin, (t + ((255.-t)*hyst)), 255, THRESH_BINARY); + float hyst = float(threshold_secondary_val)/256.; + threshold(frame_gray, frame_bin, t, 255, THRESH_BINARY); + threshold(frame_gray, frame_bin_low,std::max(float(1), t - (t*hyst)), 255, THRESH_BINARY); + + if(draw_output) frame_bin.copyTo(frame_bin_copy); + if(first){ + frame_bin.copyTo(frame_last); + first = false; + }else{ + // keep pixels from last if they are above lower threshold + bitwise_and(frame_last, frame_bin_low, frame_last_and_low); + // union of pixels >= higher threshold and pixels >= lower threshold + bitwise_or(frame_bin, frame_last_and_low, frame_last); + frame_last.copyTo(frame_bin); + } + } unsigned int region_size_min = 3.14*min_size*min_size/4.0; unsigned int region_size_max = 3.14*max_size*max_size/4.0; @@ -42,6 +85,7 @@ const vector& PointExtractor::extract_points(Mat frame, float dt, bool dr // find connected components with floodfill if (frame_bin.at(y,x) != 255) continue; Rect rect; + floodFill(frame_bin, Point(x,y), Scalar(blob_index), &rect, Scalar(0), Scalar(0), FLOODFILL_FIXED_RANGE); blob_index++; @@ -70,9 +114,17 @@ const vector& PointExtractor::extract_points(Mat frame, float dt, bool dr for (int j=rect.x; j < (rect.x+rect.width); j++) { if (frame_bin.at(i,j) != blob_index-1) continue; - float val = frame_gray.at(i,j); - val = float(val - threshold_val)/(256 - threshold_val); - val = val*val; // makes it more stable (less emphasis on low values, more on the peak) + float val; + + if(secondary==0){ + val = frame_gray.at(i,j); + val = float(val - threshold_val)/(256 - threshold_val); + val = val*val; // makes it more stable (less emphasis on low values, more on the peak) + }else{ + //hysteresis point detection gets stability from ignoring pixel noise so we decidedly leave the actual pixel values out of the picture + val = frame_last.at(i,j) / 256.; + } + m += val; mx += j * val; my += i * val; @@ -83,6 +135,7 @@ const vector& PointExtractor::extract_points(Mat frame, float dt, bool dr Vec2f c; c[0] = (mx/m - W/2)/W; c[1] = -(my/m - H/2)/W; + //qDebug()< "<& PointExtractor::extract_points(Mat frame, float dt, bool dr // draw output image if (draw_output) { vector channels; - frame_bin.setTo(170, frame_bin); - channels.push_back(frame_gray + frame_bin); - channels.push_back(frame_gray - frame_bin); - channels.push_back(frame_gray - frame_bin); + if(secondary==0){ + frame_bin.setTo(170, frame_bin); + channels.push_back(frame_gray + frame_bin); + channels.push_back(frame_gray - frame_bin); + channels.push_back(frame_gray - frame_bin); + }else{ + frame_bin_copy.setTo(120, frame_bin_copy); + frame_bin_low.setTo(90, frame_bin_low); + channels.push_back(frame_gray + frame_bin_copy); + channels.push_back(frame_gray + frame_last_and_low); + channels.push_back(frame_gray + frame_bin_low); + //channels.push_back(frame_gray + frame_bin); + } merge(channels, frame); } diff --git a/FTNoIR_Tracker_PT/point_extractor.h b/FTNoIR_Tracker_PT/point_extractor.h index c62d34f9..b9f46666 100644 --- a/FTNoIR_Tracker_PT/point_extractor.h +++ b/FTNoIR_Tracker_PT/point_extractor.h @@ -21,12 +21,18 @@ public: // WARNING: returned reference is valid as long as object const std::vector& extract_points(cv::Mat frame, float dt, bool draw_output); const std::vector& get_points() { return points; } + PointExtractor(); int threshold_val; + int threshold_secondary_val; int min_size, max_size; protected: std::vector points; + cv::Mat frame_last; + + + bool first; }; #endif //POINTEXTRACTOR_H -- cgit v1.2.3 From c298ec1126f1ec8fbf01e5619c5a4b0a30a222c2 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Tue, 10 Dec 2013 03:52:19 +0100 Subject: remove return value from GiveHeadPoseData --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 8 +++++--- FTNoIR_Tracker_PT/ftnoir_tracker_pt.h | 2 +- ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 4 +--- ftnoir_tracker_aruco/ftnoir_tracker_aruco.h | 2 +- ftnoir_tracker_base/ftnoir_tracker_base.h | 2 +- ftnoir_tracker_hatire/ftnoir_tracker_hat.cpp | 7 ++----- ftnoir_tracker_hatire/ftnoir_tracker_hat.h | 2 +- ftnoir_tracker_ht/ftnoir_tracker_ht.cpp | 7 +------ ftnoir_tracker_ht/ftnoir_tracker_ht.h | 2 +- ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp | 4 +--- ftnoir_tracker_hydra/ftnoir_tracker_hydra.h | 2 +- ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp | 10 ++++------ ftnoir_tracker_joystick/ftnoir_tracker_joystick.h | 2 +- ftnoir_tracker_rift/ftnoir_tracker_rift.cpp | 3 +-- ftnoir_tracker_rift/ftnoir_tracker_rift.h | 2 +- ftnoir_tracker_udp/ftnoir_tracker_udp.cpp | 3 +-- ftnoir_tracker_udp/ftnoir_tracker_udp.h | 2 +- opentrack-api/opentrack.h | 2 +- opentrack-api/trackers.cpp | 5 ++--- 19 files changed, 28 insertions(+), 43 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index 5cb7bdf3..a6aaa29c 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -233,12 +233,12 @@ void Tracker::StopTracker(bool exit) #define THeadPoseData double #endif -bool Tracker::GiveHeadPoseData(THeadPoseData *data) +void Tracker::GiveHeadPoseData(THeadPoseData *data) { { QMutexLocker lock(&mutex); - if (!tracking_valid) return false; + if (!tracking_valid) return; FrameTrafo X_CM = point_tracker.get_pose(); FrameTrafo X_MH(Matx33f::eye(), t_MH); @@ -280,7 +280,9 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data) if (bEnableRoll) data[Roll] = rad2deg * gamma; #endif } - return true; +#ifndef OPENTRACK_API + return true; +#endif } //----------------------------------------------------------------------------- diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h index 64f282b6..5c8d35d2 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h @@ -44,7 +44,7 @@ public: virtual void Initialize(QFrame *videoframe); #ifdef OPENTRACK_API virtual void StartTracker(QFrame* parent_window); - virtual bool GiveHeadPoseData(double* data); + virtual void GiveHeadPoseData(double* data); #else virtual void StartTracker(HWND parent_window); virtual void StopTracker(bool exit); diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index 7581b77a..11916df5 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -375,7 +375,7 @@ void Tracker::run() } } -bool Tracker::GiveHeadPoseData(double *data) +void Tracker::GiveHeadPoseData(double *data) { QMutexLocker lck(&mtx); @@ -391,8 +391,6 @@ bool Tracker::GiveHeadPoseData(double *data) data[TY] = pose[TY]; if (enableTZ) data[TZ] = pose[TZ]; - - return true; } class TrackerDll : public Metadata diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h index 1518ba4d..8a480d9f 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h @@ -26,7 +26,7 @@ public: Tracker(); virtual ~Tracker(); void StartTracker(QFrame* frame); - bool GiveHeadPoseData(double *data); + void GiveHeadPoseData(double *data); bool enableTX, enableTY, enableTZ, enableRX, enableRY, enableRZ; void run(); void load_settings(); diff --git a/ftnoir_tracker_base/ftnoir_tracker_base.h b/ftnoir_tracker_base/ftnoir_tracker_base.h index 38c24afe..e6e770ed 100644 --- a/ftnoir_tracker_base/ftnoir_tracker_base.h +++ b/ftnoir_tracker_base/ftnoir_tracker_base.h @@ -43,7 +43,7 @@ struct ITracker { virtual ~ITracker() = 0; virtual void StartTracker( QFrame* frame ) = 0; - virtual bool GiveHeadPoseData(double *data) = 0; + virtual void GiveHeadPoseData(double *data) = 0; virtual int preferredHz() { return 66; } }; diff --git a/ftnoir_tracker_hatire/ftnoir_tracker_hat.cpp b/ftnoir_tracker_hatire/ftnoir_tracker_hat.cpp index b933dd14..bcef6753 100644 --- a/ftnoir_tracker_hatire/ftnoir_tracker_hat.cpp +++ b/ftnoir_tracker_hatire/ftnoir_tracker_hat.cpp @@ -323,7 +323,7 @@ void FTNoIR_Tracker::StartTracker(QFrame*) #define THeadPoseData double #endif -bool FTNoIR_Tracker::GiveHeadPoseData(THeadPoseData *data) +void FTNoIR_Tracker::GiveHeadPoseData(THeadPoseData *data) { QMutexLocker lck(&mutex); while (dataRead.length()>=30) { @@ -354,7 +354,7 @@ bool FTNoIR_Tracker::GiveHeadPoseData(THeadPoseData *data) if (CptError>50) { emit sendMsgInfo("Can't find HAT frame") ; CptError=0; - return false; + return; } #ifdef OPENTRACK_API data[frame_cnt] = (long) HAT.Code; @@ -425,9 +425,6 @@ bool FTNoIR_Tracker::GiveHeadPoseData(THeadPoseData *data) // For debug //data->x=dataRead.length(); //data->y=CptError; - - return true; - } diff --git a/ftnoir_tracker_hatire/ftnoir_tracker_hat.h b/ftnoir_tracker_hatire/ftnoir_tracker_hat.h index a1b4ecda..04c5fb61 100644 --- a/ftnoir_tracker_hatire/ftnoir_tracker_hat.h +++ b/ftnoir_tracker_hatire/ftnoir_tracker_hat.h @@ -29,7 +29,7 @@ public: #ifdef OPENTRACK_API virtual void StartTracker(QFrame*); - virtual bool GiveHeadPoseData(double* data); + virtual void GiveHeadPoseData(double* data); #else void Initialize( QFrame *videoframe ); virtual void StartTracker(HWND parent_window); diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp index c08af00b..c3c12005 100644 --- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp @@ -186,10 +186,8 @@ void Tracker::StartTracker(QFrame* videoframe) #endif } -bool Tracker::GiveHeadPoseData(double *data) +void Tracker::GiveHeadPoseData(double *data) { - bool ret = false; - lck_shm.lock(); shm->timer = 0; if (shm->frame.width > 0) @@ -213,7 +211,6 @@ bool Tracker::GiveHeadPoseData(double *data) data[TY] = shm->result.ty; if (enableTZ) data[TZ] = shm->result.tz; - ret = true; if (fabs(data[Yaw]) > 60 || fabs(data[Pitch]) > 50 || fabs(data[Roll]) > 40) { shm->pause = true; @@ -222,8 +219,6 @@ bool Tracker::GiveHeadPoseData(double *data) shm->pause = false; } lck_shm.unlock(); - - return ret; } //----------------------------------------------------------------------------- diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.h b/ftnoir_tracker_ht/ftnoir_tracker_ht.h index c19e2d93..475d5a6c 100644 --- a/ftnoir_tracker_ht/ftnoir_tracker_ht.h +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.h @@ -23,7 +23,7 @@ public: Tracker(); virtual ~Tracker(); void StartTracker(QFrame* frame); - bool GiveHeadPoseData(double *data); + void GiveHeadPoseData(double *data); bool enableTX, enableTY, enableTZ, enableRX, enableRY, enableRZ; ht_shm_t* shm; private: diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp index 86ca8888..11a3e0fb 100644 --- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp @@ -66,7 +66,7 @@ void Hydra_Tracker::StartTracker(QFrame*) } -bool Hydra_Tracker::GiveHeadPoseData(double *data) +void Hydra_Tracker::GiveHeadPoseData(double *data) { sixenseSetActiveBase(0); @@ -109,8 +109,6 @@ bool Hydra_Tracker::GiveHeadPoseData(double *data) if (bEnableRoll) { data[Roll] = newHeadPose[Roll] * 57.295781f; } - - return true; } diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h index 3daaf239..6e40b710 100644 --- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h @@ -12,7 +12,7 @@ public: ~Hydra_Tracker(); void StartTracker(QFrame *) virt_override; - bool GiveHeadPoseData(double *data) virt_override; + void GiveHeadPoseData(double *data) virt_override; void loadSettings(); volatile bool should_quit; protected: diff --git a/ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp b/ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp index 66138e90..8f5ac162 100644 --- a/ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp +++ b/ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp @@ -175,13 +175,13 @@ fail: qDebug() << "joy init failure"; } -bool FTNoIR_Tracker::GiveHeadPoseData(double *data) +void FTNoIR_Tracker::GiveHeadPoseData(double *data) { QMutexLocker foo(&mtx); DIJOYSTATE js = {0}; if( !g_pDI || !g_pJoystick) - return false; + return; auto hr = g_pJoystick->Poll(); if( FAILED( hr )) @@ -190,11 +190,11 @@ bool FTNoIR_Tracker::GiveHeadPoseData(double *data) for (int i = 0; hr == DIERR_INPUTLOST && i < 200; i++) hr = g_pJoystick->Acquire(); if (hr != DI_OK) - return false; + return; } if( FAILED( hr = g_pJoystick->GetDeviceState( sizeof( js ), &js ) ) ) - return false; + return; const LONG values[] = { js.lRx, @@ -232,8 +232,6 @@ bool FTNoIR_Tracker::GiveHeadPoseData(double *data) data[i] = val * limits[i] / (double) (val >= 0 ? max : min); } } - - return true; } void FTNoIR_Tracker::loadSettings() { diff --git a/ftnoir_tracker_joystick/ftnoir_tracker_joystick.h b/ftnoir_tracker_joystick/ftnoir_tracker_joystick.h index cdf4fc7b..809d8c73 100644 --- a/ftnoir_tracker_joystick/ftnoir_tracker_joystick.h +++ b/ftnoir_tracker_joystick/ftnoir_tracker_joystick.h @@ -42,7 +42,7 @@ public: ~FTNoIR_Tracker(); void StartTracker(QFrame *frame); - bool GiveHeadPoseData(double *data); + void GiveHeadPoseData(double *data); void loadSettings(); LPDIRECTINPUT8 g_pDI; LPDIRECTINPUTDEVICE8 g_pJoystick; diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp index 4816cea4..c3b313ca 100644 --- a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp +++ b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp @@ -68,7 +68,7 @@ void Rift_Tracker::StartTracker(QFrame*) } -bool Rift_Tracker::GiveHeadPoseData(double *data) +void Rift_Tracker::GiveHeadPoseData(double *data) { if (pSFusion != NULL && pSensor != NULL) { Quatf hmdOrient = pSFusion->GetOrientation(); @@ -113,7 +113,6 @@ bool Rift_Tracker::GiveHeadPoseData(double *data) data[Roll] = newHeadPose[Roll] * 57.295781f; } } - return pSensor != NULL; } diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift.h b/ftnoir_tracker_rift/ftnoir_tracker_rift.h index 7a4533d3..33e6f5cd 100644 --- a/ftnoir_tracker_rift/ftnoir_tracker_rift.h +++ b/ftnoir_tracker_rift/ftnoir_tracker_rift.h @@ -15,7 +15,7 @@ public: virtual ~Rift_Tracker() virt_override; void StartTracker(QFrame *) virt_override; - bool GiveHeadPoseData(double *data) virt_override; + void GiveHeadPoseData(double *data) virt_override; void loadSettings(); virtual int preferredHz() virt_override { return 250; } volatile bool should_quit; diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp index 1539707e..d58341a6 100644 --- a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp +++ b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp @@ -110,7 +110,7 @@ void FTNoIR_Tracker::StartTracker(QFrame*) return; } -bool FTNoIR_Tracker::GiveHeadPoseData(double *data) +void FTNoIR_Tracker::GiveHeadPoseData(double *data) { mutex.lock(); if (bEnableX) { @@ -132,7 +132,6 @@ bool FTNoIR_Tracker::GiveHeadPoseData(double *data) data[Roll] = newHeadPose[Roll]; } mutex.unlock(); - return true; } // diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp.h b/ftnoir_tracker_udp/ftnoir_tracker_udp.h index d158630b..7b6c5328 100644 --- a/ftnoir_tracker_udp/ftnoir_tracker_udp.h +++ b/ftnoir_tracker_udp/ftnoir_tracker_udp.h @@ -16,7 +16,7 @@ public: ~FTNoIR_Tracker(); void StartTracker(QFrame *); - bool GiveHeadPoseData(double *data); + void GiveHeadPoseData(double *data); void loadSettings(); volatile bool should_quit; protected: diff --git a/opentrack-api/opentrack.h b/opentrack-api/opentrack.h index 990b6aa4..88ba6cf0 100644 --- a/opentrack-api/opentrack.h +++ b/opentrack-api/opentrack.h @@ -50,7 +50,7 @@ OPENTRACK_EXPORT const char** opentrack_enum_trackers(opentrack self); */ OPENTRACK_EXPORT opentrack_tracker opentrack_make_tracker(opentrack ctx, const char* name); OPENTRACK_EXPORT void opentrack_tracker_start(opentrack self, opentrack_tracker tracker); -OPENTRACK_EXPORT int opentrack_tracker_tick(opentrack_tracker tracker, double* headpose); +OPENTRACK_EXPORT void opentrack_tracker_tick(opentrack_tracker tracker, double* headpose); OPENTRACK_EXPORT void opentrack_finalize_tracker(opentrack_tracker tracker); #ifdef __cplusplus } diff --git a/opentrack-api/trackers.cpp b/opentrack-api/trackers.cpp index 0f698e4c..937f7084 100644 --- a/opentrack-api/trackers.cpp +++ b/opentrack-api/trackers.cpp @@ -29,11 +29,10 @@ void OPENTRACK_EXPORT opentrack_tracker_start(opentrack self, opentrack_tracker return tracker->StartTracker(&self->fake_frame); } -int OPENTRACK_EXPORT opentrack_tracker_tick(opentrack_tracker tracker, double* headpose) +void OPENTRACK_EXPORT opentrack_tracker_tick(opentrack_tracker tracker, double* headpose) { - int ret = tracker->GiveHeadPoseData(headpose); + tracker->GiveHeadPoseData(headpose); QApplication::processEvents(0, 5); - return ret; } } -- cgit v1.2.3 From 3bc46979c76cd13b10ba0215804962f1e3904c5c Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Tue, 10 Dec 2013 03:54:52 +0100 Subject: s/Give/Get/ --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 2 +- FTNoIR_Tracker_PT/ftnoir_tracker_pt.h | 4 ++-- facetracknoir/tracker.cpp | 4 ++-- ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 2 +- ftnoir_tracker_aruco/ftnoir_tracker_aruco.h | 2 +- ftnoir_tracker_base/ftnoir_tracker_base.h | 2 +- ftnoir_tracker_hatire/ftnoir_tracker_hat.cpp | 2 +- ftnoir_tracker_hatire/ftnoir_tracker_hat.h | 4 ++-- ftnoir_tracker_ht/ftnoir_tracker_ht.cpp | 2 +- ftnoir_tracker_ht/ftnoir_tracker_ht.h | 2 +- ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp | 2 +- ftnoir_tracker_hydra/ftnoir_tracker_hydra.h | 2 +- ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp | 2 +- ftnoir_tracker_joystick/ftnoir_tracker_joystick.h | 2 +- ftnoir_tracker_rift/ftnoir_tracker_rift.cpp | 2 +- ftnoir_tracker_rift/ftnoir_tracker_rift.h | 2 +- ftnoir_tracker_udp/ftnoir_tracker_udp.cpp | 2 +- ftnoir_tracker_udp/ftnoir_tracker_udp.h | 2 +- opentrack-api/trackers.cpp | 2 +- 19 files changed, 22 insertions(+), 22 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index a6aaa29c..639053b7 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -233,7 +233,7 @@ void Tracker::StopTracker(bool exit) #define THeadPoseData double #endif -void Tracker::GiveHeadPoseData(THeadPoseData *data) +void Tracker::GetHeadPoseData(THeadPoseData *data) { { QMutexLocker lock(&mutex); diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h index 5c8d35d2..54edafb2 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h @@ -44,11 +44,11 @@ public: virtual void Initialize(QFrame *videoframe); #ifdef OPENTRACK_API virtual void StartTracker(QFrame* parent_window); - virtual void GiveHeadPoseData(double* data); + virtual void GetHeadPoseData(double* data); #else virtual void StartTracker(HWND parent_window); virtual void StopTracker(bool exit); - virtual bool GiveHeadPoseData(THeadPoseData *data); + virtual bool GetHeadPoseData(THeadPoseData *data); #endif virtual void refreshVideo(); diff --git a/facetracknoir/tracker.cpp b/facetracknoir/tracker.cpp index fbf90a66..8f8ad356 100644 --- a/facetracknoir/tracker.cpp +++ b/facetracknoir/tracker.cpp @@ -108,11 +108,11 @@ void Tracker::run() { break; if (Libraries->pSecondTracker) { - Libraries->pSecondTracker->GiveHeadPoseData(newpose); + Libraries->pSecondTracker->GetHeadPoseData(newpose); } if (Libraries->pTracker) { - Libraries->pTracker->GiveHeadPoseData(newpose); + Libraries->pTracker->GetHeadPoseData(newpose); } { diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index 11916df5..6d06d4a8 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -375,7 +375,7 @@ void Tracker::run() } } -void Tracker::GiveHeadPoseData(double *data) +void Tracker::GetHeadPoseData(double *data) { QMutexLocker lck(&mtx); diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h index 8a480d9f..be2ad3d7 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h @@ -26,7 +26,7 @@ public: Tracker(); virtual ~Tracker(); void StartTracker(QFrame* frame); - void GiveHeadPoseData(double *data); + void GetHeadPoseData(double *data); bool enableTX, enableTY, enableTZ, enableRX, enableRY, enableRZ; void run(); void load_settings(); diff --git a/ftnoir_tracker_base/ftnoir_tracker_base.h b/ftnoir_tracker_base/ftnoir_tracker_base.h index e6e770ed..16f76cf3 100644 --- a/ftnoir_tracker_base/ftnoir_tracker_base.h +++ b/ftnoir_tracker_base/ftnoir_tracker_base.h @@ -43,7 +43,7 @@ struct ITracker { virtual ~ITracker() = 0; virtual void StartTracker( QFrame* frame ) = 0; - virtual void GiveHeadPoseData(double *data) = 0; + virtual void GetHeadPoseData(double *data) = 0; virtual int preferredHz() { return 66; } }; diff --git a/ftnoir_tracker_hatire/ftnoir_tracker_hat.cpp b/ftnoir_tracker_hatire/ftnoir_tracker_hat.cpp index bcef6753..f902b207 100644 --- a/ftnoir_tracker_hatire/ftnoir_tracker_hat.cpp +++ b/ftnoir_tracker_hatire/ftnoir_tracker_hat.cpp @@ -323,7 +323,7 @@ void FTNoIR_Tracker::StartTracker(QFrame*) #define THeadPoseData double #endif -void FTNoIR_Tracker::GiveHeadPoseData(THeadPoseData *data) +void FTNoIR_Tracker::GetHeadPoseData(THeadPoseData *data) { QMutexLocker lck(&mutex); while (dataRead.length()>=30) { diff --git a/ftnoir_tracker_hatire/ftnoir_tracker_hat.h b/ftnoir_tracker_hatire/ftnoir_tracker_hat.h index 04c5fb61..ec1125b9 100644 --- a/ftnoir_tracker_hatire/ftnoir_tracker_hat.h +++ b/ftnoir_tracker_hatire/ftnoir_tracker_hat.h @@ -29,12 +29,12 @@ public: #ifdef OPENTRACK_API virtual void StartTracker(QFrame*); - virtual void GiveHeadPoseData(double* data); + virtual void GetHeadPoseData(double* data); #else void Initialize( QFrame *videoframe ); virtual void StartTracker(HWND parent_window); virtual void StopTracker(bool exit); - virtual bool GiveHeadPoseData(THeadPoseData *data); + virtual bool GetHeadPoseData(THeadPoseData *data); #endif void applysettings(const TrackerSettings& settings); void notifyCenter(); diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp index c3c12005..00dd9919 100644 --- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp @@ -186,7 +186,7 @@ void Tracker::StartTracker(QFrame* videoframe) #endif } -void Tracker::GiveHeadPoseData(double *data) +void Tracker::GetHeadPoseData(double *data) { lck_shm.lock(); shm->timer = 0; diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.h b/ftnoir_tracker_ht/ftnoir_tracker_ht.h index 475d5a6c..404dbf6e 100644 --- a/ftnoir_tracker_ht/ftnoir_tracker_ht.h +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.h @@ -23,7 +23,7 @@ public: Tracker(); virtual ~Tracker(); void StartTracker(QFrame* frame); - void GiveHeadPoseData(double *data); + void GetHeadPoseData(double *data); bool enableTX, enableTY, enableTZ, enableRX, enableRY, enableRZ; ht_shm_t* shm; private: diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp index 11a3e0fb..31e3f319 100644 --- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp @@ -66,7 +66,7 @@ void Hydra_Tracker::StartTracker(QFrame*) } -void Hydra_Tracker::GiveHeadPoseData(double *data) +void Hydra_Tracker::GetHeadPoseData(double *data) { sixenseSetActiveBase(0); diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h index 6e40b710..240f0687 100644 --- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h @@ -12,7 +12,7 @@ public: ~Hydra_Tracker(); void StartTracker(QFrame *) virt_override; - void GiveHeadPoseData(double *data) virt_override; + void GetHeadPoseData(double *data) virt_override; void loadSettings(); volatile bool should_quit; protected: diff --git a/ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp b/ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp index 8f5ac162..5be6b3db 100644 --- a/ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp +++ b/ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp @@ -175,7 +175,7 @@ fail: qDebug() << "joy init failure"; } -void FTNoIR_Tracker::GiveHeadPoseData(double *data) +void FTNoIR_Tracker::GetHeadPoseData(double *data) { QMutexLocker foo(&mtx); DIJOYSTATE js = {0}; diff --git a/ftnoir_tracker_joystick/ftnoir_tracker_joystick.h b/ftnoir_tracker_joystick/ftnoir_tracker_joystick.h index 809d8c73..9c856d85 100644 --- a/ftnoir_tracker_joystick/ftnoir_tracker_joystick.h +++ b/ftnoir_tracker_joystick/ftnoir_tracker_joystick.h @@ -42,7 +42,7 @@ public: ~FTNoIR_Tracker(); void StartTracker(QFrame *frame); - void GiveHeadPoseData(double *data); + void GetHeadPoseData(double *data); void loadSettings(); LPDIRECTINPUT8 g_pDI; LPDIRECTINPUTDEVICE8 g_pJoystick; diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp index c3b313ca..da44ea0c 100644 --- a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp +++ b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp @@ -68,7 +68,7 @@ void Rift_Tracker::StartTracker(QFrame*) } -void Rift_Tracker::GiveHeadPoseData(double *data) +void Rift_Tracker::GetHeadPoseData(double *data) { if (pSFusion != NULL && pSensor != NULL) { Quatf hmdOrient = pSFusion->GetOrientation(); diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift.h b/ftnoir_tracker_rift/ftnoir_tracker_rift.h index 33e6f5cd..3920c6ad 100644 --- a/ftnoir_tracker_rift/ftnoir_tracker_rift.h +++ b/ftnoir_tracker_rift/ftnoir_tracker_rift.h @@ -15,7 +15,7 @@ public: virtual ~Rift_Tracker() virt_override; void StartTracker(QFrame *) virt_override; - void GiveHeadPoseData(double *data) virt_override; + void GetHeadPoseData(double *data) virt_override; void loadSettings(); virtual int preferredHz() virt_override { return 250; } volatile bool should_quit; diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp index d58341a6..e70bfdc7 100644 --- a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp +++ b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp @@ -110,7 +110,7 @@ void FTNoIR_Tracker::StartTracker(QFrame*) return; } -void FTNoIR_Tracker::GiveHeadPoseData(double *data) +void FTNoIR_Tracker::GetHeadPoseData(double *data) { mutex.lock(); if (bEnableX) { diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp.h b/ftnoir_tracker_udp/ftnoir_tracker_udp.h index 7b6c5328..c7e9decf 100644 --- a/ftnoir_tracker_udp/ftnoir_tracker_udp.h +++ b/ftnoir_tracker_udp/ftnoir_tracker_udp.h @@ -16,7 +16,7 @@ public: ~FTNoIR_Tracker(); void StartTracker(QFrame *); - void GiveHeadPoseData(double *data); + void GetHeadPoseData(double *data); void loadSettings(); volatile bool should_quit; protected: diff --git a/opentrack-api/trackers.cpp b/opentrack-api/trackers.cpp index 937f7084..5027ec1d 100644 --- a/opentrack-api/trackers.cpp +++ b/opentrack-api/trackers.cpp @@ -31,7 +31,7 @@ void OPENTRACK_EXPORT opentrack_tracker_start(opentrack self, opentrack_tracker void OPENTRACK_EXPORT opentrack_tracker_tick(opentrack_tracker tracker, double* headpose) { - tracker->GiveHeadPoseData(headpose); + tracker->GetHeadPoseData(headpose); QApplication::processEvents(0, 5); } -- cgit v1.2.3 From 5f3126dd862c93e3a514dcf0910d24b840f7e90c Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 14 Dec 2013 15:24:29 +0100 Subject: pt: don't crash since hysteresis support Reported-by: runningman84 GitHub: issue #15 --- FTNoIR_Tracker_PT/point_extractor.cpp | 10 +++++----- FTNoIR_Tracker_PT/point_extractor.h | 3 --- 2 files changed, 5 insertions(+), 8 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/point_extractor.cpp b/FTNoIR_Tracker_PT/point_extractor.cpp index 27a14713..d9ff0a5b 100644 --- a/FTNoIR_Tracker_PT/point_extractor.cpp +++ b/FTNoIR_Tracker_PT/point_extractor.cpp @@ -14,9 +14,6 @@ using namespace std; PointExtractor::PointExtractor(){ - first = true; - - //if (!AllocConsole()){} //else SetConsoleTitle("debug"); //freopen("CON", "w", stdout); @@ -28,6 +25,10 @@ const vector& PointExtractor::extract_points(Mat frame, float dt, bool dr const int W = frame.cols; const int H = frame.rows; + if (frame_last.cols != W || frame_last.rows != H) + { + frame_last = cv::Mat(); + } // clear old points points.clear(); @@ -60,9 +61,8 @@ const vector& PointExtractor::extract_points(Mat frame, float dt, bool dr threshold(frame_gray, frame_bin_low,std::max(float(1), t - (t*hyst)), 255, THRESH_BINARY); if(draw_output) frame_bin.copyTo(frame_bin_copy); - if(first){ + if(frame_last.empty()){ frame_bin.copyTo(frame_last); - first = false; }else{ // keep pixels from last if they are above lower threshold bitwise_and(frame_last, frame_bin_low, frame_last_and_low); diff --git a/FTNoIR_Tracker_PT/point_extractor.h b/FTNoIR_Tracker_PT/point_extractor.h index b9f46666..ff36f3ce 100644 --- a/FTNoIR_Tracker_PT/point_extractor.h +++ b/FTNoIR_Tracker_PT/point_extractor.h @@ -30,9 +30,6 @@ public: protected: std::vector points; cv::Mat frame_last; - - - bool first; }; #endif //POINTEXTRACTOR_H -- cgit v1.2.3 From b7eb4245fe6dc261a926d31331b2af3fec959401 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Mon, 30 Dec 2013 15:40:24 +0100 Subject: pt: use new settings framework, cleanup --- FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui | 214 ++++++--------- FTNoIR_Tracker_PT/camera.h | 12 +- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 155 ++++------- FTNoIR_Tracker_PT/ftnoir_tracker_pt.h | 36 +-- FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp | 318 +++++++++-------------- FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h | 69 +---- FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp | 156 ----------- FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h | 137 +++++----- 8 files changed, 338 insertions(+), 759 deletions(-) delete mode 100644 FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui index 9ad4f83c..6cd17e8d 100644 --- a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui +++ b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui @@ -9,7 +9,7 @@ 0 0 - 458 + 459 590 @@ -69,11 +69,39 @@ - + + + + + + Time until automatic reset of tracker's internal state when no valid tracking result is found + + + 9999 + + + + + + + ms + + + + + + + + + + + + + Dynamic Pose Resolution @@ -89,30 +117,6 @@ - - - - - - Time the tracker thread sleeps after each processed frame - - - - - - 9999 - - - - - - - ms - - - - - @@ -123,12 +127,15 @@ - - + + - + - Time until automatic reset of tracker's internal state when no valid tracking result is found + Time the tracker thread sleeps after each processed frame + + + 9999 @@ -136,7 +143,7 @@ - + ms @@ -144,43 +151,7 @@ - - - - Whether to update the content of the VideoWidget - - - Show VideoWidget - - - - - - - Qt::Horizontal - - - - 30 - 20 - - - - - - - - Qt::Horizontal - - - - 30 - 20 - - - - - + false @@ -635,40 +606,7 @@ - - - - - false - - - - 130 - 0 - - - - - - - VideoWidget - - - - - - - Qt::Horizontal - - - - 0 - 20 - - - - - + @@ -848,38 +786,36 @@ - - - - - - - Hysteresis - - - threshold_secondary_slider - - - - - - - Per pixel hysteresis width (leave left if there is little difference between dot and non-dot, move right for increased stability against pixel noise) - - - 255 - - - 100 - - - Qt::Horizontal - - - - - - + + + + + + Hysteresis + + + threshold_secondary_slider + + + + + + + Per pixel hysteresis width (leave left if there is little difference between dot and non-dot, move right for increased stability against pixel noise) + + + 255 + + + 100 + + + Qt::Horizontal + + + + + @@ -1777,6 +1713,13 @@ + + + + Apply + + + @@ -1816,11 +1759,8 @@ tabWidget - videowidget_check sleep_spin - dynpose_check reset_spin - reset_button chkEnableRoll chkEnablePitch chkEnableYaw diff --git a/FTNoIR_Tracker_PT/camera.h b/FTNoIR_Tracker_PT/camera.h index 78fe8dfb..ea68c387 100644 --- a/FTNoIR_Tracker_PT/camera.h +++ b/FTNoIR_Tracker_PT/camera.h @@ -69,13 +69,13 @@ protected: virtual void _set_fps() = 0; virtual void _set_res() = 0; - bool active; + float dt_valid; + float dt_mean; int desired_index; int active_index; + bool active; CamInfo cam_info; CamInfo cam_desired; - float dt_valid; - float dt_mean; }; @@ -128,9 +128,9 @@ protected: enum RotationType { - CLOCKWISE = -1, - ZERO = 0, - COUNTER_CLOCKWISE = 1 + CLOCKWISE = 0, + ZERO = 1, + COUNTER_CLOCKWISE = 2 }; // ---------------------------------------------------------------------------- diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index e3af446f..25a19ee7 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -23,8 +23,7 @@ const float deg2rad = 1.0/rad2deg; //----------------------------------------------------------------------------- Tracker::Tracker() - : frame_count(0), - commands(0), + : commands(0), video_widget(NULL), video_frame(NULL), tracking_valid(false) @@ -38,9 +37,10 @@ Tracker::~Tracker() // terminate tracker thread set_command(ABORT); wait(); - // destroy video widget - show_video_widget = false; - update_show_video_widget(); + s.video_widget = false; + delete video_widget; + video_widget = NULL; + if (video_frame->layout()) delete video_frame->layout(); } void Tracker::set_command(Command command) @@ -86,10 +86,7 @@ void Tracker::run() frame = frame_rotation.rotate_frame(frame); const std::vector& points = point_extractor.extract_points(frame, dt, has_observers()); tracking_valid = point_tracker.track(points, camera.get_info().f, dt); - frame_count++; -#ifdef OPENTRACK_API video_widget->update_image(frame.clone()); -#endif } #ifdef PT_PERF_LOG log_stream<<"dt: "<(settings.cam_roll); - point_extractor.threshold_val = settings.threshold; - point_extractor.threshold_secondary_val = settings.threshold_secondary; - point_extractor.min_size = settings.min_point_size; - point_extractor.max_size = settings.max_point_size; - point_tracker.point_model = boost::shared_ptr(new PointModel(settings.M01, settings.M02)); - point_tracker.dynamic_pose_resolution = settings.dyn_pose_res; - sleep_time = settings.sleep_time; - point_tracker.dt_reset = settings.reset_time / 1000.0; - show_video_widget = settings.video_widget; - update_show_video_widget(); - bEnableRoll = settings.bEnableRoll; - bEnablePitch = settings.bEnablePitch; - bEnableYaw = settings.bEnableYaw; - bEnableX = settings.bEnableX; - bEnableY = settings.bEnableY; - bEnableZ = settings.bEnableZ; - - t_MH = settings.t_MH; - R_GC = Matx33f( cos(deg2rad*settings.cam_yaw), 0, sin(deg2rad*settings.cam_yaw), + camera.set_device_index(s.cam_index); + camera.set_res(s.cam_res_x, s.cam_res_y); + camera.set_fps(s.cam_fps); + camera.set_f(s.cam_f); + frame_rotation.rotation = static_cast(static_cast(s.cam_roll)); + point_extractor.threshold_val = s.threshold; + point_extractor.threshold_secondary_val = s.threshold_secondary; + point_extractor.min_size = s.min_point_size; + point_extractor.max_size = s.max_point_size; + { + cv::Vec3f M01(s.m01_x, s.m01_y, s.m01_z); + cv::Vec3f M02(s.m02_x, s.m02_y, s.m02_z); + point_tracker.point_model = boost::shared_ptr(new PointModel(M01, M02)); + } + point_tracker.dynamic_pose_resolution = s.dyn_pose_res; + point_tracker.dt_reset = s.reset_time / 1000.0; + t_MH = cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z); + R_GC = Matx33f( cos(deg2rad*s.cam_yaw), 0, sin(deg2rad*s.cam_yaw), 0, 1, 0, - -sin(deg2rad*settings.cam_yaw), 0, cos(deg2rad*settings.cam_yaw)); + -sin(deg2rad*s.cam_yaw), 0, cos(deg2rad*s.cam_yaw)); R_GC = R_GC * Matx33f( 1, 0, 0, - 0, cos(deg2rad*settings.cam_pitch), sin(deg2rad*settings.cam_pitch), - 0, -sin(deg2rad*settings.cam_pitch), cos(deg2rad*settings.cam_pitch)); + 0, cos(deg2rad*s.cam_pitch), sin(deg2rad*s.cam_pitch), + 0, -sin(deg2rad*s.cam_pitch), cos(deg2rad*s.cam_pitch)); FrameTrafo X_MH(Matx33f::eye(), t_MH); X_GH_0 = R_GC * X_MH; @@ -169,58 +160,27 @@ bool Tracker::get_frame_and_points(cv::Mat& frame_copy, boost::shared_ptr< std:: return true; } -void Tracker::update_show_video_widget() -{ - if (!show_video_widget && video_widget) { - delete video_widget; - video_widget = NULL; - if (video_frame->layout()) delete video_frame->layout(); - } - else if (video_frame && show_video_widget && !video_widget) - { - const int VIDEO_FRAME_WIDTH = 320; - const int VIDEO_FRAME_HEIGHT = 240; - video_widget = new PTVideoWidget(video_frame, this); - QHBoxLayout* video_layout = new QHBoxLayout(); - video_layout->setContentsMargins(0, 0, 0, 0); - video_layout->addWidget(video_widget); - video_frame->setLayout(video_layout); - video_widget->resize(VIDEO_FRAME_WIDTH, VIDEO_FRAME_HEIGHT); - } -} - -//----------------------------------------------------------------------------- -// ITracker interface -void Tracker::Initialize(QFrame *video_frame) -{ - qDebug("Tracker::Initialize"); - // setup video frame - this->video_frame = video_frame; - video_frame->setAttribute(Qt::WA_NativeWindow); - video_frame->show(); - update_show_video_widget(); - TrackerSettings settings; - settings.load_ini(); - camera.start(); - apply(settings); - start(); -} - void Tracker::refreshVideo() { if (video_widget) video_widget->update_frame_and_points(); } -#ifdef OPENTRACK_API void Tracker::StartTracker(QFrame *parent_window) -#else -void Tracker::StartTracker(HWND parent_window) -#endif { -#ifdef OPENTRACK_API - Initialize(parent_window); -#endif - reset_command(PAUSE); + this->video_frame = parent_window; + video_frame->setAttribute(Qt::WA_NativeWindow); + video_frame->show(); + apply(s); + video_widget = new PTVideoWidget(video_frame, this); + QHBoxLayout* video_layout = new QHBoxLayout(parent_window); + video_layout->setContentsMargins(0, 0, 0, 0); + video_layout->addWidget(video_widget); + video_frame->setLayout(video_layout); + video_widget->resize(video_frame->width(), video_frame->height()); + start(); + camera.start(); + start(); + reset_command(PAUSE); } #ifndef OPENTRACK_API @@ -247,18 +207,12 @@ void Tracker::GetHeadPoseData(THeadPoseData *data) Matx33f R = X_GH.R * X_GH_0.R.t(); Vec3f t = X_GH.t - X_GH_0.t; -#ifndef OPENTRACK_API - // get translation(s) - if (bEnableX) data->x = t[0] / 10.0; // convert to cm - if (bEnableY) data->y = t[1] / 10.0; - if (bEnableZ) data->z = t[2] / 10.0; -#else // get translation(s) - if (bEnableX) data[TX] = t[0] / 10.0; // convert to cm - if (bEnableY) data[TY] = t[1] / 10.0; - if (bEnableZ) data[TZ] = t[2] / 10.0; -#endif - // translate rotation matrix from opengl (G) to roll-pitch-yaw (E) frame + if (s.bEnableX) data[TX] = t[0] / 10.0; // convert to cm + if (s.bEnableY) data[TY] = t[1] / 10.0; + if (s.bEnableZ) data[TZ] = t[2] / 10.0; + + // translate rotation matrix from opengl (G) to roll-pitch-yaw (E) frame // -z -> x, y -> z, x -> -y Matx33f R_EG( 0, 0,-1, -1, 0, 0, @@ -271,19 +225,10 @@ void Tracker::GetHeadPoseData(THeadPoseData *data) alpha = atan2( R(1,0), R(0,0)); gamma = atan2( R(2,1), R(2,2)); -#ifndef OPENTRACK_API - if (bEnableYaw) data->yaw = rad2deg * alpha; - if (bEnablePitch) data->pitch = - rad2deg * beta; // FTNoIR expects a minus here - if (bEnableRoll) data->roll = rad2deg * gamma; -#else - if (bEnableYaw) data[Yaw] = rad2deg * alpha; - if (bEnablePitch) data[Pitch] = - rad2deg * beta; // FTNoIR expects a minus here - if (bEnableRoll) data[Roll] = rad2deg * gamma; -#endif + if (s.bEnableYaw) data[Yaw] = rad2deg * alpha; + if (s.bEnablePitch) data[Pitch] = - rad2deg * beta; // FTNoIR expects a minus here + if (s.bEnableRoll) data[Roll] = rad2deg * gamma; } -#ifndef OPENTRACK_API - return true; -#endif } //----------------------------------------------------------------------------- diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h index 54edafb2..c7f1dc02 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h @@ -39,20 +39,11 @@ class Tracker : public ITracker, QThread, public FrameProvider public: Tracker(); virtual ~Tracker(); - - // --- ITracker interface --- - virtual void Initialize(QFrame *videoframe); -#ifdef OPENTRACK_API virtual void StartTracker(QFrame* parent_window); virtual void GetHeadPoseData(double* data); -#else - virtual void StartTracker(HWND parent_window); - virtual void StopTracker(bool exit); - virtual bool GetHeadPoseData(THeadPoseData *data); -#endif virtual void refreshVideo(); - void apply(const TrackerSettings& settings); + void apply(settings& s); void center(); void reset(); // reset the trackers internal state variables void run(); @@ -74,20 +65,12 @@ protected: }; void set_command(Command command); void reset_command(Command command); - int commands; - - int sleep_time; + int commands; - // --- tracking chain --- -#ifdef OPENTRACK_API CVCamera camera; -#else - VICamera camera; -#endif FrameRotation frame_rotation; PointExtractor point_extractor; PointTracker point_tracker; - bool tracking_valid; FrameTrafo X_GH_0; // for centering cv::Vec3f t_MH; // translation from model frame to head frame @@ -96,22 +79,11 @@ protected: // --- ui --- cv::Mat frame; // the output frame for display - void update_show_video_widget(); - bool show_video_widget; -#ifdef OPENTRACK_API PTVideoWidget* video_widget; -#endif QFrame* video_frame; + bool tracking_valid; - // --- misc --- - bool bEnableRoll; - bool bEnablePitch; - bool bEnableYaw; - bool bEnableX; - bool bEnableY; - bool bEnableZ; - - long frame_count; + settings s; Timer time; }; diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp index f8afa790..a88e3a07 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp @@ -21,8 +21,7 @@ using namespace std; //----------------------------------------------------------------------------- TrackerDialog::TrackerDialog() - : settings_dirty(false), - tracker(NULL), + : tracker(NULL), video_widget_dialog(NULL), timer(this), trans_calib_running(false) @@ -32,191 +31,112 @@ TrackerDialog::TrackerDialog() ui.setupUi( this ); - settings.load_ini(); - dialog_settings.load_ini(); - - // initialize ui values - ui.videowidget_check->setChecked(settings.video_widget); - ui.dynpose_check->setChecked(settings.dyn_pose_res); - ui.sleep_spin->setValue(settings.sleep_time); - ui.reset_spin->setValue(settings.reset_time); - - vector device_names; + vector device_names; get_camera_device_names(device_names); for (vector::iterator iter = device_names.begin(); iter != device_names.end(); ++iter) { ui.camdevice_combo->addItem(iter->c_str()); } - ui.camdevice_combo->setCurrentIndex(settings.cam_index); - - ui.f_dspin->setValue(settings.cam_f); - ui.res_x_spin->setValue(settings.cam_res_x); - ui.res_y_spin->setValue(settings.cam_res_y); - ui.fps_spin->setValue(settings.cam_fps); - - ui.camroll_combo->addItem("-90", -1); - ui.camroll_combo->addItem("0" , 0); - ui.camroll_combo->addItem("90" , 1); - int i = ui.camroll_combo->findData(settings.cam_roll); - ui.camroll_combo->setCurrentIndex(i>=0 ? i : 0); - - ui.campitch_spin->setValue(settings.cam_pitch); - ui.camyaw_spin->setValue(settings.cam_yaw); - ui.threshold_slider->setValue(settings.threshold); - ui.threshold_secondary_slider->setValue(settings.threshold_secondary); - - ui.chkEnableRoll->setChecked(settings.bEnableRoll); - ui.chkEnablePitch->setChecked(settings.bEnablePitch); - ui.chkEnableYaw->setChecked(settings.bEnableYaw); - ui.chkEnableX->setChecked(settings.bEnableX); - ui.chkEnableY->setChecked(settings.bEnableY); - ui.chkEnableZ->setChecked(settings.bEnableZ); - - ui.mindiam_spin->setValue(settings.min_point_size); - ui.maxdiam_spin->setValue(settings.max_point_size); - ui.model_tabs->setCurrentIndex(dialog_settings.active_model_panel); - ui.clip_bheight_spin->setValue(dialog_settings.clip_by); - ui.clip_blength_spin->setValue(dialog_settings.clip_bz); - ui.clip_theight_spin->setValue(dialog_settings.clip_ty); - ui.clip_tlength_spin->setValue(dialog_settings.clip_tz); - ui.cap_width_spin->setValue(dialog_settings.cap_x); - ui.cap_height_spin->setValue(dialog_settings.cap_y); - ui.cap_length_spin->setValue(dialog_settings.cap_z); - ui.m1x_spin->setValue(dialog_settings.M01x); - ui.m1y_spin->setValue(dialog_settings.M01y); - ui.m1z_spin->setValue(dialog_settings.M01z); - ui.m2x_spin->setValue(dialog_settings.M02x); - ui.m2y_spin->setValue(dialog_settings.M02y); - ui.m2z_spin->setValue(dialog_settings.M02z); - ui.tx_spin->setValue(settings.t_MH[0]); - ui.ty_spin->setValue(settings.t_MH[1]); - ui.tz_spin->setValue(settings.t_MH[2]); - - // connect Qt signals and slots - connect( ui.videowidget_check,SIGNAL(toggled(bool)), this,SLOT(set_video_widget(bool)) ); - connect( ui.dynpose_check,SIGNAL(toggled(bool)), this,SLOT(set_dyn_pose_res(bool)) ); - connect( ui.sleep_spin,SIGNAL(valueChanged(int)), this,SLOT(set_sleep_time(int)) ); - connect( ui.reset_spin,SIGNAL(valueChanged(int)), this,SLOT(set_reset_time(int)) ); - connect( ui.camdevice_combo,SIGNAL(currentIndexChanged(int)), this,SLOT(set_cam_index(int)) ); - connect( ui.f_dspin,SIGNAL(valueChanged(double)), this,SLOT(set_cam_f(double)) ); - connect( ui.res_x_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cam_res_x(int)) ); - connect( ui.res_y_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cam_res_y(int)) ); - connect( ui.fps_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cam_fps(int)) ); - connect( ui.camroll_combo,SIGNAL(currentIndexChanged(int)), this,SLOT(set_cam_roll(int)) ); - connect( ui.campitch_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cam_pitch(int)) ); - connect( ui.camyaw_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cam_yaw(int)) ); - connect( ui.threshold_slider,SIGNAL(sliderMoved(int)), this,SLOT(set_threshold(int)) ); - connect( ui.threshold_secondary_slider,SIGNAL(sliderMoved(int)), this,SLOT(set_threshold_secondary(int)) ); - - connect( ui.chkEnableRoll,SIGNAL(toggled(bool)), this,SLOT(set_ena_roll(bool)) ); - connect( ui.chkEnablePitch,SIGNAL(toggled(bool)), this,SLOT(set_ena_pitch(bool)) ); - connect( ui.chkEnableYaw,SIGNAL(toggled(bool)), this,SLOT(set_ena_yaw(bool)) ); - connect( ui.chkEnableX,SIGNAL(toggled(bool)), this,SLOT(set_ena_x(bool)) ); - connect( ui.chkEnableY,SIGNAL(toggled(bool)), this,SLOT(set_ena_y(bool)) ); - connect( ui.chkEnableZ,SIGNAL(toggled(bool)), this,SLOT(set_ena_z(bool)) ); - - connect( ui.mindiam_spin,SIGNAL(valueChanged(int)), this,SLOT(set_min_point_size(int)) ); - connect( ui.maxdiam_spin,SIGNAL(valueChanged(int)), this,SLOT(set_max_point_size(int)) ); - connect( ui.model_tabs,SIGNAL(currentChanged(int)), this,SLOT(set_model(int)) ); - connect( ui.clip_theight_spin,SIGNAL(valueChanged(int)), this,SLOT(set_clip_t_height(int)) ); - connect( ui.clip_tlength_spin,SIGNAL(valueChanged(int)), this,SLOT(set_clip_t_length(int)) ); - connect( ui.clip_bheight_spin,SIGNAL(valueChanged(int)), this,SLOT(set_clip_b_height(int)) ); - connect( ui.clip_blength_spin,SIGNAL(valueChanged(int)), this,SLOT(set_clip_b_length(int)) ); - connect( ui.cap_width_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cap_width(int)) ); - connect( ui.cap_height_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cap_height(int)) ); - connect( ui.cap_length_spin,SIGNAL(valueChanged(int)), this,SLOT(set_cap_length(int)) ); - connect( ui.m1x_spin,SIGNAL(valueChanged(int)), this,SLOT(set_m1x(int)) ); - connect( ui.m1y_spin,SIGNAL(valueChanged(int)), this,SLOT(set_m1y(int)) ); - connect( ui.m1z_spin,SIGNAL(valueChanged(int)), this,SLOT(set_m1z(int)) ); - connect( ui.m2x_spin,SIGNAL(valueChanged(int)), this,SLOT(set_m2x(int)) ); - connect( ui.m2y_spin,SIGNAL(valueChanged(int)), this,SLOT(set_m2y(int)) ); - connect( ui.m2z_spin,SIGNAL(valueChanged(int)), this,SLOT(set_m2z(int)) ); - connect( ui.tx_spin,SIGNAL(valueChanged(int)), this,SLOT(set_tx(int)) ); - connect( ui.ty_spin,SIGNAL(valueChanged(int)), this,SLOT(set_ty(int)) ); - connect( ui.tz_spin,SIGNAL(valueChanged(int)), this,SLOT(set_tz(int)) ); - - connect( ui.tcalib_button,SIGNAL(toggled(bool)), this,SLOT(startstop_trans_calib(bool)) ); - - connect( ui.videowidget_button,SIGNAL(clicked()), this,SLOT(create_video_widget()) ); - - connect(ui.reset_button, SIGNAL(clicked()), this, SLOT(doReset())); - //connect(ui.center_button, SIGNAL(clicked()), this, SLOT(doCenter())); - - connect(ui.ok_button, SIGNAL(clicked()), this, SLOT(doOK())); - connect(ui.cancel_button, SIGNAL(clicked()), this, SLOT(doCancel())); - - connect(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info())); - timer.start(100); -} -TrackerDialog::~TrackerDialog() -{ - qDebug()<<"TrackerDialog::~TrackerDialog"; -} + ui.camroll_combo->addItem("-90"); + ui.camroll_combo->addItem("0"); + ui.camroll_combo->addItem("90"); -void TrackerDialog::set_cam_roll(int idx) -{ - settings.cam_roll = ui.camroll_combo->itemData(idx).toInt(); - settings_changed(); + tie_setting(s.dyn_pose_res, ui.dynpose_check); + tie_setting(s.sleep_time, ui.sleep_spin); + tie_setting(s.reset_time, ui.reset_spin); + + tie_setting(s.cam_index, ui.camdevice_combo); + tie_setting(s.cam_f, ui.f_dspin); + 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.cam_roll, ui.camroll_combo); + tie_setting(s.cam_pitch, ui.campitch_spin); + tie_setting(s.cam_yaw, ui.camyaw_spin); + + tie_setting(s.threshold_secondary, ui.threshold_secondary_slider); + tie_setting(s.threshold, ui.threshold_slider); + + tie_setting(s.bEnableYaw, ui.chkEnableYaw); + tie_setting(s.bEnablePitch, ui.chkEnablePitch); + tie_setting(s.bEnableRoll, ui.chkEnableRoll); + tie_setting(s.bEnableX, ui.chkEnableX); + tie_setting(s.bEnableY, ui.chkEnableY); + tie_setting(s.bEnableZ, ui.chkEnableZ); + + 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); + + connect( ui.tcalib_button,SIGNAL(toggled(bool)), this,SLOT(startstop_trans_calib(bool)) ); + connect(ui.reset_button, SIGNAL(clicked()), this, SLOT(doReset())); + + connect(ui.ok_button, SIGNAL(clicked()), this, SLOT(doOK())); + connect(ui.cancel_button, SIGNAL(clicked()), this, SLOT(doCancel())); + connect(ui.btnApply, SIGNAL(clicked()), this, SLOT(doApply())); + + ui.model_tabs->setCurrentIndex(s.active_model_panel); + + connect(ui.model_tabs, SIGNAL(currentChanged(int)), this, SLOT(set_model(int))); + connect(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info())); + timer.start(100); + + connect(s.b.get(), SIGNAL(bundleChanged()), this, SLOT(do_apply_without_saving())); } void TrackerDialog::set_model_clip() { - settings.M01[0] = 0; - settings.M01[1] = dialog_settings.clip_ty; - settings.M01[2] = -dialog_settings.clip_tz; - settings.M02[0] = 0; - settings.M02[1] = -dialog_settings.clip_by; - settings.M02[2] = -dialog_settings.clip_bz; + s.m01_x = 0; + s.m01_y = static_cast(s.clip_ty); + s.m01_z = -static_cast(s.clip_tz); + s.m02_x = 0; + s.m02_y = -static_cast(s.clip_by); + s.m02_z = -static_cast(s.clip_bz); settings_changed(); } void TrackerDialog::set_model_cap() { - settings.M01[0] = -dialog_settings.cap_x; - settings.M01[1] = -dialog_settings.cap_y; - settings.M01[2] = -dialog_settings.cap_z; - settings.M02[0] = dialog_settings.cap_x; - settings.M02[1] = -dialog_settings.cap_y; - settings.M02[2] = -dialog_settings.cap_z; + s.m01_x = -static_cast(s.cap_x); + s.m01_y = -static_cast(s.cap_y); + s.m01_z = -static_cast(s.cap_z); + s.m02_x = static_cast(s.cap_x); + s.m02_y = -static_cast(s.cap_y); + s.m02_z = -static_cast(s.cap_z); settings_changed(); } void TrackerDialog::set_model_custom() { - settings.M01[0] = dialog_settings.M01x; - settings.M01[1] = dialog_settings.M01y; - settings.M01[2] = dialog_settings.M01z; - settings.M02[0] = dialog_settings.M02x; - settings.M02[1] = dialog_settings.M02y; - settings.M02[2] = dialog_settings.M02z; - settings_changed(); } void TrackerDialog::set_model(int val) { - dialog_settings.active_model_panel = val; - - switch (val) { - - case TrackerDialogSettings::MODEL_CLIP: - set_model_clip(); - break; - - case TrackerDialogSettings::MODEL_CAP: - set_model_cap(); - break; - - case TrackerDialogSettings::MODEL_CUSTOM: - set_model_custom(); - break; - - default: - break; - } + s.active_model_panel = val; } void TrackerDialog::startstop_trans_calib(bool start) @@ -231,7 +151,12 @@ void TrackerDialog::startstop_trans_calib(bool start) { qDebug()<<"TrackerDialog:: Stoppping translation calibration"; trans_calib_running = false; - settings.t_MH = trans_calib.get_estimate(); + { + auto tmp = trans_calib.get_estimate(); + s.t_MH_x = tmp[0]; + s.t_MH_y = tmp[1]; + s.t_MH_z = tmp[2]; + } settings_changed(); } } @@ -244,17 +169,15 @@ void TrackerDialog::trans_calib_step() tracker->get_pose(&X_CM); trans_calib.update(X_CM.R, X_CM.t); cv::Vec3f t_MH = trans_calib.get_estimate(); - //qDebug()<<"TrackerDialog:: Current translation estimate: "<setValue(t_MH[0]); - ui.ty_spin->setValue(t_MH[1]); - ui.tz_spin->setValue(t_MH[2]); + s.t_MH_x = t_MH[0]; + s.t_MH_y = t_MH[1]; + s.t_MH_z = t_MH[2]; } } void TrackerDialog::settings_changed() { - settings_dirty = true; - if (tracker) tracker->apply(settings); + if (tracker) tracker->apply(s); } void TrackerDialog::doCenter() @@ -267,25 +190,52 @@ void TrackerDialog::doReset() if (tracker) tracker->reset(); } +void TrackerDialog::save() +{ + do_apply_without_saving(); + s.b->save(); +} + void TrackerDialog::doOK() { - settings.save_ini(); - dialog_settings.save_ini(); + save(); close(); } +void TrackerDialog::do_apply_without_saving() +{ + switch (s.active_model_panel) { + default: + case 0: + set_model_clip(); + break; + case 1: + set_model_cap(); + break; + case 2: + set_model_custom(); + break; + } + if (tracker) tracker->apply(s); +} + +void TrackerDialog::doApply() +{ + save(); +} + void TrackerDialog::doCancel() { - if (settings_dirty) { + if (s.b->modifiedp()) { int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel, QMessageBox::Discard ); switch (ret) { case QMessageBox::Save: - settings.save_ini(); - dialog_settings.save_ini(); + save(); close(); break; case QMessageBox::Discard: + s.b->revert(); close(); break; case QMessageBox::Cancel: @@ -319,8 +269,6 @@ void TrackerDialog::create_video_widget() video_widget_dialog->setAttribute( Qt::WA_DeleteOnClose ); connect( video_widget_dialog, SIGNAL(destroyed(QObject*)), this, SLOT(widget_destroyed(QObject*)) ); video_widget_dialog->show(); - - ui.videowidget_button->setEnabled(false); } void TrackerDialog::destroy_video_widget(bool do_delete /*= true*/) @@ -329,7 +277,6 @@ void TrackerDialog::destroy_video_widget(bool do_delete /*= true*/) if (do_delete) delete video_widget_dialog; video_widget_dialog = NULL; } - if (tracker) ui.videowidget_button->setEnabled(true); } void TrackerDialog::poll_tracker_info() @@ -369,24 +316,12 @@ void TrackerDialog::poll_tracker_info() } } - -//----------------------------------------------------------------------------- -// ITrackerDialog interface -void TrackerDialog::Initialize(QWidget *parent) -{ - QPoint offsetpos(200, 200); - if (parent) { - this->move(parent->pos() + offsetpos); - } - show(); -} - void TrackerDialog::registerTracker(ITracker *t) { qDebug()<<"TrackerDialog:: Tracker registered"; tracker = static_cast(t); - if (isVisible() && settings_dirty) tracker->apply(settings); - ui.videowidget_button->setEnabled(true); + if (isVisible() & s.b->modifiedp()) + tracker->apply(s); ui.tcalib_button->setEnabled(true); //ui.center_button->setEnabled(true); ui.reset_button->setEnabled(true); @@ -397,19 +332,12 @@ void TrackerDialog::unRegisterTracker() qDebug()<<"TrackerDialog:: Tracker un-registered"; tracker = NULL; destroy_video_widget(); - ui.videowidget_button->setEnabled(false); ui.tcalib_button->setEnabled(false); //ui.center_button->setEnabled(false); ui.reset_button->setEnabled(false); } -//----------------------------------------------------------------------------- -#ifdef OPENTRACK_API extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) -#else -#pragma comment(linker, "/export:GetTrackerDialog=_GetTrackerDialog@0") -FTNOIR_TRACKER_BASE_EXPORT ITrackerDialogPtr __stdcall GetTrackerDialog( ) -#endif { return new TrackerDialog; } diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h index de743ad8..0325160d 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.h @@ -28,71 +28,24 @@ class TrackerDialog : public QWidget, Ui::UICPTClientControls, public ITrackerDi Q_OBJECT public: TrackerDialog(); - ~TrackerDialog(); - - // ITrackerDialog interface - void Initialize(QWidget *parent); void registerTracker(ITracker *tracker); void unRegisterTracker(); - + void save(); void trans_calib_step(); -protected slots: - // ugly qt stuff - void set_video_widget(bool val) { settings.video_widget = val; settings_changed(); } - void set_dyn_pose_res(bool val) { settings.dyn_pose_res = val; settings_changed(); } - void set_sleep_time(int val) { settings.sleep_time = val; settings_changed(); } - void set_reset_time(int val) { settings.reset_time = val; settings_changed(); } - void set_cam_index(int idx) { settings.cam_index = idx; settings_changed(); } - void set_cam_f(double val) { settings.cam_f = val; settings_changed(); } - void set_cam_res_x(int val) { settings.cam_res_x = val; settings_changed(); } - void set_cam_res_y(int val) { settings.cam_res_y = val; settings_changed(); } - void set_cam_fps(int val) { settings.cam_fps = val; settings_changed(); } - void set_cam_roll(int idx); - void set_cam_pitch(int val) { settings.cam_pitch = val; settings_changed(); } - void set_cam_yaw(int val) { settings.cam_yaw = val; settings_changed(); } - void set_min_point_size(int val) { settings.min_point_size = val; settings_changed(); } - void set_max_point_size(int val) { settings.max_point_size = val; settings_changed(); } - void set_threshold(int val) { settings.threshold = val; settings_changed(); } - void set_threshold_secondary(int val) { settings.threshold_secondary = val; settings_changed(); } - void set_ena_roll(bool val) { settings.bEnableRoll = val; settings_changed(); } - void set_ena_pitch(bool val) { settings.bEnablePitch = val; settings_changed(); } - void set_ena_yaw(bool val) { settings.bEnableYaw = val; settings_changed(); } - void set_ena_x(bool val) { settings.bEnableX = val; settings_changed(); } - void set_ena_y(bool val) { settings.bEnableY = val; settings_changed(); } - void set_ena_z(bool val) { settings.bEnableZ = val; settings_changed(); } - - void set_clip_t_height(int val) { dialog_settings.clip_ty = val; set_model_clip(); } - void set_clip_t_length(int val) { dialog_settings.clip_tz = val; set_model_clip(); } - void set_clip_b_height(int val) { dialog_settings.clip_by = val; set_model_clip(); } - void set_clip_b_length(int val) { dialog_settings.clip_bz = val; set_model_clip(); } - void set_cap_width(int val) { dialog_settings.cap_x = val; set_model_cap(); } - void set_cap_height(int val) { dialog_settings.cap_y = val; set_model_cap(); } - void set_cap_length(int val) { dialog_settings.cap_z = val; set_model_cap(); } - void set_m1x(int val) { dialog_settings.M01x = val; set_model_custom(); } - void set_m1y(int val) { dialog_settings.M01y = val; set_model_custom(); } - void set_m1z(int val) { dialog_settings.M01z = val; set_model_custom(); } - void set_m2x(int val) { dialog_settings.M02x = val; set_model_custom(); } - void set_m2y(int val) { dialog_settings.M02y = val; set_model_custom(); } - void set_m2z(int val) { dialog_settings.M02z = val; set_model_custom(); } - void set_tx(int val) { settings.t_MH[0] = val; settings_changed(); } - void set_ty(int val) { settings.t_MH[1] = val; settings_changed(); } - void set_tz(int val) { settings.t_MH[2] = val; settings_changed(); } - void set_model(int model_id); - - void doCenter(); - void doReset(); - +public slots: + void doCenter(); + void doReset(); void doOK(); + void doApply(); void doCancel(); + void do_apply_without_saving(); void startstop_trans_calib(bool start); - void widget_destroyed(QObject* obj); - void create_video_widget(); - void poll_tracker_info(); + void set_model(int idx); protected: void destroy_video_widget(bool do_delete = true); @@ -103,15 +56,11 @@ protected: void settings_changed(); - TrackerSettings settings; - TrackerDialogSettings dialog_settings; - bool settings_dirty; - + settings s; Tracker* tracker; + VideoWidgetDialog* video_widget_dialog; QTimer timer; - VideoWidgetDialog* video_widget_dialog; - TranslationCalibrator trans_calib; bool trans_calib_running; diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp deleted file mode 100644 index 50835cb8..00000000 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.cpp +++ /dev/null @@ -1,156 +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 "ftnoir_tracker_pt.h" -#include -#include - -//----------------------------------------------------------------------------- -void TrackerSettings::load_ini() -{ - qDebug("TrackerSettings::load_ini()"); - - QSettings settings("opentrack"); - QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString(); - QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file) - - iniFile.beginGroup( "PointTracker" ); - - cam_index = iniFile.value("CameraId", 0).toInt(); - cam_f = iniFile.value("CameraF", 1).toFloat(); - cam_res_x = iniFile.value("CameraResX", 640).toInt(); - cam_res_y = iniFile.value("CameraResY", 480).toInt(); - cam_fps = iniFile.value("CameraFPS", 30).toInt(); - cam_roll = iniFile.value("CameraRoll", 0).toInt(); - cam_pitch = iniFile.value("CameraPitch", 0).toInt(); - cam_yaw = iniFile.value("CameraYaw", 0).toInt(); - threshold = iniFile.value("PointExtractThreshold", 128).toInt(); - threshold_secondary = iniFile.value("PointExtractThresholdSecondary", 128).toInt(); - min_point_size = iniFile.value("PointExtractMinSize", 2).toInt(); - max_point_size = iniFile.value("PointExtractMaxSize", 50).toInt(); - M01[0] = iniFile.value("PointModelM01x", 0).toFloat(); - M01[1] = iniFile.value("PointModelM01y", 40).toFloat(); - M01[2] = iniFile.value("PointModelM01z", -30).toFloat(); - M02[0] = iniFile.value("PointModelM02x", 0).toFloat(); - M02[1] = iniFile.value("PointModelM02y", -70).toFloat(); - M02[2] = iniFile.value("PointModelM02z", -80).toFloat(); - t_MH[0] = iniFile.value("tMHx", 0).toFloat(); - t_MH[1] = iniFile.value("tMHy", 0).toFloat(); - t_MH[2] = iniFile.value("tMHz", 0).toFloat(); - dyn_pose_res = iniFile.value("DynamicPoseResolution", true).toBool(); - video_widget = iniFile.value("VideoWidget", true).toBool(); - sleep_time = iniFile.value("SleepTime", 10).toInt(); - reset_time = iniFile.value("ResetTime", 1000).toInt(); - - bEnableRoll = iniFile.value("EnableRoll", 1).toBool(); - bEnablePitch = iniFile.value("EnablePitch", 1).toBool(); - bEnableYaw = iniFile.value("EnableYaw", 1).toBool(); - bEnableX = iniFile.value("EnableX", 1).toBool(); - bEnableY = iniFile.value("EnableY", 1).toBool(); - bEnableZ = iniFile.value("EnableZ", 1).toBool(); - - iniFile.endGroup(); -} - -void TrackerSettings::save_ini() const -{ - qDebug("TrackerSettings::save_ini()"); - - QSettings settings("opentrack"); - QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString(); - QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file) - - iniFile.beginGroup ( "PointTracker" ); - - iniFile.setValue("CameraId", cam_index); - iniFile.setValue("CameraF", cam_f); - iniFile.setValue("CameraResX", cam_res_x); - iniFile.setValue("CameraResY", cam_res_y); - iniFile.setValue("CameraFPS", cam_fps); - iniFile.setValue("CameraRoll", cam_roll); - iniFile.setValue("CameraPitch", cam_pitch); - iniFile.setValue("CameraYaw", cam_yaw); - iniFile.setValue("PointExtractThreshold", threshold); - iniFile.setValue("PointExtractThresholdSecondary", threshold_secondary); - iniFile.setValue("PointExtractMinSize", min_point_size); - iniFile.setValue("PointExtractMaxSize", max_point_size); - iniFile.setValue("PointModelM01x", M01[0]); - iniFile.setValue("PointModelM01y", M01[1]); - iniFile.setValue("PointModelM01z", M01[2]); - iniFile.setValue("PointModelM02x", M02[0]); - iniFile.setValue("PointModelM02y", M02[1]); - iniFile.setValue("PointModelM02z", M02[2]); - iniFile.setValue("tMHx", t_MH[0]); - iniFile.setValue("tMHy", t_MH[1]); - iniFile.setValue("tMHz", t_MH[2]); - iniFile.setValue("DynamicPoseResolution", dyn_pose_res); - iniFile.setValue("VideoWidget", video_widget); - iniFile.setValue("SleepTime", sleep_time); - iniFile.setValue("ResetTime", reset_time); - - iniFile.setValue( "EnableRoll", bEnableRoll ); - iniFile.setValue( "EnablePitch", bEnablePitch ); - iniFile.setValue( "EnableYaw", bEnableYaw ); - iniFile.setValue( "EnableX", bEnableX ); - iniFile.setValue( "EnableY", bEnableY ); - iniFile.setValue( "EnableZ", bEnableZ ); - - iniFile.endGroup(); -} - -//----------------------------------------------------------------------------- -void TrackerDialogSettings::load_ini() -{ - qDebug("TrackerDialogSettings::load_ini()"); - - QSettings settings("opentrack"); - QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString(); - QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file) - - iniFile.beginGroup( "PointTrackerDialog" ); - - active_model_panel = iniFile.value("ActiveModelPanel", MODEL_CLIP).toInt(); - M01x = iniFile.value("CustomM01x", 0).toInt(); - M01y = iniFile.value("CustomM01y", 40).toInt(); - M01z = iniFile.value("CustomM01z", -30).toInt(); - M02x = iniFile.value("CustomM02x", 0).toInt(); - M02y = iniFile.value("CustomM02y", -70).toInt(); - M02z = iniFile.value("CustomM02z", -80).toInt(); - clip_ty = iniFile.value("ClipTopHeight", 40).toInt(); - clip_tz = iniFile.value("ClipTopLength", 30).toInt(); - clip_by = iniFile.value("ClipBottomHeight", 70).toInt(); - clip_bz = iniFile.value("ClipBottomLength", 80).toInt(); - cap_x = iniFile.value("CapHalfWidth", 40).toInt(); - cap_y = iniFile.value("CapHeight", 60).toInt(); - cap_z = iniFile.value("CapLength", 100).toInt(); -} - -void TrackerDialogSettings::save_ini() const -{ - qDebug("TrackerDialogSettings::save_ini()"); - - QSettings settings("opentrack"); - QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString(); - QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file) - - iniFile.beginGroup ( "PointTrackerDialog" ); - - iniFile.setValue("ActiveModelPanel", active_model_panel); - iniFile.setValue("CustomM01x", M01x); - iniFile.setValue("CustomM01y", M01y); - iniFile.setValue("CustomM01z", M01z); - iniFile.setValue("CustomM02x", M02x); - iniFile.setValue("CustomM02y", M02y); - iniFile.setValue("CustomM02z", M02z); - iniFile.setValue("ClipTopHeight", clip_ty); - iniFile.setValue("ClipTopLength", clip_tz); - iniFile.setValue("ClipBottomHeight", clip_by); - iniFile.setValue("ClipBottomLength", clip_bz); - iniFile.setValue("CapHalfWidth", cap_x); - iniFile.setValue("CapHeight", cap_y); - iniFile.setValue("CapLength", cap_z); -} diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h index 91a7a8d5..8c590db2 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h @@ -11,80 +11,81 @@ #include #include "point_tracker.h" +#include "facetracknoir/options.hpp" +using namespace options; -//----------------------------------------------------------------------------- -// Tracker settings and their ini-IO -struct TrackerSettings -{ - // camera - int cam_index; - float cam_f; - int cam_res_x; - int cam_res_y; - int cam_fps; - int cam_roll; - int cam_pitch; - int cam_yaw; - - // point extraction - int threshold; - int threshold_secondary; - - int min_point_size; - int max_point_size; - - // point tracking - cv::Vec3f M01; - cv::Vec3f M02; - bool dyn_pose_res; - - // head to model translation - cv::Vec3f t_MH; - - int sleep_time; // in ms - int reset_time; // in ms - bool video_widget; +struct settings +{ + pbundle b; + value cam_index, + cam_res_x, + cam_res_y, + cam_fps, + cam_roll, + cam_pitch, + cam_yaw, + threshold, + threshold_secondary, + min_point_size, + max_point_size; + value cam_f; - bool bEnableRoll; - bool bEnablePitch; - bool bEnableYaw; - bool bEnableX; - bool bEnableY; - bool bEnableZ; + value m01_x, m01_y, m01_z; + value m02_x, m02_y, m02_z; + value dyn_pose_res, video_widget; - void load_ini(); - void save_ini() const; -}; + value t_MH_x, t_MH_y, t_MH_z; + value sleep_time, reset_time; -//----------------------------------------------------------------------------- -// Settings specific to the tracker dialog and their ini-IO -struct TrackerDialogSettings -{ - enum - { - MODEL_CLIP, - MODEL_CAP, - MODEL_CUSTOM - }; - int active_model_panel; + value bEnableYaw, bEnablePitch, bEnableRoll; + value bEnableX, bEnableY, bEnableZ; - int M01x; - int M01y; - int M01z; - int M02x; - int M02y; - int M02z; - int clip_ty; - int clip_tz; - int clip_by; - int clip_bz; - int cap_x; - int cap_y; - int cap_z; + value clip_ty, clip_tz, clip_by, clip_bz; + value active_model_panel, cap_x, cap_y, cap_z; - void load_ini(); - void save_ini() const; + settings() : + b(bundle("tracker-pt")), + cam_index(b, "camera-index", 0), + cam_res_x(b, "camera-res-width", 640), + cam_res_y(b, "camera-res-height", 480), + cam_fps(b, "camera-fps", 30), + cam_roll(b, "camera-roll", 1), + cam_pitch(b, "camera-pitch", 0), + cam_yaw(b, "camera-yaw", 0), + threshold(b, "threshold-primary", 128), + threshold_secondary(b, "threshold-secondary", 128), + min_point_size(b, "min-point-size", 10), + max_point_size(b, "max-point-size", 50), + cam_f(b, "camera-focal-length", 1), + 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), + dyn_pose_res(b, "dynamic-pose-resolution", false), + video_widget(b, "video-widget", true), + t_MH_x(b, "model-centroid-x", 0), + t_MH_y(b, "model-centroid-y", 0), + t_MH_z(b, "model-centroid-z", 0), + sleep_time(b, "sleep-time", 0), + reset_time(b, "reset-time", 0), + bEnableYaw(b, "enable-yaw", true), + bEnablePitch(b, "enable-pitch", true), + bEnableRoll(b, "enable-roll", true), + bEnableX(b, "enable-x", true), + bEnableY(b, "enable-y", true), + bEnableZ(b, "enable-z", true), + clip_ty(b, "clip-ty", 0), + clip_tz(b, "clip-tz", 0), + clip_by(b, "clip-by", 0), + clip_bz(b, "clip-bz", 0), + active_model_panel(b, "active-model-panel", 0), + cap_x(b, "cap-x", 0), + cap_y(b, "cap-y", 0), + cap_z(b, "cap-z", 0) + {} }; -#endif //FTNOIR_TRACKER_PT_SETTINGS_H \ No newline at end of file +#endif //FTNOIR_TRACKER_PT_SETTINGS_H -- cgit v1.2.3 From d1e0537f704ea67483ccbdf7461e636490aba0cf Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Tue, 31 Dec 2013 08:41:16 +0100 Subject: meta: get rid of Initialize(), now RAII --- FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.h | 4 - ftnoir_filter_accela/ftnoir_filter_accela.h | 4 +- .../ftnoir_filter_accela_dialog.cpp | 4 - ftnoir_filter_base/ftnoir_filter_base.h | 3 +- ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp | 4 - ftnoir_filter_ewma2/ftnoir_filter_ewma2.h | 5 +- ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp | 21 -- ftnoir_filter_kalman/ftnoir_filter_kalman.h | 9 +- ftnoir_filter_kalman/kalman.cpp | 4 +- ftnoir_protocol_base/ftnoir_protocol_base.h | 3 - ftnoir_protocol_fg/ftnoir_protocol_fg.h | 7 - ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp | 24 -- ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.h | 3 - .../ftnoir_protocol_fsuipc_dialog.cpp | 29 -- ftnoir_protocol_ft/ftnoir_protocol_ft.h | 3 - ftnoir_protocol_ft/ftnoir_protocol_ft_dialog.cpp | 30 -- ftnoir_protocol_ftn/ftnoir_protocol_ftn.h | 3 - ftnoir_protocol_ftn/ftnoir_protocol_ftn_dialog.cpp | 24 -- .../ftnoir_protocol_libevdev.h | 4 - .../ftnoir_protocol_libevdev_dialog.cpp | 15 - ftnoir_protocol_sc/ftnoir_protocol_sc.h | 3 - ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp | 30 -- ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.h | 4 - .../ftnoir_protocol_vjoy_dialog.cpp | 15 - ftnoir_protocol_wine/ftnoir_protocol_wine.h | 3 - ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 309 +++++---------------- ftnoir_tracker_aruco/ftnoir_tracker_aruco.h | 55 ++-- ftnoir_tracker_base/ftnoir_tracker_base.h | 3 +- ftnoir_tracker_hatire/ftnoir_tracker_hat.cpp | 34 --- ftnoir_tracker_hatire/ftnoir_tracker_hat.h | 7 - .../ftnoir_tracker_hat_dialog.cpp | 18 -- ftnoir_tracker_hatire/ftnoir_tracker_hat_dialog.h | 4 +- ftnoir_tracker_ht/ftnoir_tracker_ht.cpp | 5 - ftnoir_tracker_ht/ftnoir_tracker_ht.h | 1 - ftnoir_tracker_hydra/ftnoir_tracker_hydra.h | 1 - .../ftnoir_tracker_hydra_dialog.cpp | 9 - ftnoir_tracker_joystick/ftnoir_tracker_joystick.h | 6 +- .../ftnoir_tracker_joystick_dialog.cpp | 18 -- ftnoir_tracker_rift/ftnoir_tracker_rift.cpp | 2 - ftnoir_tracker_rift/ftnoir_tracker_rift.h | 1 - ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp | 9 - ftnoir_tracker_udp/ftnoir_tracker_udp.h | 3 - ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp | 23 -- 43 files changed, 118 insertions(+), 648 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.h index 18283837..1d30e7e5 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.h +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dll.h @@ -20,10 +20,6 @@ class TrackerDll : public ITrackerDll #endif { - // ITrackerDll interface -#ifndef OPENTRACK_API - void Initialize() {} -#endif void getFullName(QString *strToBeFilled); void getShortName(QString *strToBeFilled); void getDescription(QString *strToBeFilled); diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.h b/ftnoir_filter_accela/ftnoir_filter_accela.h index 2b93f550..1aaa039f 100644 --- a/ftnoir_filter_accela/ftnoir_filter_accela.h +++ b/ftnoir_filter_accela/ftnoir_filter_accela.h @@ -37,7 +37,7 @@ class FTNoIR_Filter : public IFilter public: FTNoIR_Filter(); void FilterHeadPoseData(const double* target_camera_position, double *new_camera_position); - void Initialize() { + void reset() { first_run = true; } void receiveSettings() { @@ -64,7 +64,7 @@ class FilterControls: public QWidget, public IFilterDialog Q_OBJECT public: FilterControls(); - void Initialize(QWidget *); + void reset(QWidget *); void registerFilter(IFilter* filter); void unregisterFilter(); private: diff --git a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp index cc759bcb..6d1ad384 100644 --- a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp +++ b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp @@ -20,10 +20,6 @@ FilterControls::FilterControls() : tie_setting(s.expt, ui.expt); } -void FilterControls::Initialize(QWidget *) { - show(); -} - void FilterControls::registerFilter(IFilter* filter) { accela_filter = (FTNoIR_Filter*) filter; diff --git a/ftnoir_filter_base/ftnoir_filter_base.h b/ftnoir_filter_base/ftnoir_filter_base.h index 800e5deb..fbb0441d 100644 --- a/ftnoir_filter_base/ftnoir_filter_base.h +++ b/ftnoir_filter_base/ftnoir_filter_base.h @@ -14,7 +14,7 @@ struct IFilter { virtual ~IFilter() = 0; virtual void FilterHeadPoseData(const double *target_camera_position, double *new_camera_position) = 0; - virtual void Initialize() = 0; + virtual void reset() = 0; }; inline IFilter::~IFilter() { } @@ -22,7 +22,6 @@ inline IFilter::~IFilter() { } struct IFilterDialog { virtual ~IFilterDialog() {} - virtual void Initialize(QWidget *parent) = 0; virtual void registerFilter(IFilter* tracker) = 0; virtual void unregisterFilter() = 0; }; diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp index 5f66be96..77596b71 100644 --- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp +++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp @@ -44,10 +44,6 @@ FTNoIR_Filter::FTNoIR_Filter() loadSettings(); // Load the Settings } -FTNoIR_Filter::~FTNoIR_Filter() -{ -} - void FTNoIR_Filter::receiveSettings(double smin, double smax, double sexpt) { QMutexLocker foo(&mutex); diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h index 86e4b65c..7c98b2cb 100644 --- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h +++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h @@ -41,8 +41,7 @@ class FTNoIR_Filter : public IFilter { public: FTNoIR_Filter(); - virtual ~FTNoIR_Filter(); - void Initialize() {} + void reset() {} void FilterHeadPoseData(const double *target_camera_position, double *new_camera_position); @@ -73,9 +72,7 @@ class FilterControls: public QWidget, public IFilterDialog Q_OBJECT public: explicit FilterControls(); - virtual ~FilterControls(); void showEvent (QShowEvent *); - void Initialize(QWidget *parent); void registerFilter(IFilter* flt); void unregisterFilter(); diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp b/ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp index c304eb0a..eb414340 100644 --- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp +++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp @@ -59,27 +59,6 @@ FilterControls::FilterControls() : loadSettings(); } -// -// Destructor for server-dialog -// -FilterControls::~FilterControls() { - qDebug() << "~FilterControls() says: started"; -} - -// -// Initialize tracker-client-dialog -// -void FilterControls::Initialize(QWidget *parent) { - // - // - // - QPoint offsetpos(100, 100); - if (parent) { - this->move(parent->pos() + offsetpos); - } - show(); -} - void FilterControls::registerFilter(IFilter* flt) { pFilter = (FTNoIR_Filter*) flt; diff --git a/ftnoir_filter_kalman/ftnoir_filter_kalman.h b/ftnoir_filter_kalman/ftnoir_filter_kalman.h index da6df2b1..9e0d817d 100644 --- a/ftnoir_filter_kalman/ftnoir_filter_kalman.h +++ b/ftnoir_filter_kalman/ftnoir_filter_kalman.h @@ -28,7 +28,7 @@ public: FTNoIR_Filter(); ~FTNoIR_Filter() virt_override { } - void Initialize() virt_override; + void reset() virt_override; void FilterHeadPoseData(const double *target_camera_position, double *new_camera_position) virt_override; cv::KalmanFilter kalman; @@ -68,16 +68,9 @@ public: connect(ui.btnCancel, SIGNAL(clicked()), this, SLOT(doCancel())); show(); } - ~FilterControls() {} void showEvent ( QShowEvent * ) virt_override { show(); } - - void Initialize(QWidget *) virt_override { - show(); - raise(); - } - bool settingsDirty; Ui::KalmanUICFilterControls ui; virtual void registerFilter(IFilter*) virt_override {} diff --git a/ftnoir_filter_kalman/kalman.cpp b/ftnoir_filter_kalman/kalman.cpp index 629cfcc8..743eb3d4 100644 --- a/ftnoir_filter_kalman/kalman.cpp +++ b/ftnoir_filter_kalman/kalman.cpp @@ -31,12 +31,12 @@ void kalman_save_settings(FilterControls&) { FTNoIR_Filter::FTNoIR_Filter() { kalman_load_settings(*this); - Initialize(); + reset(); } // the following was written by Donovan Baarda // https://sourceforge.net/p/facetracknoir/discussion/1150909/thread/418615e1/?limit=25#af75/084b -void FTNoIR_Filter::Initialize() { +void FTNoIR_Filter::reset() { const double accel_variance = 1e-3; const double noise_variance = 5e2; kalman.init(12, 6, 0, CV_64F); diff --git a/ftnoir_protocol_base/ftnoir_protocol_base.h b/ftnoir_protocol_base/ftnoir_protocol_base.h index e4ca1977..d2f85ec0 100644 --- a/ftnoir_protocol_base/ftnoir_protocol_base.h +++ b/ftnoir_protocol_base/ftnoir_protocol_base.h @@ -50,9 +50,6 @@ inline IProtocol::~IProtocol() { } struct IProtocolDialog { virtual ~IProtocolDialog() {} - virtual void Initialize(QWidget *parent) = 0; - virtual void showEvent ( QShowEvent * event ) = 0; - virtual void registerProtocol(IProtocol *protocol) = 0; virtual void unRegisterProtocol() = 0; }; diff --git a/ftnoir_protocol_fg/ftnoir_protocol_fg.h b/ftnoir_protocol_fg/ftnoir_protocol_fg.h index 9a4f304c..0a255d84 100644 --- a/ftnoir_protocol_fg/ftnoir_protocol_fg.h +++ b/ftnoir_protocol_fg/ftnoir_protocol_fg.h @@ -35,11 +35,8 @@ #include #include #include -#include #include "facetracknoir/global-settings.h" -#define FT_PROGRAMID "FT_ProgramID" - class FTNoIR_Protocol : public IProtocol { public: @@ -65,10 +62,6 @@ class FGControls: public QWidget, public IProtocolDialog public: explicit FGControls(); - virtual ~FGControls(); - void showEvent ( QShowEvent * event ); - - void Initialize(QWidget *parent); void registerProtocol(IProtocol *protocol) { theProtocol = (FTNoIR_Protocol *) protocol; // Accept the pointer to the Protocol } diff --git a/ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp b/ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp index 45123540..cb11ace6 100644 --- a/ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp +++ b/ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp @@ -63,25 +63,6 @@ QWidget() loadSettings(); } -// -// Destructor for server-dialog -// -FGControls::~FGControls() { - qDebug() << "~FGControls() says: started"; -} - -// -// Initialize tracker-client-dialog -// -void FGControls::Initialize(QWidget *parent) { - - QPoint offsetpos(100, 100); - if (parent) { - this->move(parent->pos() + offsetpos); - } - show(); -} - // // OK clicked on server-dialog // @@ -90,11 +71,6 @@ void FGControls::doOK() { this->close(); } -// override show event -void FGControls::showEvent ( QShowEvent * ) { - loadSettings(); -} - // // Cancel clicked on server-dialog // diff --git a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.h b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.h index 87c6a3a4..9f5e3b6f 100644 --- a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.h +++ b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.h @@ -83,9 +83,6 @@ class FSUIPCControls: public QWidget, public IProtocolDialog public: explicit FSUIPCControls(); - virtual ~FSUIPCControls(); - void showEvent ( QShowEvent * event ); - void Initialize(QWidget *parent); void registerProtocol(IProtocol *protocol) { theProtocol = (FTNoIR_Protocol *) protocol; // Accept the pointer to the Protocol } diff --git a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dialog.cpp b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dialog.cpp index 985915b4..b2f28ba1 100644 --- a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dialog.cpp +++ b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dialog.cpp @@ -48,41 +48,12 @@ QWidget() loadSettings(); } -// -// Destructor for server-dialog -// -FSUIPCControls::~FSUIPCControls() { - qDebug() << "~FSUIPCControls() says: started"; -} - -// -// Initialize tracker-client-dialog -// -void FSUIPCControls::Initialize(QWidget *parent) { - - QPoint offsetpos(100, 100); - if (parent) { - this->move(parent->pos() + offsetpos); - } - show(); -} - -// -// OK clicked on server-dialog -// void FSUIPCControls::doOK() { save(); this->close(); } -// override show event -void FSUIPCControls::showEvent ( QShowEvent * event ) { - loadSettings(); -} -// -// Cancel clicked on server-dialog -// void FSUIPCControls::doCancel() { // // Ask if changed Settings should be saved diff --git a/ftnoir_protocol_ft/ftnoir_protocol_ft.h b/ftnoir_protocol_ft/ftnoir_protocol_ft.h index e13d260f..56316ec4 100644 --- a/ftnoir_protocol_ft/ftnoir_protocol_ft.h +++ b/ftnoir_protocol_ft/ftnoir_protocol_ft.h @@ -93,9 +93,6 @@ class FTControls: public QWidget, public IProtocolDialog public: explicit FTControls(); - virtual ~FTControls(); - void showEvent ( QShowEvent * event ); - void Initialize(QWidget *parent); void registerProtocol(IProtocol *protocol) { theProtocol = (FTNoIR_Protocol *) protocol; // Accept the pointer to the Protocol } diff --git a/ftnoir_protocol_ft/ftnoir_protocol_ft_dialog.cpp b/ftnoir_protocol_ft/ftnoir_protocol_ft_dialog.cpp index df13a6dc..0b29db6e 100644 --- a/ftnoir_protocol_ft/ftnoir_protocol_ft_dialog.cpp +++ b/ftnoir_protocol_ft/ftnoir_protocol_ft_dialog.cpp @@ -75,41 +75,11 @@ QWidget() } -// -// Destructor for server-dialog -// -FTControls::~FTControls() { - qDebug() << "~FTControls() says: started"; -} - -// -// Initialize tracker-client-dialog -// -void FTControls::Initialize(QWidget *parent) { - - QPoint offsetpos(100, 100); - if (parent) { - this->move(parent->pos() + offsetpos); - } - show(); -} - -// -// OK clicked on server-dialog -// void FTControls::doOK() { save(); this->close(); } -// override show event -void FTControls::showEvent ( QShowEvent * event ) { - loadSettings(); -} - -// -// Cancel clicked on server-dialog -// void FTControls::doCancel() { // // Ask if changed Settings should be saved diff --git a/ftnoir_protocol_ftn/ftnoir_protocol_ftn.h b/ftnoir_protocol_ftn/ftnoir_protocol_ftn.h index 9aee73ac..acccc9e7 100644 --- a/ftnoir_protocol_ftn/ftnoir_protocol_ftn.h +++ b/ftnoir_protocol_ftn/ftnoir_protocol_ftn.h @@ -64,9 +64,6 @@ class FTNControls: public QWidget, public IProtocolDialog public: explicit FTNControls(); - virtual ~FTNControls(); - void showEvent (QShowEvent *); - void Initialize(QWidget *parent); void registerProtocol(IProtocol *) {} void unRegisterProtocol() {} diff --git a/ftnoir_protocol_ftn/ftnoir_protocol_ftn_dialog.cpp b/ftnoir_protocol_ftn/ftnoir_protocol_ftn_dialog.cpp index 3b4e851c..72c30051 100644 --- a/ftnoir_protocol_ftn/ftnoir_protocol_ftn_dialog.cpp +++ b/ftnoir_protocol_ftn/ftnoir_protocol_ftn_dialog.cpp @@ -56,25 +56,6 @@ QWidget() loadSettings(); } -// -// Destructor for server-dialog -// -FTNControls::~FTNControls() { - qDebug() << "~FTNControls() says: started"; -} - -// -// Initialize tracker-client-dialog -// -void FTNControls::Initialize(QWidget *parent) { - - QPoint offsetpos(100, 100); - if (parent) { - this->move(parent->pos() + offsetpos); - } - show(); -} - // // OK clicked on server-dialog // @@ -83,11 +64,6 @@ void FTNControls::doOK() { this->close(); } -// override show event -void FTNControls::showEvent ( QShowEvent * ) { - loadSettings(); -} - // // Cancel clicked on server-dialog // diff --git a/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev.h b/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev.h index aabd3e51..5df59919 100644 --- a/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev.h +++ b/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev.h @@ -41,10 +41,6 @@ class LibevdevControls: public QWidget, public IProtocolDialog public: explicit LibevdevControls(); - virtual ~LibevdevControls(); - void showEvent ( QShowEvent *) {} - - void Initialize(QWidget *); void registerProtocol(IProtocol *) {} void unRegisterProtocol() {} diff --git a/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev_dialog.cpp b/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev_dialog.cpp index 6665a3d2..bb54c354 100644 --- a/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev_dialog.cpp +++ b/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev_dialog.cpp @@ -8,21 +8,6 @@ LibevdevControls::LibevdevControls() : QWidget() connect(ui.btnCancel, SIGNAL(clicked()), this, SLOT(doCancel())); } -LibevdevControls::~LibevdevControls() { -} - -// -// Initialize tracker-client-dialog -// -void LibevdevControls::Initialize(QWidget *parent) { - - QPoint offsetpos(100, 100); - if (parent) { - this->move(parent->pos() + offsetpos); - } - show(); -} - void LibevdevControls::doOK() { save(); this->close(); diff --git a/ftnoir_protocol_sc/ftnoir_protocol_sc.h b/ftnoir_protocol_sc/ftnoir_protocol_sc.h index e17cabb5..7917c532 100644 --- a/ftnoir_protocol_sc/ftnoir_protocol_sc.h +++ b/ftnoir_protocol_sc/ftnoir_protocol_sc.h @@ -131,9 +131,6 @@ class SCControls: public QWidget, public IProtocolDialog public: explicit SCControls(); - virtual ~SCControls(); - void showEvent ( QShowEvent * event ); - void Initialize(QWidget *parent); void registerProtocol(IProtocol *protocol) { theProtocol = (FTNoIR_Protocol *) protocol; // Accept the pointer to the Protocol } diff --git a/ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp b/ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp index fb822145..eb15ca69 100644 --- a/ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp +++ b/ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp @@ -49,41 +49,11 @@ QWidget() loadSettings(); } -// -// Destructor for server-dialog -// -SCControls::~SCControls() { - qDebug() << "~SCControls() says: started"; -} - -// -// Initialize tracker-client-dialog -// -void SCControls::Initialize(QWidget *parent) { - - QPoint offsetpos(100, 100); - if (parent) { - this->move(parent->pos() + offsetpos); - } - show(); -} - -// -// OK clicked on server-dialog -// void SCControls::doOK() { save(); this->close(); } -// override show event -void SCControls::showEvent ( QShowEvent * event ) { - loadSettings(); -} - -// -// Cancel clicked on server-dialog -// void SCControls::doCancel() { // // Ask if changed Settings should be saved diff --git a/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.h b/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.h index c4db29e4..873b4e3c 100644 --- a/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.h +++ b/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.h @@ -60,10 +60,6 @@ class VJoyControls: public QWidget, public IProtocolDialog public: explicit VJoyControls(); - virtual ~VJoyControls(); - void showEvent ( QShowEvent *) {} - - void Initialize(QWidget *); void registerProtocol(IProtocol *l) {} void unRegisterProtocol() {} diff --git a/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy_dialog.cpp b/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy_dialog.cpp index 0009553b..febb7b18 100644 --- a/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy_dialog.cpp +++ b/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy_dialog.cpp @@ -8,21 +8,6 @@ VJoyControls::VJoyControls() : QWidget() connect(ui.btnCancel, SIGNAL(clicked()), this, SLOT(doCancel())); } -VJoyControls::~VJoyControls() { -} - -// -// Initialize tracker-client-dialog -// -void VJoyControls::Initialize(QWidget *parent) { - - QPoint offsetpos(100, 100); - if (parent) { - this->move(parent->pos() + offsetpos); - } - show(); -} - void VJoyControls::doOK() { save(); this->close(); diff --git a/ftnoir_protocol_wine/ftnoir_protocol_wine.h b/ftnoir_protocol_wine/ftnoir_protocol_wine.h index d7276b8e..e84dbd69 100644 --- a/ftnoir_protocol_wine/ftnoir_protocol_wine.h +++ b/ftnoir_protocol_wine/ftnoir_protocol_wine.h @@ -70,10 +70,7 @@ class FTControls: public QWidget, public IProtocolDialog { Q_OBJECT public: - FTControls(); - void showEvent ( QShowEvent * ) {show();} - void Initialize(QWidget *) {show();} void registerProtocol(IProtocol *) {} void unRegisterProtocol() {} diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index 9408de02..a0a11ed2 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -99,47 +99,8 @@ static resolution_tuple resolution_choices[] = { { 0, 0 } }; -void Tracker::load_settings() +Tracker::Tracker() : stop(false), layout(nullptr), videoWidget(nullptr) { - QMutexLocker foo(&mtx); - QSettings settings("opentrack"); - QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString(); - QSettings iniFile( currentFile, QSettings::IniFormat ); - - iniFile.beginGroup( "aruco-Tracker" ); - fov = iniFile.value("fov", 56).toFloat(); - force_fps = iniFile.value("fps", 0).toInt(); - camera_index = iniFile.value("camera-index", -1).toInt(); - int res = iniFile.value("resolution", 0).toInt(); - if (res < 0 || res >= (int)(sizeof(resolution_choices) / sizeof(resolution_tuple))) - res = 0; - resolution_tuple r = resolution_choices[res]; - force_width = r.width; - force_height = r.height; - enableRX = iniFile.value("enable-rx", true).toBool(); - enableRY = iniFile.value("enable-ry", true).toBool(); - enableRZ = iniFile.value("enable-rz", true).toBool(); - enableTX = iniFile.value("enable-tx", true).toBool(); - enableTY = iniFile.value("enable-ty", true).toBool(); - enableTZ = iniFile.value("enable-tz", true).toBool(); - - for (int i = 0; i < 3; i++) - { - headpos[i] = iniFile.value(QString("headpos-%1").arg(i), 0).toDouble(); - } - headpitch = iniFile.value("pitch", 0).toDouble(); - red_only = iniFile.value("red-only", true).toBool(); - - iniFile.endGroup(); -} - -Tracker::Tracker() -{ - layout = nullptr; - stop = false; - videoWidget = NULL; - enableRX = enableRY = enableRZ = enableTX = enableTY = enableTZ = true; - load_settings(); } Tracker::~Tracker() @@ -166,7 +127,6 @@ void Tracker::StartTracker(QFrame* videoframe) delete videoframe->layout(); videoframe->setLayout(layout); videoWidget->show(); - load_settings(); start(); for (int i = 0; i < 6; i++) pose[i] = 0; @@ -177,13 +137,35 @@ void Tracker::StartTracker(QFrame* videoframe) void Tracker::run() { - camera = cv::VideoCapture(camera_index); - if (force_width) - camera.set(CV_CAP_PROP_FRAME_WIDTH, force_width); - if (force_height) - camera.set(CV_CAP_PROP_FRAME_HEIGHT, force_height); - if (force_fps) - camera.set(CV_CAP_PROP_FPS, force_fps); + int res = s.resolution; + if (res < 0 || res >= (int)(sizeof(resolution_choices) / sizeof(resolution_tuple))) + res = 0; + resolution_tuple r = resolution_choices[res]; + int fps; + switch (static_cast(s.force_fps)) + { + default: + case 0: + fps = 0; + break; + case 30: + fps = 1; + break; + case 60: + fps = 2; + break; + case 120: + fps = 3; + break; + } + camera = cv::VideoCapture(s.camera_index); + if (r.width) + { + camera.set(CV_CAP_PROP_FRAME_WIDTH, r.width); + camera.set(CV_CAP_PROP_FRAME_HEIGHT, r.height); + } + if (fps) + camera.set(CV_CAP_PROP_FPS, fps); aruco::MarkerDetector detector; detector.setDesiredSpeed(3); @@ -206,7 +188,7 @@ void Tracker::run() auto freq = cv::getTickFrequency(); auto last_time = cv::getTickCount(); - int fps = 0; + int cur_fps = 0; int last_fps = 0; cv::Point2f last_centroid; @@ -216,7 +198,7 @@ void Tracker::run() continue; auto tm = cv::getTickCount(); color_.copyTo(color); - if (red_only) + if (s.red_only) { cv::Mat channel[3]; cv::split(color, channel); @@ -227,8 +209,8 @@ void Tracker::run() const int scale = frame.cols > 480 ? 2 : 1; detector.setThresholdParams(scale > 1 ? 11 : 7, 4); - const float focal_length_w = 0.5 * grayscale.cols / tan(0.5 * fov * HT_PI / 180); - const float focal_length_h = 0.5 * grayscale.rows / tan(0.5 * fov * grayscale.rows / grayscale.cols * HT_PI / 180.0); + const float focal_length_w = 0.5 * grayscale.cols / tan(0.5 * s.fov * HT_PI / 180); + const float focal_length_h = 0.5 * grayscale.rows / tan(0.5 * s.fov * grayscale.rows / grayscale.cols * HT_PI / 180.0); cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1); intrinsics.at (0, 0) = focal_length_w; intrinsics.at (1, 1) = focal_length_h; @@ -275,12 +257,12 @@ void Tracker::run() if ((long) (time / freq) != (long) (last_time / freq)) { - last_fps = fps; - fps = 0; + last_fps = cur_fps; + cur_fps = 0; last_time = time; } - fps++; + cur_fps++; char buf[128]; @@ -296,18 +278,18 @@ void Tracker::run() const float size = 7; cv::Mat obj_points(4,3,CV_32FC1); - obj_points.at(1,0)=-size + headpos[0]; - obj_points.at(1,1)=-size + headpos[1]; - obj_points.at(1,2)=0 + headpos[2]; - obj_points.at(2,0)=size + headpos[0]; - obj_points.at(2,1)=-size + headpos[1]; - obj_points.at(2,2)=0 + headpos[2]; - obj_points.at(3,0)=size + headpos[0]; - obj_points.at(3,1)=size + headpos[1]; - obj_points.at(3,2)=0 + headpos[2]; - obj_points.at(0,0)=-size + headpos[0]; - obj_points.at(0,1)=size + headpos[1]; - obj_points.at(0,2)=0 + headpos[2]; + obj_points.at(1,0)=-size + s.headpos_x; + obj_points.at(1,1)=-size + s.headpos_y; + obj_points.at(1,2)=0 + s.headpos_z; + obj_points.at(2,0)=size + s.headpos_x; + obj_points.at(2,1)=-size + s.headpos_y; + obj_points.at(2,2)=0 + s.headpos_z; + obj_points.at(3,0)=size + s.headpos_x; + obj_points.at(3,1)=size + s.headpos_y; + obj_points.at(3,2)=0 + s.headpos_z; + obj_points.at(0,0)=-size + s.headpos_x; + obj_points.at(0,1)=size + s.headpos_y; + obj_points.at(0,2)=0 + s.headpos_z; last_roi = cv::Rect(65535, 65535, 0, 0); @@ -341,22 +323,12 @@ void Tracker::run() cv::Rodrigues(rvec, rotation_matrix); { - const double beta = headpitch * HT_PI / 180; - double pitch[] = { - 1, 0, 0, - 0, cos(beta), -sin(beta), - 0, sin(beta), cos(beta) - }; - cv::Mat rot(3, 3, CV_64F, pitch); - cv::Mat tvec2 = rot * tvec; - rotation_matrix = rot * rotation_matrix; - cv::Vec3d euler = cv::RQDecomp3x3(rotation_matrix, junk1, junk2); QMutexLocker lck(&mtx); for (int i = 0; i < 3; i++) - pose[i] = tvec2.at(i); + pose[i] = tvec.at(i); pose[Yaw] = euler[1]; pose[Pitch] = -euler[0]; @@ -389,17 +361,17 @@ void Tracker::GetHeadPoseData(double *data) { QMutexLocker lck(&mtx); - if (enableRX) + if (s.eyaw) data[Yaw] = pose[Yaw]; - if (enableRY) + if (s.epitch) data[Pitch] = pose[Pitch]; - if (enableRZ) + if (s.eroll) data[Roll] = pose[Roll]; - if (enableTX) + if (s.ex) data[TX] = pose[TX]; - if (enableTY) + if (s.ey) data[TY] = pose[TY]; - if (enableTZ) + if (s.ez) data[TZ] = pose[TZ]; } @@ -468,178 +440,49 @@ TrackerControls::TrackerControls() tracker = nullptr; ui.setupUi(this); setAttribute(Qt::WA_NativeWindow, true); - connect(ui.cameraName, SIGNAL(currentIndexChanged(int)), this, SLOT(settingChanged(int))); - connect(ui.cameraFPS, SIGNAL(currentIndexChanged(int)), this, SLOT(settingChanged(int))); - connect(ui.cameraFOV, SIGNAL(valueChanged(double)), this, SLOT(settingChanged(double))); - connect(ui.rx, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int))); - connect(ui.ry, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int))); - connect(ui.rz, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int))); - connect(ui.tx, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int))); - connect(ui.ty, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int))); - connect(ui.tz, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int))); - connect(ui.cx, SIGNAL(valueChanged(double)), this, SLOT(settingChanged(double))); - connect(ui.cy, SIGNAL(valueChanged(double)), this, SLOT(settingChanged(double))); - connect(ui.cz, SIGNAL(valueChanged(double)), this, SLOT(settingChanged(double))); - //connect(ui.buttonCancel, SIGNAL(clicked()), this, SLOT(doCancel())); - //connect(ui.buttonOK, SIGNAL(clicked()), this, SLOT(doOK())); - //connect(ui.buttonSettings, SIGNAL(clicked()), this, SLOT(cameraSettings())); + tie_setting(s.camera_index, ui.cameraName); + tie_setting(s.force_fps, ui.cameraFPS); + tie_setting(s.fov, ui.cameraFOV); + tie_setting(s.eyaw, ui.rx); + tie_setting(s.epitch, ui.ry); + tie_setting(s.eroll, ui.rz); + tie_setting(s.ex, ui.tx); + tie_setting(s.ey, ui.ty); + tie_setting(s.ez, ui.tz); + tie_setting(s.headpos_x, ui.cx); + tie_setting(s.headpos_y, ui.cy); + tie_setting(s.headpos_z, ui.cz); + tie_setting(s.red_only, ui.red_only); connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK())); connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel())); - loadSettings(); - settingsDirty = false; -} - -TrackerControls::~TrackerControls() -{ -} - -void TrackerControls::showEvent(QShowEvent *) -{ -} - -void TrackerControls::Initialize(QWidget*) -{ - loadSettings(); - show(); -} - -void TrackerControls::loadSettings() -{ - ui.cameraName->clear(); - QList names = get_camera_names(); - names.prepend("Any available"); - ui.cameraName->addItems(names); - QSettings settings("opentrack"); - QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString(); - QSettings iniFile( currentFile, QSettings::IniFormat ); - iniFile.beginGroup( "aruco-Tracker" ); - ui.cameraName->setCurrentIndex(iniFile.value("camera-index", -1).toInt() + 1); - ui.cameraFOV->setValue(iniFile.value("fov", 56).toFloat()); - int fps; - switch (iniFile.value("fps", 0).toInt()) - { - default: - case 0: - fps = 0; - break; - case 30: - fps = 1; - break; - case 60: - fps = 2; - break; - case 120: - fps = 3; - break; - } - ui.cameraFPS->setCurrentIndex(fps); - ui.rx->setCheckState(iniFile.value("enable-rx", true).toBool() ? Qt::Checked : Qt::Unchecked); - ui.ry->setCheckState(iniFile.value("enable-ry", true).toBool() ? Qt::Checked : Qt::Unchecked); - ui.rz->setCheckState(iniFile.value("enable-rz", true).toBool() ? Qt::Checked : Qt::Unchecked); - ui.tx->setCheckState(iniFile.value("enable-tx", true).toBool() ? Qt::Checked : Qt::Unchecked); - ui.ty->setCheckState(iniFile.value("enable-ty", true).toBool() ? Qt::Checked : Qt::Unchecked); - ui.tz->setCheckState(iniFile.value("enable-tz", true).toBool() ? Qt::Checked : Qt::Unchecked); - ui.resolution->setCurrentIndex(iniFile.value("resolution", 0).toInt()); - - QDoubleSpinBox* headpos[] = { - ui.cx, - ui.cy, - ui.cz - }; - - for (int i = 0; i < 3; i++) - { - headpos[i]->setValue(iniFile.value(QString("headpos-%1").arg(i)).toDouble()); - } - - ui.pitch_deg->setValue(iniFile.value("pitch", 0).toDouble()); - ui.red_only->setChecked(iniFile.value("red-only", true).toBool()); - iniFile.endGroup(); - settingsDirty = false; -} - -void TrackerControls::save() -{ - QSettings settings("opentrack"); - QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString(); - QSettings iniFile( currentFile, QSettings::IniFormat ); - - iniFile.beginGroup( "aruco-Tracker" ); - iniFile.setValue("fov", ui.cameraFOV->value()); - int fps; - switch (ui.cameraFPS->currentIndex()) - { - case 0: - default: - fps = 0; - break; - case 1: - fps = 30; - break; - case 2: - fps = 60; - break; - case 3: - fps = 120; - break; - } - iniFile.setValue("fps", fps); - iniFile.setValue("camera-index", ui.cameraName->currentIndex() - 1); - iniFile.setValue("enable-rx", ui.rx->checkState() != Qt::Unchecked ? true : false); - iniFile.setValue("enable-ry", ui.ry->checkState() != Qt::Unchecked ? true : false); - iniFile.setValue("enable-rz", ui.rz->checkState() != Qt::Unchecked ? true : false); - iniFile.setValue("enable-tx", ui.tx->checkState() != Qt::Unchecked ? true : false); - iniFile.setValue("enable-ty", ui.ty->checkState() != Qt::Unchecked ? true : false); - iniFile.setValue("enable-tz", ui.tz->checkState() != Qt::Unchecked ? true : false); - iniFile.setValue("resolution", ui.resolution->currentIndex()); - iniFile.setValue("pitch", ui.pitch_deg->value()); - - QDoubleSpinBox* headpos[] = { - ui.cx, - ui.cy, - ui.cz - }; - - for (int i = 0; i < 3; i++) - { - iniFile.setValue(QString("headpos-%1").arg(i), headpos[i]->value()); - } - iniFile.setValue("red-only", ui.red_only->isChecked()); - iniFile.endGroup(); - settingsDirty = false; - if (tracker) - tracker->load_settings(); + ui.cameraName->addItems(get_camera_names()); } void TrackerControls::doOK() { - save(); + s.b->save(); this->close(); } void TrackerControls::doCancel() { - if (settingsDirty) { + if (s.b->modifiedp()) { int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", - QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel, - QMessageBox::Discard ); + QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel ); switch (ret) { case QMessageBox::Save: - save(); + s.b->save(); this->close(); break; case QMessageBox::Discard: + s.b->revert(); this->close(); break; case QMessageBox::Cancel: - // Cancel was clicked - break; - default: - // should never be reached - break; + break; } } else { diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h index 545ad5d0..23598f4d 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h @@ -18,6 +18,33 @@ #include #include #include +#include "facetracknoir/options.hpp" +using namespace options; + +struct settings { + pbundle b; + value fov, headpos_x, headpos_y, headpos_z; + value camera_index, force_fps, resolution; + value red_only; + value eyaw, epitch, eroll, ex, ey, ez; + settings() : + b(bundle("aruco-tracker")), + fov(b, "field-of-view", 56), + headpos_x(b, "headpos-x", 0), + headpos_y(b, "headpos-y", 0), + headpos_z(b, "headpos-z", 0), + camera_index(b, "camera-index", 0), + force_fps(b, "force-fps", 0), + resolution(b, "force-resolution", 0), + red_only(b, "red-only", false), + eyaw(b, "enable-y", true), + epitch(b, "enable-p", true), + eroll(b, "enable-r", true), + ex(b, "enable-x", true), + ey(b, "enable-y", true), + ez(b, "enable-z", true) + {} +}; class Tracker : protected QThread, public ITracker { @@ -27,22 +54,16 @@ public: virtual ~Tracker(); void StartTracker(QFrame* frame); void GetHeadPoseData(double *data); - bool enableTX, enableTY, enableTZ, enableRX, enableRY, enableRZ; void run(); - void load_settings(); private: QMutex mtx; - ArucoVideoWidget* videoWidget; - QHBoxLayout* layout; volatile bool stop; - float fov; - int camera_index; - int force_fps, force_width, force_height; + QHBoxLayout* layout; + ArucoVideoWidget* videoWidget; + settings s; double pose[6]; cv::Mat frame; - double headpos[3], headpitch; cv::VideoCapture camera; - volatile bool red_only; }; // Widget that has controls for FTNoIR protocol client-settings. @@ -50,32 +71,20 @@ class TrackerControls : public QWidget, public ITrackerDialog { Q_OBJECT public: - - explicit TrackerControls(); - virtual ~TrackerControls(); - void showEvent (QShowEvent *); - - void Initialize(QWidget *); + TrackerControls(); void registerTracker(ITracker * x) { tracker = dynamic_cast(x); } void unRegisterTracker() { tracker = nullptr; } - private: Ui::Form ui; - void loadSettings(); - void save(); - bool settingsDirty; Tracker* tracker; - + settings s; private slots: void doOK(); void doCancel(); - void settingChanged() { settingsDirty = true; } - void settingChanged(int) { settingsDirty = true; } - void settingChanged(double) { settingsDirty = true; } }; #endif diff --git a/ftnoir_tracker_base/ftnoir_tracker_base.h b/ftnoir_tracker_base/ftnoir_tracker_base.h index 16f76cf3..b8e16e9d 100644 --- a/ftnoir_tracker_base/ftnoir_tracker_base.h +++ b/ftnoir_tracker_base/ftnoir_tracker_base.h @@ -58,8 +58,7 @@ inline ITracker::~ITracker() { } struct ITrackerDialog { virtual ~ITrackerDialog() {} - virtual void Initialize(QWidget *parent) = 0; - virtual void registerTracker(ITracker *tracker) = 0; + virtual void registerTracker(ITracker *tracker) = 0; virtual void unRegisterTracker() = 0; }; diff --git a/ftnoir_tracker_hatire/ftnoir_tracker_hat.cpp b/ftnoir_tracker_hatire/ftnoir_tracker_hat.cpp index 3547dd6b..6fef2db0 100644 --- a/ftnoir_tracker_hatire/ftnoir_tracker_hat.cpp +++ b/ftnoir_tracker_hatire/ftnoir_tracker_hat.cpp @@ -403,7 +403,6 @@ void FTNoIR_Tracker::GetHeadPoseData(THeadPoseData *data) CptError=0; return; } -#ifdef OPENTRACK_API data[frame_cnt] = (long) HAT.Code; struct Fun { @@ -446,39 +445,6 @@ void FTNoIR_Tracker::GetHeadPoseData(THeadPoseData *data) if (settings.InvertZ) data[TZ] = HAT.Trans[Fun::clamp3(settings.ZAxe)]* -1.0f; else data[TZ] = HAT.Trans[Fun::clamp3(settings.ZAxe)]; } -#else - data->frame_number = (long) HAT.Code; - - if (bEnableYaw) { - if (bInvertYaw ) data->yaw = (double) HAT.Rot[iYawAxe] * -1.0f; - else data->yaw = (double) HAT.Rot[iYawAxe]; - } - - if (bEnablePitch) { - if (bInvertPitch)data->pitch = (double) HAT.Rot[iPitchAxe] * -1.0f; - else data->pitch = (double) HAT.Rot[iPitchAxe]; - } - - if (bEnableRoll) { - if (bInvertRoll) data->roll = (double) HAT.Rot[iRollAxe] * -1.0f; - else data->roll = (double) HAT.Rot[iRollAxe]; - } - - if (bEnableX) { - if (bInvertX) data->x = (double) HAT.Trans[iXAxe]* -1.0f; - else data->x = (double) HAT.Trans[iXAxe]; - } - - if (bEnableY) { - if (bInvertY) data->y = (double) HAT.Trans[iYAxe]* -1.0f; - else data->y = (double) HAT.Trans[iYAxe]; - } - - if (bEnableZ) { - if (bInvertZ) data->z = (double) HAT.Trans[iZAxe]* -1.0f; - else data->z = (double) HAT.Trans[iZAxe]; - } -#endif } void FTNoIR_Tracker::applysettings(const TrackerSettings& settings){ diff --git a/ftnoir_tracker_hatire/ftnoir_tracker_hat.h b/ftnoir_tracker_hatire/ftnoir_tracker_hat.h index a4243c38..57ead58d 100644 --- a/ftnoir_tracker_hatire/ftnoir_tracker_hat.h +++ b/ftnoir_tracker_hatire/ftnoir_tracker_hat.h @@ -27,15 +27,8 @@ public: FTNoIR_Tracker(); ~FTNoIR_Tracker(); -#ifdef OPENTRACK_API virtual void StartTracker(QFrame*); virtual void GetHeadPoseData(double* data); -#else - void Initialize( QFrame *videoframe ); - virtual void StartTracker(HWND parent_window); - virtual void StopTracker(bool exit); - virtual bool GetHeadPoseData(THeadPoseData *data); -#endif void applysettings(const TrackerSettings& settings); void notifyCenter(); bool notifyZeroed(); diff --git a/ftnoir_tracker_hatire/ftnoir_tracker_hat_dialog.cpp b/ftnoir_tracker_hatire/ftnoir_tracker_hat_dialog.cpp index 0ef723c9..2ef75b89 100644 --- a/ftnoir_tracker_hatire/ftnoir_tracker_hat_dialog.cpp +++ b/ftnoir_tracker_hatire/ftnoir_tracker_hat_dialog.cpp @@ -146,24 +146,6 @@ TrackerControls::TrackerControls() : theTracker(NULL), timer(this) connect(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info())); } -// -// Destructor for server-dialog -// -TrackerControls::~TrackerControls() { -} - -// -// Initialize tracker-client-dialog -// -void TrackerControls::Initialize(QWidget *parent) { - QPoint offsetpos(100, 100); - if (parent) { - this->move(parent->pos() + offsetpos); - } - show(); -} - - // // Center asked to ARDUINO // diff --git a/ftnoir_tracker_hatire/ftnoir_tracker_hat_dialog.h b/ftnoir_tracker_hatire/ftnoir_tracker_hat_dialog.h index 82c69e0d..fe16e5e8 100644 --- a/ftnoir_tracker_hatire/ftnoir_tracker_hat_dialog.h +++ b/ftnoir_tracker_hatire/ftnoir_tracker_hat_dialog.h @@ -21,8 +21,6 @@ class TrackerControls: public QWidget, public ITrackerDialog Q_OBJECT public: explicit TrackerControls(); - virtual ~TrackerControls(); - void Initialize(QWidget *parent) virt_override; void registerTracker(ITracker *tracker) virt_override; void unRegisterTracker() virt_override; private: @@ -30,7 +28,7 @@ private: FTNoIR_Tracker *theTracker; QTime last_time; -public slots: +public slots: void WriteMsgInfo(const QByteArray &MsgInfo); protected slots: diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp index e154557e..1773b018 100644 --- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp @@ -275,11 +275,6 @@ TrackerControls::TrackerControls() connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK())); } -void TrackerControls::Initialize(QWidget*) -{ - show(); -} - void TrackerControls::doOK() { s.b->save(); diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.h b/ftnoir_tracker_ht/ftnoir_tracker_ht.h index f45e54f9..b3c89136 100644 --- a/ftnoir_tracker_ht/ftnoir_tracker_ht.h +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.h @@ -62,7 +62,6 @@ class TrackerControls : public QWidget, public ITrackerDialog Q_OBJECT public: explicit TrackerControls(); - void Initialize(QWidget *); void registerTracker(ITracker *) {} void unRegisterTracker() {} diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h index 16629c3a..8d91dfbb 100644 --- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h @@ -45,7 +45,6 @@ class TrackerControls: public QWidget, public ITrackerDialog Q_OBJECT public: explicit TrackerControls(); - void Initialize(QWidget *parent); void registerTracker(ITracker *) {} void unRegisterTracker() {} private: diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp index e92180a3..4a2deb9f 100644 --- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp @@ -18,15 +18,6 @@ QWidget() tie_setting(s.bEnableZ, ui.chkEnableZ); } -void TrackerControls::Initialize(QWidget *parent) { - - QPoint offsetpos(100, 100); - if (parent) { - this->move(parent->pos() + offsetpos); - } - show(); -} - void TrackerControls::doOK() { s.b->save(); this->close(); diff --git a/ftnoir_tracker_joystick/ftnoir_tracker_joystick.h b/ftnoir_tracker_joystick/ftnoir_tracker_joystick.h index 9c856d85..67291e6f 100644 --- a/ftnoir_tracker_joystick/ftnoir_tracker_joystick.h +++ b/ftnoir_tracker_joystick/ftnoir_tracker_joystick.h @@ -62,11 +62,7 @@ class TrackerControls: public QWidget, public ITrackerDialog { Q_OBJECT public: - explicit TrackerControls(); - ~TrackerControls(); - void showEvent (QShowEvent *); - - void Initialize(QWidget *parent); + TrackerControls(); void registerTracker(ITracker *foo) { tracker = dynamic_cast(foo); } diff --git a/ftnoir_tracker_joystick/ftnoir_tracker_joystick_dialog.cpp b/ftnoir_tracker_joystick/ftnoir_tracker_joystick_dialog.cpp index af3613d9..42ca8689 100644 --- a/ftnoir_tracker_joystick/ftnoir_tracker_joystick_dialog.cpp +++ b/ftnoir_tracker_joystick/ftnoir_tracker_joystick_dialog.cpp @@ -50,29 +50,11 @@ fin: loadSettings(); } -// -// Destructor for server-dialog -// -TrackerControls::~TrackerControls() { -} - -void TrackerControls::Initialize(QWidget *parent) { - QPoint offsetpos(100, 100); - if (parent) { - this->move(parent->pos() + offsetpos); - } - show(); -} - void TrackerControls::doOK() { save(); this->close(); } -void TrackerControls::showEvent ( QShowEvent * ) { - loadSettings(); -} - void TrackerControls::doCancel() { if (settingsDirty) { int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel, QMessageBox::Discard ); diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp index e10db0bf..b548db71 100644 --- a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp +++ b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp @@ -26,8 +26,6 @@ Rift_Tracker::~Rift_Tracker() System::Destroy(); } - - void Rift_Tracker::StartTracker(QFrame*) { System::Init(Log::ConfigureDefaultLog(LogMask_All)); diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift.h b/ftnoir_tracker_rift/ftnoir_tracker_rift.h index 80bf6ffa..b1f96bf2 100644 --- a/ftnoir_tracker_rift/ftnoir_tracker_rift.h +++ b/ftnoir_tracker_rift/ftnoir_tracker_rift.h @@ -55,7 +55,6 @@ class TrackerControls: public QWidget, public ITrackerDialog public: explicit TrackerControls(); - void Initialize(QWidget *parent); void registerTracker(ITracker *) {} void unRegisterTracker() {} diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp b/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp index 5487da92..763ddd11 100644 --- a/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp +++ b/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp @@ -20,15 +20,6 @@ QWidget() tie_setting(s.useYawSpring, ui.yawSpring); } -void TrackerControls::Initialize(QWidget *parent) { - - QPoint offsetpos(100, 100); - if (parent) { - this->move(parent->pos() + offsetpos); - } - show(); -} - void TrackerControls::doOK() { s.b->save(); this->close(); diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp.h b/ftnoir_tracker_udp/ftnoir_tracker_udp.h index c7e9decf..7157f064 100644 --- a/ftnoir_tracker_udp/ftnoir_tracker_udp.h +++ b/ftnoir_tracker_udp/ftnoir_tracker_udp.h @@ -49,9 +49,6 @@ public: explicit TrackerControls(); ~TrackerControls(); - void showEvent (QShowEvent *); - - void Initialize(QWidget *parent); void registerTracker(ITracker *) {} void unRegisterTracker() {} diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp b/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp index e17d5c32..707abf37 100644 --- a/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp +++ b/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp @@ -60,34 +60,11 @@ TrackerControls::~TrackerControls() { qDebug() << "~TrackerControls() says: started"; } -// -// Initialize tracker-client-dialog -// -void TrackerControls::Initialize(QWidget *parent) { - - QPoint offsetpos(100, 100); - if (parent) { - this->move(parent->pos() + offsetpos); - } - show(); -} - -// -// OK clicked on server-dialog -// void TrackerControls::doOK() { save(); this->close(); } -// override show event -void TrackerControls::showEvent ( QShowEvent * ) { - loadSettings(); -} - -// -// Cancel clicked on server-dialog -// void TrackerControls::doCancel() { // // Ask if changed Settings should be saved -- cgit v1.2.3 From 77412f01c387ffce47d42bcaad3cf26816591350 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Tue, 31 Dec 2013 12:41:12 +0100 Subject: finish rename --- FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h | 2 +- facetracknoir/facetracknoir.h | 2 +- facetracknoir/main-settings.hpp | 2 +- facetracknoir/tracker.h | 2 +- ftnoir_filter_accela/ftnoir_filter_accela.h | 2 +- ftnoir_filter_ewma2/ftnoir_filter_ewma2.h | 2 +- ftnoir_filter_kalman/ftnoir_filter_kalman.h | 2 +- ftnoir_protocol_fg/ftnoir_protocol_fg.h | 2 +- ftnoir_tracker_aruco/ftnoir_tracker_aruco.h | 2 +- ftnoir_tracker_hatire/ftnoir_tracker_hat_settings.h | 2 +- ftnoir_tracker_ht/ftnoir_tracker_ht.h | 2 +- ftnoir_tracker_hydra/ftnoir_tracker_hydra.h | 2 +- ftnoir_tracker_rift/ftnoir_tracker_rift.h | 2 +- 13 files changed, 13 insertions(+), 13 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h index 8c590db2..a828ea48 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h @@ -11,7 +11,7 @@ #include #include "point_tracker.h" -#include "facetracknoir/options.hpp" +#include "facetracknoir/options.h" using namespace options; struct settings diff --git a/facetracknoir/facetracknoir.h b/facetracknoir/facetracknoir.h index b1279697..53b83754 100644 --- a/facetracknoir/facetracknoir.h +++ b/facetracknoir/facetracknoir.h @@ -51,7 +51,7 @@ #include "ui_facetracknoir.h" -#include "facetracknoir/options.hpp" +#include "facetracknoir/options.h" using namespace options; #include "facetracknoir/main-settings.hpp" diff --git a/facetracknoir/main-settings.hpp b/facetracknoir/main-settings.hpp index 05c75398..c9b5ff66 100644 --- a/facetracknoir/main-settings.hpp +++ b/facetracknoir/main-settings.hpp @@ -1,7 +1,7 @@ #pragma once #include -#include "facetracknoir/options.hpp" +#include "facetracknoir/options.h" using namespace options; struct key_opts { diff --git a/facetracknoir/tracker.h b/facetracknoir/tracker.h index b671ac7c..404a8f24 100644 --- a/facetracknoir/tracker.h +++ b/facetracknoir/tracker.h @@ -17,7 +17,7 @@ #include #include "tracker_types.h" #include "facetracknoir/main-settings.hpp" -#include "facetracknoir/options.hpp" +#include "facetracknoir/options.h" using namespace options; class FaceTrackNoIR; // pre-define parent-class to avoid circular includes diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.h b/ftnoir_filter_accela/ftnoir_filter_accela.h index 1aaa039f..e8f077c3 100644 --- a/ftnoir_filter_accela/ftnoir_filter_accela.h +++ b/ftnoir_filter_accela/ftnoir_filter_accela.h @@ -10,7 +10,7 @@ #define ACCELA_SECOND_ORDER_ALPHA 100.0 #define ACCELA_THIRD_ORDER_ALPHA 180.0 -#include "facetracknoir/options.hpp" +#include using namespace options; struct settings { diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h index 6e9a7f9a..e50a4284 100644 --- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h +++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h @@ -31,7 +31,7 @@ #include "ui_ftnoir_ewma_filtercontrols.h" #include #include -#include "facetracknoir/options.hpp" +#include "facetracknoir/options.h" using namespace options; struct settings { diff --git a/ftnoir_filter_kalman/ftnoir_filter_kalman.h b/ftnoir_filter_kalman/ftnoir_filter_kalman.h index 8f5bcd8b..25f0a0ad 100644 --- a/ftnoir_filter_kalman/ftnoir_filter_kalman.h +++ b/ftnoir_filter_kalman/ftnoir_filter_kalman.h @@ -21,7 +21,7 @@ #include #include #include -#include "facetracknoir/options.hpp" +#include "facetracknoir/options.h" using namespace options; class FTNOIR_FILTER_BASE_EXPORT FTNoIR_Filter : public IFilter diff --git a/ftnoir_protocol_fg/ftnoir_protocol_fg.h b/ftnoir_protocol_fg/ftnoir_protocol_fg.h index 13aaeab4..dca1f245 100644 --- a/ftnoir_protocol_fg/ftnoir_protocol_fg.h +++ b/ftnoir_protocol_fg/ftnoir_protocol_fg.h @@ -33,7 +33,7 @@ #include #include #include "facetracknoir/global-settings.h" -#include "facetracknoir/options.hpp" +#include "facetracknoir/options.h" using namespace options; struct settings { diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h index 23598f4d..2ff40c77 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h @@ -18,7 +18,7 @@ #include #include #include -#include "facetracknoir/options.hpp" +#include "facetracknoir/options.h" using namespace options; struct settings { diff --git a/ftnoir_tracker_hatire/ftnoir_tracker_hat_settings.h b/ftnoir_tracker_hatire/ftnoir_tracker_hat_settings.h index 8739394f..4c0fcb8d 100644 --- a/ftnoir_tracker_hatire/ftnoir_tracker_hat_settings.h +++ b/ftnoir_tracker_hatire/ftnoir_tracker_hat_settings.h @@ -8,7 +8,7 @@ #pragma once #include -#include "facetracknoir/options.hpp" +#include "facetracknoir/options.h" #include using namespace options; diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.h b/ftnoir_tracker_ht/ftnoir_tracker_ht.h index b3c89136..583249dc 100644 --- a/ftnoir_tracker_ht/ftnoir_tracker_ht.h +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.h @@ -15,7 +15,7 @@ #include "ht_video_widget.h" #include "compat/compat.h" #include -#include "facetracknoir/options.hpp" +#include "facetracknoir/options.h" using namespace options; struct settings { diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h index 8d91dfbb..e569efab 100644 --- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h @@ -5,7 +5,7 @@ #include #include #include "facetracknoir/global-settings.h" -#include "facetracknoir/options.hpp" +#include "facetracknoir/options.h" using namespace options; struct settings { diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift.h b/ftnoir_tracker_rift/ftnoir_tracker_rift.h index b1f96bf2..dd673308 100644 --- a/ftnoir_tracker_rift/ftnoir_tracker_rift.h +++ b/ftnoir_tracker_rift/ftnoir_tracker_rift.h @@ -8,7 +8,7 @@ #include "facetracknoir/global-settings.h" #include "OVR.h" #include -#include "facetracknoir/options.hpp" +#include "facetracknoir/options.h" using namespace options; struct settings { -- cgit v1.2.3 From 63e130f42c2ad329aba3da9e3121323914fac3fc Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Thu, 2 Jan 2014 06:25:30 +0100 Subject: fix win32 native build by reordering headers --- FTNoIR_Tracker_PT/camera.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/camera.cpp b/FTNoIR_Tracker_PT/camera.cpp index 5f6db57c..754533c5 100644 --- a/FTNoIR_Tracker_PT/camera.cpp +++ b/FTNoIR_Tracker_PT/camera.cpp @@ -5,6 +5,11 @@ * copyright notice and this permission notice appear in all copies. */ + #if defined(OPENTRACK_API) && defined(_WIN32) +#include +#include +#endif + #include "camera.h" #include #include @@ -15,11 +20,6 @@ using namespace cv; #include #endif -#if defined(OPENTRACK_API) && defined(_WIN32) -#include -#include -#endif - #ifdef OPENTRACK_API void get_camera_device_names(std::vector& device_names) { # if defined(_WIN32) -- cgit v1.2.3 From b2a79761e49b847e1ba30915045404e4a218fd86 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Thu, 2 Jan 2014 08:12:28 +0100 Subject: delete msvc cruft --- FTNoIR_Tracker_PT/FTNoIR_Tracker_PT_vc10.vcxproj | 212 ----------------------- 1 file changed, 212 deletions(-) delete mode 100644 FTNoIR_Tracker_PT/FTNoIR_Tracker_PT_vc10.vcxproj (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/FTNoIR_Tracker_PT_vc10.vcxproj b/FTNoIR_Tracker_PT/FTNoIR_Tracker_PT_vc10.vcxproj deleted file mode 100644 index b777077b..00000000 --- a/FTNoIR_Tracker_PT/FTNoIR_Tracker_PT_vc10.vcxproj +++ /dev/null @@ -1,212 +0,0 @@ - - - - - Debug - Win32 - - - Release - Win32 - - - Template - Win32 - - - - FTNoIR_Tracker_PT - {7A2A2560-9253-4CC8-A9D5-4B9D9C224D9D} - FTNoIR_Tracker_PT - Qt4VSv1.0 - - - - DynamicLibrary - - - DynamicLibrary - - - - - - - - - - - - - <_ProjectFileVersion>10.0.30319.1 - $(SolutionDir)\bin\ - $(SolutionDir)\$(Configuration)\ - $(SolutionDir)/bin_dbg\ - $(SolutionDir)\$(Configuration)\ - AllRules.ruleset - - - AllRules.ruleset - - - AllRules.ruleset - - - - - - MaxSpeed - .;.\GeneratedFiles;.\GeneratedFiles\$(Configuration);$(QTDIR)\include;$(QTDIR)\include\QtCore;$(QTDIR)\include\QtGui;$(OPENCV_DIR)\include;$(BOOST_DIR);$(QTDIR)\include\QtOpenGL;%(AdditionalIncludeDirectories) - UNICODE;WIN32;QT_DLL;QT_NO_DEBUG;NDEBUG;QT_CORE_LIB;QT_GUI_LIB;FTNOIR_TRACKER_BASE_LIB;QT_OPENGL_LIB;%(PreprocessorDefinitions) - MultiThreadedDLL - false - - - - - qtmain.lib;QtCore4.lib;QtGui4.lib;QtOpenGL4.lib;opengl32.lib;glu32.lib;opencv_core242.lib;opencv_imgproc242.lib;opencv_calib3d242.lib;videoInput_vc10.lib;%(AdditionalDependencies) - $(OutDir)$(ProjectName).dll - $(QTDIR)\lib;$(OPENCV_DIR)\x86\vc10\lib;$(ProjectDir)\videoInput;%(AdditionalLibraryDirectories) - atlthunk.lib;libcmt;%(IgnoreSpecificDefaultLibraries) - false - Windows - - - - - Disabled - .;.\GeneratedFiles;.\GeneratedFiles\$(Configuration);$(QTDIR)\include;$(QTDIR)\include\QtCore;$(QTDIR)\include\QtGui;$(OPENCV_DIR)\include;$(BOOST_DIR);$(QTDIR)\include\QtOpenGL;%(AdditionalIncludeDirectories) - UNICODE;WIN32;QT_DLL;QT_CORE_LIB;QT_GUI_LIB;FTNOIR_TRACKER_BASE_LIB;QT_OPENGL_LIB;%(PreprocessorDefinitions) - MultiThreadedDebugDLL - false - ProgramDatabase - - - qtmaind.lib;QtCored4.lib;QtGuid4.lib;QtOpenGLd4.lib;opengl32.lib;glu32.lib;opencv_core242d.lib;opencv_imgproc242d.lib;opencv_calib3d242d.lib;videoInput_vc10.lib;%(AdditionalDependencies) - $(OutDir)$(ProjectName).dll - $(QTDIR)\lib;$(OPENCV_DIR)\x86\vc10\lib;$(ProjectDir)\videoInput;%(AdditionalLibraryDirectories) - atlthunk.lib;libcmt;%(IgnoreSpecificDefaultLibraries) - true - Windows - - - - - - - - - - - - - - - - - - - - - - true - true - - - true - true - - - true - true - - - true - true - - - - - - - - - - - - %(AdditionalInputs) - %(Outputs) - - - - - %(AdditionalInputs) - %(Outputs) - - - Moc%27ing ftnoir_tracker_pt_dialog.h... - "$(QTDIR)\bin\moc.exe" "%(FullPath)" -o ".\GeneratedFiles\$(ConfigurationName)\moc_%(Filename).cpp" -DUNICODE -DWIN32 -DQT_DLL -DQT_CORE_LIB -DQT_GUI_LIB -DFTNOIR_TRACKER_BASE_LIB -DQT_OPENGL_LIB -D_WINDLL "-I." "-I.\GeneratedFiles" "-I.\GeneratedFiles\$(Configuration)\." "-I$(QTDIR)\include" "-I$(QTDIR)\include\QtCore" "-I$(QTDIR)\include\QtGui" "-I$(OPENCV_DIR)\include" "-I$(BOOST_DIR)\." "-I$(QTDIR)\include\QtOpenGL" - $(QTDIR)\bin\moc.exe;%(FullPath);%(AdditionalInputs) - .\GeneratedFiles\$(Configuration)\moc_%(Filename).cpp;%(Outputs) - Moc%27ing ftnoir_tracker_pt_dialog.h... - "$(QTDIR)\bin\moc.exe" "%(FullPath)" -o ".\GeneratedFiles\$(ConfigurationName)\moc_%(Filename).cpp" -DUNICODE -DWIN32 -DQT_DLL -DQT_NO_DEBUG -DNDEBUG -DQT_CORE_LIB -DQT_GUI_LIB -DFTNOIR_TRACKER_BASE_LIB -DQT_OPENGL_LIB -D_WINDLL "-I." "-I.\GeneratedFiles" "-I.\GeneratedFiles\$(Configuration)\." "-I$(QTDIR)\include" "-I$(QTDIR)\include\QtCore" "-I$(QTDIR)\include\QtGui" "-I$(OPENCV_DIR)\include" "-I$(BOOST_DIR)\." "-I$(QTDIR)\include\QtOpenGL" - $(QTDIR)\bin\moc.exe;%(FullPath);%(AdditionalInputs) - .\GeneratedFiles\$(Configuration)\moc_%(Filename).cpp;%(Outputs) - - - - - - - - - - Moc%27ing video_widget.h... - "$(QTDIR)\bin\moc.exe" "%(FullPath)" -o ".\GeneratedFiles\$(ConfigurationName)\moc_%(Filename).cpp" -DUNICODE -DWIN32 -DQT_DLL -DQT_CORE_LIB -DQT_GUI_LIB -DFTNOIR_TRACKER_BASE_LIB -DQT_OPENGL_LIB -D_WINDLL "-I." "-I.\GeneratedFiles" "-I.\GeneratedFiles\$(Configuration)\." "-I$(QTDIR)\include" "-I$(QTDIR)\include\QtCore" "-I$(QTDIR)\include\QtGui" "-I$(OPENCV_DIR)\include" "-I$(BOOST_DIR)\." "-I$(QTDIR)\include\QtOpenGL" - $(QTDIR)\bin\moc.exe;%(FullPath);%(AdditionalInputs) - .\GeneratedFiles\$(Configuration)\moc_%(Filename).cpp;%(Outputs) - Moc%27ing video_widget.h... - "$(QTDIR)\bin\moc.exe" "%(FullPath)" -o ".\GeneratedFiles\$(ConfigurationName)\moc_%(Filename).cpp" -DUNICODE -DWIN32 -DQT_DLL -DQT_NO_DEBUG -DNDEBUG -DQT_CORE_LIB -DQT_GUI_LIB -DFTNOIR_TRACKER_BASE_LIB -DQT_OPENGL_LIB -D_WINDLL "-I." "-I.\GeneratedFiles" "-I.\GeneratedFiles\$(Configuration)\." "-I$(QTDIR)\include" "-I$(QTDIR)\include\QtCore" "-I$(QTDIR)\include\QtGui" "-I$(OPENCV_DIR)\include" "-I$(BOOST_DIR)\." "-I$(QTDIR)\include\QtOpenGL" - $(QTDIR)\bin\moc.exe;%(FullPath);%(AdditionalInputs) - .\GeneratedFiles\$(Configuration)\moc_%(Filename).cpp;%(Outputs) - - - - - - Uic%27ing %(Filename)%(Extension)... - "$(QTDIR)\bin\uic.exe" -o ".\GeneratedFiles\ui_%(Filename).h" "%(FullPath)" - - $(QTDIR)\bin\uic.exe;%(AdditionalInputs) - .\GeneratedFiles\ui_%(Filename).h;%(Outputs) - Uic%27ing %(Filename)%(Extension)... - "$(QTDIR)\bin\uic.exe" -o ".\GeneratedFiles\ui_%(Filename).h" "%(FullPath)" - - $(QTDIR)\bin\uic.exe;%(AdditionalInputs) - .\GeneratedFiles\ui_%(Filename).h;%(Outputs) - - - Rcc%27ing %(Filename)%(Extension)... - "$(QTDIR)\bin\rcc.exe" -name "%(Filename)" -no-compress "%(FullPath)" -o .\GeneratedFiles\qrc_%(Filename).cpp - - %(FullPath);.\Resources\icon.ico;.\Resources\Logo_IR.png;%(AdditionalInputs) - .\GeneratedFiles\qrc_%(Filename).cpp;%(Outputs) - Rcc%27ing %(Filename)%(Extension)... - "$(QTDIR)\bin\rcc.exe" -name "%(Filename)" -no-compress "%(FullPath)" -o .\GeneratedFiles\qrc_%(Filename).cpp - - %(FullPath);.\Resources\icon.ico;.\Resources\Logo_IR.png;%(AdditionalInputs) - .\GeneratedFiles\qrc_%(Filename).cpp;%(Outputs) - - - - - - - - - - - - - - \ No newline at end of file -- cgit v1.2.3 From dd41c425229716c82b4b4b4444e04f644c7a22f6 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Thu, 2 Jan 2014 08:12:34 +0100 Subject: fix build --- FTNoIR_Tracker_PT/FTNoIR_Tracker_PT.rc | 61 ---------------------------------- 1 file changed, 61 deletions(-) delete mode 100644 FTNoIR_Tracker_PT/FTNoIR_Tracker_PT.rc (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/FTNoIR_Tracker_PT.rc b/FTNoIR_Tracker_PT/FTNoIR_Tracker_PT.rc deleted file mode 100644 index 11c5d52f..00000000 --- a/FTNoIR_Tracker_PT/FTNoIR_Tracker_PT.rc +++ /dev/null @@ -1,61 +0,0 @@ -// Microsoft Visual C++ generated resource script. -// -#include "resource.h" - -#define APSTUDIO_READONLY_SYMBOLS -///////////////////////////////////////////////////////////////////////////// -// -// Generated from the TEXTINCLUDE 2 resource. -// -#include "afxres.h" - -///////////////////////////////////////////////////////////////////////////// -#undef APSTUDIO_READONLY_SYMBOLS - -///////////////////////////////////////////////////////////////////////////// -// English (U.S.) resources - -#if !defined(AFX_RESOURCE_DLL) || defined(AFX_TARG_ENU) -LANGUAGE 9, 1 -#pragma code_page(1252) - -#ifdef APSTUDIO_INVOKED -///////////////////////////////////////////////////////////////////////////// -// -// TEXTINCLUDE -// - -1 TEXTINCLUDE -BEGIN - "resource.h\0" -END - -2 TEXTINCLUDE -BEGIN - "#include ""afxres.h""\r\n" - "\0" -END - -3 TEXTINCLUDE -BEGIN - "\r\n" - "\0" -END - -#endif // APSTUDIO_INVOKED - -#endif // English (U.S.) resources -///////////////////////////////////////////////////////////////////////////// - - - -#ifndef APSTUDIO_INVOKED -///////////////////////////////////////////////////////////////////////////// -// -// Generated from the TEXTINCLUDE 3 resource. -// - - -///////////////////////////////////////////////////////////////////////////// -#endif // not APSTUDIO_INVOKED - -- cgit v1.2.3 From 58b4133cc98701b630286e53e37d4b540d9436f2 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 4 Jan 2014 09:07:35 +0100 Subject: initialize camera params in right order --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index 25a19ee7..fad53d60 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -170,15 +170,14 @@ void Tracker::StartTracker(QFrame *parent_window) this->video_frame = parent_window; video_frame->setAttribute(Qt::WA_NativeWindow); video_frame->show(); - apply(s); video_widget = new PTVideoWidget(video_frame, this); QHBoxLayout* video_layout = new QHBoxLayout(parent_window); video_layout->setContentsMargins(0, 0, 0, 0); video_layout->addWidget(video_widget); video_frame->setLayout(video_layout); video_widget->resize(video_frame->width(), video_frame->height()); - start(); camera.start(); + apply(s); start(); reset_command(PAUSE); } -- cgit v1.2.3 From b66bf8bccc9a52d8c24763010567da8c083c482e Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 4 Jan 2014 13:26:04 +0100 Subject: PT: remove sleep interval The rationale is that camera blocks while the frame's being retrieved anyway. --- FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui | 161 +++++++++---------------- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 43 +++---- FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp | 1 - FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h | 3 +- 4 files changed, 81 insertions(+), 127 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui index 6cd17e8d..ce708849 100644 --- a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui +++ b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui @@ -10,7 +10,7 @@ 0 0 459 - 590 + 621 @@ -66,105 +66,65 @@ Tracker Thread - - - - - - - - - Time until automatic reset of tracker's internal state when no valid tracking result is found - - - 9999 - - - - - - - ms - - - - - - - - - - - - - - - - - - - Dynamic Pose Resolution - - - - - - - Sleep time - - - sleep_spin - - - - - - - Auto-reset time - - - reset_spin - - - - - - - - - Time the tracker thread sleeps after each processed frame - - - - - - 9999 - - - - - - - ms - - - - - - - - - false - - - Reset the tracker's internal state - - - Reset - - - - + + + + + Auto-reset time + + + reset_spin + + + + + + + + 0 + 0 + + + + Time until automatic reset of tracker's internal state when no valid tracking result is found + + + ms + + + 9999 + + + + + + + Dynamic Pose Resolution + + + + + + + + + + + + + + + + + false + + + Reset the tracker's internal state + + + Reset + + @@ -1759,7 +1719,6 @@ tabWidget - sleep_spin reset_spin chkEnableRoll chkEnablePitch diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index fad53d60..e8bc7208 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -70,31 +70,28 @@ void Tracker::run() bool new_frame; forever { - { - QMutexLocker lock(&mutex); - - if (commands & ABORT) break; - if (commands & PAUSE) continue; - commands = 0; - - dt = time.elapsed() / 1000.0; - time.restart(); - - new_frame = camera.get_frame(dt, &frame); - if (new_frame && !frame.empty()) - { - frame = frame_rotation.rotate_frame(frame); - const std::vector& points = point_extractor.extract_points(frame, dt, has_observers()); - tracking_valid = point_tracker.track(points, camera.get_info().f, dt); - video_widget->update_image(frame.clone()); - } + QMutexLocker lock(&mutex); + + if (commands & ABORT) break; + if (commands & PAUSE) continue; + commands = 0; + + dt = time.elapsed() / 1000.0; + time.restart(); + + new_frame = camera.get_frame(dt, &frame); + if (new_frame && !frame.empty()) + { + frame = frame_rotation.rotate_frame(frame); + const std::vector& points = point_extractor.extract_points(frame, dt, has_observers()); + tracking_valid = point_tracker.track(points, camera.get_info().f, dt); + video_widget->update_image(frame.clone()); + } #ifdef PT_PERF_LOG - log_stream<<"dt: "<addItem("90"); tie_setting(s.dyn_pose_res, ui.dynpose_check); - tie_setting(s.sleep_time, ui.sleep_spin); tie_setting(s.reset_time, ui.reset_spin); tie_setting(s.cam_index, ui.camdevice_combo); diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h index a828ea48..564e1264 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h @@ -36,7 +36,7 @@ struct settings value t_MH_x, t_MH_y, t_MH_z; - value sleep_time, reset_time; + value reset_time; value bEnableYaw, bEnablePitch, bEnableRoll; value bEnableX, bEnableY, bEnableZ; @@ -69,7 +69,6 @@ struct settings t_MH_x(b, "model-centroid-x", 0), t_MH_y(b, "model-centroid-y", 0), t_MH_z(b, "model-centroid-z", 0), - sleep_time(b, "sleep-time", 0), reset_time(b, "reset-time", 0), bEnableYaw(b, "enable-yaw", true), bEnablePitch(b, "enable-pitch", true), -- cgit v1.2.3 From 66466d0c30e7a2aed1a0c6c45db4b86dd5f0a99e Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 4 Jan 2014 13:26:11 +0100 Subject: PT: decruft MSVC --- FTNoIR_Tracker_PT/resource.h | 14 -------------- 1 file changed, 14 deletions(-) delete mode 100644 FTNoIR_Tracker_PT/resource.h (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/resource.h b/FTNoIR_Tracker_PT/resource.h deleted file mode 100644 index c14e94ad..00000000 --- a/FTNoIR_Tracker_PT/resource.h +++ /dev/null @@ -1,14 +0,0 @@ -//{{NO_DEPENDENCIES}} -// Microsoft Visual C++ generated include file. -// Used by FTNoIR_Tracker_PT.rc - -// Next default values for new objects -// -#ifdef APSTUDIO_INVOKED -#ifndef APSTUDIO_READONLY_SYMBOLS -#define _APS_NEXT_RESOURCE_VALUE 101 -#define _APS_NEXT_COMMAND_VALUE 40001 -#define _APS_NEXT_CONTROL_VALUE 1001 -#define _APS_NEXT_SYMED_VALUE 101 -#endif -#endif -- cgit v1.2.3 From 8b845f242495a91aca45cd1bf59d1823517b32c8 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 4 Jan 2014 13:41:46 +0100 Subject: disable hysteresis debug; throttle frame update rate --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 4 ++-- FTNoIR_Tracker_PT/pt_video_widget.cpp | 13 +++++++++++-- FTNoIR_Tracker_PT/pt_video_widget.h | 11 +++++++++-- 3 files changed, 22 insertions(+), 6 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index e8bc7208..6bcad861 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -83,9 +83,9 @@ void Tracker::run() if (new_frame && !frame.empty()) { frame = frame_rotation.rotate_frame(frame); - const std::vector& points = point_extractor.extract_points(frame, dt, has_observers()); + const std::vector& points = point_extractor.extract_points(frame, dt, false); tracking_valid = point_tracker.track(points, camera.get_info().f, dt); - video_widget->update_image(frame.clone()); + video_widget->update_image(frame); } #ifdef PT_PERF_LOG log_stream<<"dt: "< rate) + { + _frame = frame.clone(); + update_throttler.restart(); + freshp = true; + } } // ---------------------------------------------------------------------------- @@ -42,8 +50,9 @@ VideoWidgetDialog::VideoWidgetDialog(QWidget *parent, FrameProvider* provider) void PTVideoWidget::update_and_repaint() { QMutexLocker foo(&mtx); - if (_frame.empty()) + if (_frame.empty() || !freshp) return; + freshp = false; QImage qframe = QImage(_frame.cols, _frame.rows, QImage::Format_RGB888); uchar* data = qframe.bits(); const int pitch = qframe.bytesPerLine(); diff --git a/FTNoIR_Tracker_PT/pt_video_widget.h b/FTNoIR_Tracker_PT/pt_video_widget.h index acff43fb..c47198db 100644 --- a/FTNoIR_Tracker_PT/pt_video_widget.h +++ b/FTNoIR_Tracker_PT/pt_video_widget.h @@ -24,15 +24,20 @@ #include #include #include +#include class PTVideoWidget : public QWidget, public FrameObserver { Q_OBJECT public: - PTVideoWidget(QWidget *parent, FrameProvider* provider) : QWidget(parent), /* to avoid linker errors */ FrameObserver(provider) { + PTVideoWidget(QWidget *parent, FrameProvider* provider) : + QWidget(parent), + /* to avoid linker errors */ FrameObserver(provider), + freshp(false) + { connect(&timer, SIGNAL(timeout()), this, SLOT(update_and_repaint())); - timer.start(45); + timer.start(40); } void update_image(const cv::Mat &frame); void update_frame_and_points() {} @@ -48,6 +53,8 @@ private: QImage texture; QTimer timer; cv::Mat _frame; + QElapsedTimer update_throttler; + bool freshp; }; // ---------------------------------------------------------------------------- -- cgit v1.2.3 From cc3a10f7117b11b4b3f2644224ae728e395a9e9b Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 5 Jan 2014 12:14:21 +0100 Subject: change icons, remove self-references --- FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui | 2 +- FTNoIR_Tracker_PT/Resources/icon.ico | Bin 4286 -> 0 bytes FTNoIR_Tracker_PT/ftnoir_tracker_pt.qrc | 19 ++++---- facetracknoir/facetracknoir.cpp | 2 +- facetracknoir/facetracknoir.ui | 48 ++++++++++----------- facetracknoir/ftnoir_keyboardshortcuts.ui | 2 +- .../uielements/logo_facetracknoir_32px.jpg | Bin 1082 -> 0 bytes .../uielements/logo_facetracknoir_32px.png | Bin 2822 -> 0 bytes facetracknoir/uielements/logo_noir.png | Bin 26173 -> 0 bytes facetracknoir/uielements/logo_noir_small.png | Bin 6384 -> 0 bytes .../uielements/logo_noir_small_target.png | Bin 5971 -> 0 bytes .../uielements/logo_noir_small_target90px.png | Bin 5582 -> 0 bytes facetracknoir/uielements/logofacetracknoir.png | Bin 5437 -> 0 bytes facetracknoir/uielements/logofacetracknoir60px.png | Bin 3369 -> 0 bytes .../ftnoir_accela_filtercontrols.ui | 14 +++--- ftnoir_filter_ewma2/ftnoir_ewma_filtercontrols.ui | 16 +++---- .../ftnoir_kalman_filtercontrols.ui | 12 +++--- ftnoir_protocol_fg/ftnoir_fgcontrols.ui | 12 +++--- ftnoir_protocol_ft/ftnoir_ftcontrols.ui | 12 +++--- ftnoir_protocol_ftn/ftn-protocol.qrc | 5 --- ftnoir_protocol_ftn/ftnoir_ftncontrols.ui | 8 ++-- ftnoir_protocol_ftn/images/facetracknoir.png | Bin 634 -> 0 bytes ftnoir_protocol_mouse/ftnoir_mousecontrols.ui | 14 +++--- .../ftnoir_tracker_joystick_controls.ui | 4 +- ftnoir_tracker_udp/ftnoir_ftnclientcontrols.ui | 2 +- 25 files changed, 87 insertions(+), 85 deletions(-) delete mode 100644 FTNoIR_Tracker_PT/Resources/icon.ico delete mode 100644 facetracknoir/uielements/logo_facetracknoir_32px.jpg delete mode 100644 facetracknoir/uielements/logo_facetracknoir_32px.png delete mode 100644 facetracknoir/uielements/logo_noir.png delete mode 100644 facetracknoir/uielements/logo_noir_small.png delete mode 100644 facetracknoir/uielements/logo_noir_small_target.png delete mode 100644 facetracknoir/uielements/logo_noir_small_target90px.png delete mode 100644 facetracknoir/uielements/logofacetracknoir.png delete mode 100644 facetracknoir/uielements/logofacetracknoir60px.png delete mode 100644 ftnoir_protocol_ftn/ftn-protocol.qrc delete mode 100644 ftnoir_protocol_ftn/images/facetracknoir.png (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui index ce708849..9f00cf29 100644 --- a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui +++ b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui @@ -24,7 +24,7 @@ - :/Resources/icon.ico:/Resources/icon.ico + :/Resources/Logo_IR.png:/Resources/Logo_IR.png Qt::LeftToRight diff --git a/FTNoIR_Tracker_PT/Resources/icon.ico b/FTNoIR_Tracker_PT/Resources/icon.ico deleted file mode 100644 index c4b2aedc..00000000 Binary files a/FTNoIR_Tracker_PT/Resources/icon.ico and /dev/null differ diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.qrc b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.qrc index 9b510981..a8f9a1af 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.qrc +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.qrc @@ -1,10 +1,9 @@ - - - Resources/icon.ico - Resources/cap_front.png - Resources/cap_side.png - Resources/clip_front.png - Resources/clip_side.png - Resources/Logo_IR.png - - + + + Resources/cap_front.png + Resources/cap_side.png + Resources/clip_front.png + Resources/clip_side.png + Resources/Logo_IR.png + + diff --git a/facetracknoir/facetracknoir.cpp b/facetracknoir/facetracknoir.cpp index de5b491f..f2767587 100644 --- a/facetracknoir/facetracknoir.cpp +++ b/facetracknoir/facetracknoir.cpp @@ -246,7 +246,7 @@ void FaceTrackNoIR::open() { QString fileName = dialog.getOpenFileName( this, - tr("Select one FTNoir settings file"), + tr("Open the settings file"), QCoreApplication::applicationDirPath() + "/settings/", tr("Settings file (*.ini);;All Files (*)"), NULL); diff --git a/facetracknoir/facetracknoir.ui b/facetracknoir/facetracknoir.ui index c25ee0db..d5300b0f 100644 --- a/facetracknoir/facetracknoir.ui +++ b/facetracknoir/facetracknoir.ui @@ -10,8 +10,8 @@ 0 0 - 788 - 554 + 790 + 500 @@ -82,8 +82,8 @@ - 5 - 170 + 10 + 130 320 240 @@ -113,7 +113,7 @@ 0 - -10 + 0 320 240 @@ -141,8 +141,8 @@ - 110 - 50 + 100 + 10 229 121 @@ -516,8 +516,8 @@ - 20 - 50 + 10 + 20 81 100 @@ -545,7 +545,7 @@ 350 - 370 + 270 191 91 @@ -631,7 +631,7 @@ 580 - 460 + 390 171 38 @@ -677,9 +677,9 @@ - 130 - 30 - 651 + 370 + 40 + 411 20 @@ -702,9 +702,9 @@ - 350 - 270 - 191 + 550 + 210 + 231 91 @@ -868,9 +868,9 @@ - 130 - 0 - 651 + 370 + 10 + 411 25 @@ -980,7 +980,7 @@ 350 - 470 + 400 190 65 @@ -1060,7 +1060,7 @@ 580 - 410 + 340 171 38 @@ -1228,7 +1228,7 @@ 10 - 420 + 380 141 106 @@ -1468,7 +1468,7 @@ 160 - 420 + 380 161 111 diff --git a/facetracknoir/ftnoir_keyboardshortcuts.ui b/facetracknoir/ftnoir_keyboardshortcuts.ui index 0d4e9142..94d11734 100644 --- a/facetracknoir/ftnoir_keyboardshortcuts.ui +++ b/facetracknoir/ftnoir_keyboardshortcuts.ui @@ -21,7 +21,7 @@ - images/FaceTrackNoIR.pngimages/FaceTrackNoIR.png + images/facetracknoir.pngimages/facetracknoir.png Qt::LeftToRight diff --git a/facetracknoir/uielements/logo_facetracknoir_32px.jpg b/facetracknoir/uielements/logo_facetracknoir_32px.jpg deleted file mode 100644 index 73ead853..00000000 Binary files a/facetracknoir/uielements/logo_facetracknoir_32px.jpg and /dev/null differ diff --git a/facetracknoir/uielements/logo_facetracknoir_32px.png b/facetracknoir/uielements/logo_facetracknoir_32px.png deleted file mode 100644 index c4e63c76..00000000 Binary files a/facetracknoir/uielements/logo_facetracknoir_32px.png and /dev/null differ diff --git a/facetracknoir/uielements/logo_noir.png b/facetracknoir/uielements/logo_noir.png deleted file mode 100644 index bb654a07..00000000 Binary files a/facetracknoir/uielements/logo_noir.png and /dev/null differ diff --git a/facetracknoir/uielements/logo_noir_small.png b/facetracknoir/uielements/logo_noir_small.png deleted file mode 100644 index 5d49e0b1..00000000 Binary files a/facetracknoir/uielements/logo_noir_small.png and /dev/null differ diff --git a/facetracknoir/uielements/logo_noir_small_target.png b/facetracknoir/uielements/logo_noir_small_target.png deleted file mode 100644 index 4bbaf41f..00000000 Binary files a/facetracknoir/uielements/logo_noir_small_target.png and /dev/null differ diff --git a/facetracknoir/uielements/logo_noir_small_target90px.png b/facetracknoir/uielements/logo_noir_small_target90px.png deleted file mode 100644 index ecaa4e12..00000000 Binary files a/facetracknoir/uielements/logo_noir_small_target90px.png and /dev/null differ diff --git a/facetracknoir/uielements/logofacetracknoir.png b/facetracknoir/uielements/logofacetracknoir.png deleted file mode 100644 index a1a3407b..00000000 Binary files a/facetracknoir/uielements/logofacetracknoir.png and /dev/null differ diff --git a/facetracknoir/uielements/logofacetracknoir60px.png b/facetracknoir/uielements/logofacetracknoir60px.png deleted file mode 100644 index f01f6024..00000000 Binary files a/facetracknoir/uielements/logofacetracknoir60px.png and /dev/null differ diff --git a/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui b/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui index 4ea78c9f..ba750cd6 100644 --- a/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui +++ b/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui @@ -9,8 +9,8 @@ 0 0 - 202 - 241 + 215 + 285 @@ -32,11 +32,11 @@ - Filter settings + Accela filter settings - - images/FaceTrackNoIR.pngimages/FaceTrackNoIR.png + + :/images/filter-16.png:/images/filter-16.png Qt::LeftToRight @@ -346,7 +346,9 @@ background:none; - + + + startEngineClicked() diff --git a/ftnoir_filter_ewma2/ftnoir_ewma_filtercontrols.ui b/ftnoir_filter_ewma2/ftnoir_ewma_filtercontrols.ui index 8a0e485a..a1083265 100644 --- a/ftnoir_filter_ewma2/ftnoir_ewma_filtercontrols.ui +++ b/ftnoir_filter_ewma2/ftnoir_ewma_filtercontrols.ui @@ -9,7 +9,7 @@ 0 0 - 374 + 477 380 @@ -20,15 +20,11 @@ - EWMA2 Filter settings FaceTrackNoIR + EWMA2 filter settings - - - images/facetracknoir.png - - images/facetracknoir.png - + + :/images/filter-16.png:/images/filter-16.png Qt::LeftToRight @@ -486,7 +482,9 @@ p, li { white-space: pre-wrap; } btnOK btnCancel - + + + minSmooth diff --git a/ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui b/ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui index d1cff81e..a9fdec6e 100644 --- a/ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui +++ b/ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui @@ -20,13 +20,11 @@ - Filter settings + Kalman settings - - - images/facetracknoir.png - images/facetracknoir.png + + :/images/filter-16.png:/images/filter-16.png Qt::LeftToRight @@ -64,7 +62,9 @@ - + + + diff --git a/ftnoir_protocol_fg/ftnoir_fgcontrols.ui b/ftnoir_protocol_fg/ftnoir_fgcontrols.ui index f3b54486..e351647b 100644 --- a/ftnoir_protocol_fg/ftnoir_fgcontrols.ui +++ b/ftnoir_protocol_fg/ftnoir_fgcontrols.ui @@ -9,16 +9,16 @@ 0 0 - 404 + 415 112 - FlightGear settings FaceTrackNoIR + FlightGear protocol settings - - images/FaceTrackNoIR.pngimages/FaceTrackNoIR.png + + :/images/filter-16.png:/images/filter-16.png Qt::LeftToRight @@ -131,7 +131,9 @@ spinIPFourthNibble spinPortNumber - + + + startEngineClicked() diff --git a/ftnoir_protocol_ft/ftnoir_ftcontrols.ui b/ftnoir_protocol_ft/ftnoir_ftcontrols.ui index f4d94ee8..39787d90 100644 --- a/ftnoir_protocol_ft/ftnoir_ftcontrols.ui +++ b/ftnoir_protocol_ft/ftnoir_ftcontrols.ui @@ -13,7 +13,7 @@ 0 0 407 - 347 + 414 @@ -29,11 +29,11 @@ - FreeTrack 2.0 settings FaceTrackNoIR + freetrack protocol settings - - images/FaceTrackNoIR.icoimages/FaceTrackNoIR.ico + + :/images/freetrack.png:/images/freetrack.png Qt::LeftToRight @@ -214,7 +214,9 @@ - + + + startEngineClicked() diff --git a/ftnoir_protocol_ftn/ftn-protocol.qrc b/ftnoir_protocol_ftn/ftn-protocol.qrc deleted file mode 100644 index 18ae0aae..00000000 --- a/ftnoir_protocol_ftn/ftn-protocol.qrc +++ /dev/null @@ -1,5 +0,0 @@ - - - images/facetracknoir.png - - diff --git a/ftnoir_protocol_ftn/ftnoir_ftncontrols.ui b/ftnoir_protocol_ftn/ftnoir_ftncontrols.ui index ac6988d7..429e7046 100644 --- a/ftnoir_protocol_ftn/ftnoir_ftncontrols.ui +++ b/ftnoir_protocol_ftn/ftnoir_ftncontrols.ui @@ -17,8 +17,8 @@ UDP protocol settings - - images/FaceTrackNoIR.pngimages/FaceTrackNoIR.png + + :/images/facetracknoir.png:/images/facetracknoir.png Qt::LeftToRight @@ -254,7 +254,9 @@ btnOK btnCancel - + + + startEngineClicked() diff --git a/ftnoir_protocol_ftn/images/facetracknoir.png b/ftnoir_protocol_ftn/images/facetracknoir.png deleted file mode 100644 index b69a13ef..00000000 Binary files a/ftnoir_protocol_ftn/images/facetracknoir.png and /dev/null differ diff --git a/ftnoir_protocol_mouse/ftnoir_mousecontrols.ui b/ftnoir_protocol_mouse/ftnoir_mousecontrols.ui index ee15ded2..540e4f0d 100644 --- a/ftnoir_protocol_mouse/ftnoir_mousecontrols.ui +++ b/ftnoir_protocol_mouse/ftnoir_mousecontrols.ui @@ -9,16 +9,16 @@ 0 0 - 250 - 112 + 257 + 114 - MouseLook settings FaceTrackNoIR + Mouse protocol settings - - :/images/Mouse.png:/images/Mouse.png + + :/images/mouse.png:/images/mouse.png Qt::LeftToRight @@ -193,7 +193,9 @@ - + + + startEngineClicked() diff --git a/ftnoir_tracker_joystick/ftnoir_tracker_joystick_controls.ui b/ftnoir_tracker_joystick/ftnoir_tracker_joystick_controls.ui index e1f1d28c..a0fa43d3 100644 --- a/ftnoir_tracker_joystick/ftnoir_tracker_joystick_controls.ui +++ b/ftnoir_tracker_joystick/ftnoir_tracker_joystick_controls.ui @@ -20,11 +20,11 @@ - Joystick protcool settings + Joystick protocol settings - images/FaceTrackNoIR.pngimages/FaceTrackNoIR.png + ../facetracknoir/images/facetracknoir.png../facetracknoir/images/facetracknoir.png Qt::LeftToRight diff --git a/ftnoir_tracker_udp/ftnoir_ftnclientcontrols.ui b/ftnoir_tracker_udp/ftnoir_ftnclientcontrols.ui index 6c71b50b..fc614477 100644 --- a/ftnoir_tracker_udp/ftnoir_ftnclientcontrols.ui +++ b/ftnoir_tracker_udp/ftnoir_ftnclientcontrols.ui @@ -18,7 +18,7 @@ - images/FaceTrackNoIR.pngimages/FaceTrackNoIR.png + ../facetracknoir/images/facetracknoir.png../facetracknoir/images/facetracknoir.png Qt::LeftToRight -- cgit v1.2.3 From 449625118b3d28baabcdb001595a7dec2f8e3593 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 5 Jan 2014 13:02:52 +0100 Subject: remove settings dialog copypasted all over, losing functionality --- FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp | 25 ++---------------- facetracknoir/curve-config.cpp | 28 ++------------------ facetracknoir/shortcuts.cpp | 27 ++----------------- .../ftnoir_filter_accela_dialog.cpp | 27 ++----------------- ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp | 27 ++----------------- ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp | 23 ++--------------- .../ftnoir_protocol_fsuipc_dialog.cpp | 24 ++--------------- ftnoir_protocol_ft/ftnoir_protocol_ft_dialog.cpp | 30 ++-------------------- ftnoir_protocol_ftn/ftnoir_protocol_ftn_dialog.cpp | 21 ++------------- .../ftnoir_protocol_mouse_dialog.cpp | 26 ++----------------- ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp | 22 ++-------------- ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 26 ++----------------- .../ftnoir_tracker_hat_dialog.cpp | 27 ++----------------- ftnoir_tracker_ht/ftnoir_tracker_ht.cpp | 25 ++---------------- .../ftnoir_tracker_hydra_dialog.cpp | 26 ++----------------- .../ftnoir_tracker_joystick_dialog.cpp | 27 ++----------------- ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp | 24 ++--------------- ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp | 24 ++--------------- 18 files changed, 36 insertions(+), 423 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp index 06f7b2c6..c103b78c 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp @@ -225,29 +225,8 @@ void TrackerDialog::doApply() void TrackerDialog::doCancel() { - if (s.b->modifiedp()) { - int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", - QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel, QMessageBox::Discard ); - switch (ret) { - case QMessageBox::Save: - save(); - close(); - break; - case QMessageBox::Discard: - s.b->revert(); - close(); - break; - case QMessageBox::Cancel: - // Cancel was clicked - break; - default: - // should never be reached - break; - } - } - else { - close(); - } + s.b->revert(); + close(); } void TrackerDialog::widget_destroyed(QObject* obj) diff --git a/facetracknoir/curve-config.cpp b/facetracknoir/curve-config.cpp index b01c2013..f5ed6aa7 100644 --- a/facetracknoir/curve-config.cpp +++ b/facetracknoir/curve-config.cpp @@ -49,32 +49,8 @@ void CurveConfigurationDialog::doOK() { } void CurveConfigurationDialog::doCancel() { - // - // Ask if changed Settings should be saved - // - if (settingsDirty || mainApp->s.b->modifiedp()) { - int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel, QMessageBox::Discard ); - - switch (ret) { - case QMessageBox::Save: - save(); - this->close(); - break; - case QMessageBox::Discard: - mainApp->s.b->revert(); - this->close(); - break; - case QMessageBox::Cancel: - // Cancel was clicked - break; - default: - // should never be reached - break; - } - } - else { - this->close(); - } + mainApp->b->revert(); + close(); } // diff --git a/facetracknoir/shortcuts.cpp b/facetracknoir/shortcuts.cpp index 2f117ea4..a905be57 100644 --- a/facetracknoir/shortcuts.cpp +++ b/facetracknoir/shortcuts.cpp @@ -42,31 +42,8 @@ void KeyboardShortcutDialog::doOK() { } void KeyboardShortcutDialog::doCancel() { - // - // Ask if changed Settings should be saved - // - if (mainApp->b->modifiedp()) { - int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel); - - qDebug() << "doCancel says: answer =" << ret; - - switch (ret) { - case QMessageBox::Save: - mainApp->b->save(); - this->close(); - break; - case QMessageBox::Discard: - mainApp->b->revert(); - close(); - break; - case QMessageBox::Cancel: - default: - break; - } - } - else { - this->close(); - } + mainApp->b->revert(); + close(); } #if defined(_WIN32) diff --git a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp index 6d1ad384..56b76a55 100644 --- a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp +++ b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp @@ -36,33 +36,10 @@ void FilterControls::doOK() { } void FilterControls::doCancel() { - if (!s.b->modifiedp()) - { - close(); - return; - } - int ret = - QMessageBox::question( this, - "Settings have changed", - "Do you want to save the settings?", - QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel); - - switch (ret) { - case QMessageBox::Save: - save(); - this->close(); - break; - case QMessageBox::Discard: - this->discard(); - this->close(); - break; - case QMessageBox::Cancel: - default: - break; - } + discard(); + close(); } - void FilterControls::discard() { s.b->revert(); diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp b/ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp index 7ab2b09c..395d1058 100644 --- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp +++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp @@ -57,31 +57,8 @@ void FilterControls::doOK() { } void FilterControls::doCancel() { - // - // Ask if changed Settings should be saved - // - if (s.b->modifiedp()) { - int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel); - - qDebug() << "doCancel says: answer =" << ret; - - switch (ret) { - case QMessageBox::Save: - save(); - this->close(); - break; - case QMessageBox::Discard: - s.b->revert(); - this->close(); - break; - case QMessageBox::Cancel: - default: - break; - } - } - else { - this->close(); - } + s.b->revert(); + this->close(); } void FilterControls::save() { diff --git a/ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp b/ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp index 887020c5..1c3e5ef8 100644 --- a/ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp +++ b/ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp @@ -59,27 +59,8 @@ void FGControls::doOK() { } void FGControls::doCancel() { - if (s.b->modifiedp()) { - int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel ); - switch (ret) { - case QMessageBox::Save: - s.b->save(); - if (theProtocol) - theProtocol->reloadSettings(); - this->close(); - break; - case QMessageBox::Discard: - s.b->revert(); - close(); - break; - case QMessageBox::Cancel: - default: - break; - } - } - else { - this->close(); - } + s.b->revert(); + this->close(); } extern "C" FTNOIR_PROTOCOL_BASE_EXPORT IProtocolDialog* CALLING_CONVENTION GetDialog( ) diff --git a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dialog.cpp b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dialog.cpp index bae3d5df..d97cff99 100644 --- a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dialog.cpp +++ b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dialog.cpp @@ -42,28 +42,8 @@ void FSUIPCControls::doOK() { } void FSUIPCControls::doCancel() { - if (s.b->modifiedp()) { - int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel, QMessageBox::Discard ); - - qDebug() << "doCancel says: answer =" << ret; - - switch (ret) { - case QMessageBox::Save: - s.b->save(); - this->close(); - break; - case QMessageBox::Discard: - s.b->revert(); - this->close(); - break; - case QMessageBox::Cancel: - default: - break; - } - } - else { - this->close(); - } + s.b->revert(); + close(); } void FSUIPCControls::getLocationOfDLL() diff --git a/ftnoir_protocol_ft/ftnoir_protocol_ft_dialog.cpp b/ftnoir_protocol_ft/ftnoir_protocol_ft_dialog.cpp index b414561d..7f070857 100644 --- a/ftnoir_protocol_ft/ftnoir_protocol_ft_dialog.cpp +++ b/ftnoir_protocol_ft/ftnoir_protocol_ft_dialog.cpp @@ -69,34 +69,8 @@ void FTControls::doOK() { } void FTControls::doCancel() { - // - // Ask if changed Settings should be saved - // - if (s.b->modifiedp()) { - int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel); - - qDebug() << "doCancel says: answer =" << ret; - - switch (ret) { - case QMessageBox::Save: - s.b->save(); - this->close(); - break; - case QMessageBox::Discard: - s.b->revert(); - this->close(); - break; - case QMessageBox::Cancel: - // Cancel was clicked - break; - default: - // should never be reached - break; - } - } - else { - this->close(); - } + s.b->revert(); + this->close(); } void FTControls::selectDLL() { diff --git a/ftnoir_protocol_ftn/ftnoir_protocol_ftn_dialog.cpp b/ftnoir_protocol_ftn/ftnoir_protocol_ftn_dialog.cpp index ce4b3cb0..37db314f 100644 --- a/ftnoir_protocol_ftn/ftnoir_protocol_ftn_dialog.cpp +++ b/ftnoir_protocol_ftn/ftnoir_protocol_ftn_dialog.cpp @@ -52,25 +52,8 @@ void FTNControls::doOK() { // Cancel clicked on server-dialog // void FTNControls::doCancel() { - if (s.b->modifiedp()) { - int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel); - switch (ret) { - case QMessageBox::Save: - s.b->save(); - this->close(); - break; - case QMessageBox::Discard: - s.b->revert(); - this->close(); - break; - case QMessageBox::Cancel: - default: - break; - } - } - else { - this->close(); - } + s.b->revert(); + this->close(); } extern "C" FTNOIR_PROTOCOL_BASE_EXPORT IProtocolDialog* CALLING_CONVENTION GetDialog( ) diff --git a/ftnoir_protocol_mouse/ftnoir_protocol_mouse_dialog.cpp b/ftnoir_protocol_mouse/ftnoir_protocol_mouse_dialog.cpp index cc62b004..22b7024c 100644 --- a/ftnoir_protocol_mouse/ftnoir_protocol_mouse_dialog.cpp +++ b/ftnoir_protocol_mouse/ftnoir_protocol_mouse_dialog.cpp @@ -59,30 +59,8 @@ void MOUSEControls::doOK() { } void MOUSEControls::doCancel() { - if (s.b->modifiedp()) { - int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel); - - qDebug() << "doCancel says: answer =" << ret; - - switch (ret) { - case QMessageBox::Save: - s.b->save(); - this->close(); - if (_proto) - _proto->reload(); - break; - case QMessageBox::Discard: - s.b->revert(); - this->close(); - break; - case QMessageBox::Cancel: - default: - break; - } - } - else { - this->close(); - } + s.b->revert(); + this->close(); } extern "C" FTNOIR_PROTOCOL_BASE_EXPORT IProtocolDialog* CALLING_CONVENTION GetDialog( ) diff --git a/ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp b/ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp index 6af87285..c7428d77 100644 --- a/ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp +++ b/ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp @@ -44,26 +44,8 @@ void SCControls::doOK() { } void SCControls::doCancel() { - if (s.b->modifiedp()) { - int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel); - - switch (ret) { - case QMessageBox::Save: - s.b->save(); - this->close(); - break; - case QMessageBox::Discard: - s.b->revert(); - this->close(); - break; - case QMessageBox::Cancel: - default: - break; - } - } - else { - this->close(); - } + s.b->revert(); + close(); } extern "C" FTNOIR_PROTOCOL_BASE_EXPORT IProtocolDialog* CALLING_CONVENTION GetDialog( ) diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index 50496ed7..2edac4a2 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -472,28 +472,6 @@ void TrackerControls::doOK() void TrackerControls::doCancel() { - if (s.b->modifiedp()) { - int ret = QMessageBox::question ( this, - "Settings have changed", - "Do you want to save the settings?", - QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel ); - - switch (ret) { - case QMessageBox::Save: - s.b->save(); - this->close(); - if (tracker) - tracker->reload(); - break; - case QMessageBox::Discard: - s.b->revert(); - this->close(); - break; - case QMessageBox::Cancel: - break; - } - } - else { - this->close(); - } + s.b->revert(); + this->close(); } diff --git a/ftnoir_tracker_hatire/ftnoir_tracker_hat_dialog.cpp b/ftnoir_tracker_hatire/ftnoir_tracker_hat_dialog.cpp index 2ef75b89..83548966 100644 --- a/ftnoir_tracker_hatire/ftnoir_tracker_hat_dialog.cpp +++ b/ftnoir_tracker_hatire/ftnoir_tracker_hat_dialog.cpp @@ -238,31 +238,8 @@ void TrackerControls::doOK() { // Cancel clicked on server-dialog // void TrackerControls::doCancel() { - // - // Ask if changed Settings should be saved - // - if (settings.b->modifiedp()) { - int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel); - switch (ret) { - case QMessageBox::Save: - settings.b->save(); - close(); - break; - case QMessageBox::Discard: - settings.b->revert(); - close(); - break; - case QMessageBox::Cancel: - // Cancel was clicked - break; - default: - // should never be reached - break; - } - } - else { - close(); - } + settings.b->revert(); + close(); } diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp index 5fced44e..4ce56acc 100644 --- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp @@ -286,27 +286,6 @@ void TrackerControls::doOK() void TrackerControls::doCancel() { - if (!s.b->modifiedp()) - { - close(); - return; - } - int ret = QMessageBox::question ( this, - "Settings have changed", - "Do you want to save the settings?", - QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel); - - switch (ret) { - case QMessageBox::Save: - s.b->save(); - this->close(); - break; - case QMessageBox::Discard: - s.b->revert(); - this->close(); - break; - default: - case QMessageBox::Cancel: - break; - } + s.b->revert(); + this->close(); } diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp index 4a2deb9f..14be2c37 100644 --- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp @@ -24,30 +24,8 @@ void TrackerControls::doOK() { } void TrackerControls::doCancel() { - if (!s.b->modifiedp()) - { - close(); - return; - } - int ret = QMessageBox::question (this, - "Settings have changed", - "Do you want to save the settings?", - QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel); - - switch (ret) { - case QMessageBox::Save: - s.b->save(); - this->close(); - break; - case QMessageBox::Discard: - s.b->revert(); - this->close(); - break; - default: - case QMessageBox::Cancel: - // Cancel was clicked - break; - } + s.b->revert(); + close(); } extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) diff --git a/ftnoir_tracker_joystick/ftnoir_tracker_joystick_dialog.cpp b/ftnoir_tracker_joystick/ftnoir_tracker_joystick_dialog.cpp index a089385f..b0766634 100644 --- a/ftnoir_tracker_joystick/ftnoir_tracker_joystick_dialog.cpp +++ b/ftnoir_tracker_joystick/ftnoir_tracker_joystick_dialog.cpp @@ -56,31 +56,8 @@ void TrackerControls::doOK() { } void TrackerControls::doCancel() { - if (s.b->modifiedp()) { - int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel ); - - switch (ret) { - case QMessageBox::Save: - s.b->save(); - if (tracker) - tracker->reload(); - this->close(); - break; - case QMessageBox::Discard: - s.b->reload(); - this->close(); - break; - case QMessageBox::Cancel: - // Cancel was clicked - break; - default: - // should never be reached - break; - } - } - else { - this->close(); - } + s.b->revert(); + this->close(); } extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp b/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp index 763ddd11..ad532100 100644 --- a/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp +++ b/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp @@ -26,28 +26,8 @@ void TrackerControls::doOK() { } void TrackerControls::doCancel() { - // - // Ask if changed Settings should be saved - // - if (s.b->modifiedp()) { - int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel); - switch (ret) { - case QMessageBox::Save: - s.b->save(); - this->close(); - break; - case QMessageBox::Discard: - s.b->revert(); - this->close(); - break; - case QMessageBox::Cancel: - default: - break; - } - } - else { - this->close(); - } + s.b->revert(); + close(); } extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp b/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp index 59026288..8d1b99f2 100644 --- a/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp +++ b/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp @@ -48,28 +48,8 @@ void TrackerControls::doOK() { } void TrackerControls::doCancel() { - if (s.b->modifiedp()) { - int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel); - switch (ret) { - case QMessageBox::Save: - s.b->save(); - this->close(); - break; - case QMessageBox::Discard: - s.b->revert(); - this->close(); - break; - case QMessageBox::Cancel: - // Cancel was clicked - break; - default: - // should never be reached - break; - } - } - else { - this->close(); - } + s.b->revert(); + this->close(); } extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) -- cgit v1.2.3 From cc4e7e331ba24b260edc44db8b09de274cd658a7 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Tue, 7 Jan 2014 09:00:57 +0100 Subject: pose breaks with negative pitch --- FTNoIR_Tracker_PT/point_tracker.cpp | 4 ++-- ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index 8b508897..dfefdaf8 100644 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -267,8 +267,8 @@ int PointTracker::POSIT(float f) // initial pose = last (predicted) pose Vec3f k; - get_row(X_CM.R, 2, k); - float Z0 = X_CM.t[2]; + get_row(R_expected, 2, k); + float Z0 = init_phase ? 1000 : X_CM.t[2]; float old_epsilon_1 = 0; float old_epsilon_2 = 0; diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index 0719faac..93b43de7 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -335,7 +335,7 @@ void Tracker::run() { cv::Vec3d euler = cv::RQDecomp3x3(rotation_matrix, junk1, junk2); - if (fabs(euler[0] - last_pitch) > pitch_eps) + if (fabs(euler[0] - last_pitch) > pitch_eps || euler[0] < 0) { first = true; last_pitch = euler[0]; -- cgit v1.2.3 From 9b42cf232a918987d675cdf041e49c73e597b110 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Wed, 8 Jan 2014 17:12:37 +0100 Subject: fix hyst slider --- FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui | 3 +++ 1 file changed, 3 insertions(+) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui index 9f00cf29..db7a5998 100644 --- a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui +++ b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui @@ -766,6 +766,9 @@ 255 + + 1 + 100 -- cgit v1.2.3 From 98facf366f9e5100cbd8da4e55c10029be73d4e3 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Wed, 8 Jan 2014 18:01:35 +0100 Subject: apply -> save, that's what it actually does --- FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui index db7a5998..bdbed955 100644 --- a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui +++ b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui @@ -1679,7 +1679,7 @@ - Apply + Save -- cgit v1.2.3 From 267010ba42b00cfd1ecc73c86d99c647ff191175 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Wed, 8 Jan 2014 19:40:06 +0100 Subject: use levmarq instead of coplanar POSIT implemented in numerically unstable fashion Signed-off-by: Stanislaw Halik --- FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui | 13 +- FTNoIR_Tracker_PT/camera.cpp | 8 +- FTNoIR_Tracker_PT/camera.h | 6 +- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 4 +- FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp | 2 +- FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h | 4 +- FTNoIR_Tracker_PT/point_tracker.cpp | 191 ++++++------------------- FTNoIR_Tracker_PT/point_tracker.h | 33 ++++- 8 files changed, 92 insertions(+), 169 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui index bdbed955..461253cf 100644 --- a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui +++ b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui @@ -515,23 +515,26 @@ - F/W + FOV - f_dspin + fov_dspin - + The camera's focal length devided by its sensor width 2 + + 1.000000000000000 + - 0.100000000000000 + 1.000000000000000 @@ -1733,7 +1736,7 @@ res_x_spin res_y_spin fps_spin - f_dspin + fov_dspin camroll_combo campitch_spin camyaw_spin diff --git a/FTNoIR_Tracker_PT/camera.cpp b/FTNoIR_Tracker_PT/camera.cpp index 754533c5..8986be60 100644 --- a/FTNoIR_Tracker_PT/camera.cpp +++ b/FTNoIR_Tracker_PT/camera.cpp @@ -108,11 +108,11 @@ void Camera::set_device_index(int index) } } -void Camera::set_f(float f) +void Camera::set_fov(float f) { - if (cam_desired.f != f) + if (cam_desired.fov != f) { - cam_desired.f = f; + cam_desired.fov = f; _set_f(); } } @@ -208,7 +208,7 @@ void CVCamera::_set_index() void CVCamera::_set_f() { - cam_info.f = cam_desired.f; + cam_info.fov = cam_desired.fov; } void CVCamera::_set_fps() diff --git a/FTNoIR_Tracker_PT/camera.h b/FTNoIR_Tracker_PT/camera.h index ea68c387..6768e419 100644 --- a/FTNoIR_Tracker_PT/camera.h +++ b/FTNoIR_Tracker_PT/camera.h @@ -25,12 +25,12 @@ void get_camera_device_names(std::vector& device_names); // ---------------------------------------------------------------------------- struct CamInfo { - CamInfo() : res_x(0), res_y(0), fps(0), f(1) {} + CamInfo() : res_x(0), res_y(0), fps(0), fov(56) {} int res_x; int res_y; int fps; - float f; // (focal length) / (sensor width) + float fov; }; // ---------------------------------------------------------------------------- @@ -48,7 +48,7 @@ public: // calls corresponding template methods and reinitializes frame rate calculation void set_device_index(int index); - void set_f(float f); + void set_fov(float f); void set_fps(int fps); void set_res(int x_res, int y_res); diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index 6bcad861..a3e8919b 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -84,7 +84,7 @@ void Tracker::run() { frame = frame_rotation.rotate_frame(frame); const std::vector& points = point_extractor.extract_points(frame, dt, false); - tracking_valid = point_tracker.track(points, camera.get_info().f, dt); + tracking_valid = point_tracker.track(points, camera.get_info().fov, dt, frame.cols, frame.rows, t_MH); video_widget->update_image(frame); } #ifdef PT_PERF_LOG @@ -104,7 +104,7 @@ void Tracker::apply(settings& s) camera.set_device_index(s.cam_index); camera.set_res(s.cam_res_x, s.cam_res_y); camera.set_fps(s.cam_fps); - camera.set_f(s.cam_f); + camera.set_fov(s.cam_fov); frame_rotation.rotation = static_cast(static_cast(s.cam_roll)); point_extractor.threshold_val = s.threshold; point_extractor.threshold_secondary_val = s.threshold_secondary; diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp index c103b78c..4ae20f48 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp @@ -46,7 +46,7 @@ TrackerDialog::TrackerDialog() tie_setting(s.reset_time, ui.reset_spin); tie_setting(s.cam_index, ui.camdevice_combo); - tie_setting(s.cam_f, ui.f_dspin); + tie_setting(s.cam_fov, ui.fov_dspin); 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); diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h index 564e1264..e0dfa2e6 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h @@ -28,7 +28,7 @@ struct settings threshold_secondary, min_point_size, max_point_size; - value cam_f; + value cam_fov; value m01_x, m01_y, m01_z; value m02_x, m02_y, m02_z; @@ -57,7 +57,7 @@ struct settings threshold_secondary(b, "threshold-secondary", 128), min_point_size(b, "min-point-size", 10), max_point_size(b, "max-point-size", 50), - cam_f(b, "camera-focal-length", 1), + cam_fov(b, "camera-fov", 56), m01_x(b, "m_01-x", 0), m01_y(b, "m_01-y", 0), m01_z(b, "m_01-z", 0), diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index dfefdaf8..1df70b17 100644 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -17,23 +17,6 @@ using namespace cv; using namespace boost; using namespace std; -const float PI = 3.14159265358979323846f; - -// ---------------------------------------------------------------------------- -static void get_row(const Matx33f& m, int i, Vec3f& v) -{ - v[0] = m(i,0); - v[1] = m(i,1); - v[2] = m(i,2); -} - -static void set_row(Matx33f& m, int i, const Vec3f& v) -{ - m(i,0) = v[0]; - m(i,1) = v[1]; - m(i,2) = v[2]; -} - // ---------------------------------------------------------------------------- PointModel::PointModel(Vec3f M01, Vec3f M02) : M01(M01), @@ -108,9 +91,11 @@ PointTracker::PointTracker() dt_reset(1), v_t(0,0,0), v_r(0,0,0), - dynamic_pose_resolution(true) + dynamic_pose_resolution(true), + fov(0), + _w(0), + _h(0) { - X_CM.t[2] = 1000; // default position: 1 m away from cam; } void PointTracker::reset() @@ -128,7 +113,7 @@ void PointTracker::reset_velocities() } -bool PointTracker::track(const vector& points, float f, float dt) +bool PointTracker::track(const vector& points, float fov, float dt, int w, int h, const cv::Vec3f& headpos) { if (!dynamic_pose_resolution) init_phase = true; @@ -140,12 +125,7 @@ bool PointTracker::track(const vector& points, float f, float dt) reset(); } - bool no_model = -#ifdef OPENTRACK_API - point_model.get() == NULL; -#else - !point_model; -#endif + bool no_model = !point_model; // if there is a pointtracking problem, reset the velocities if (no_model || points.size() != PointModel::N_POINTS) @@ -161,7 +141,7 @@ bool PointTracker::track(const vector& points, float f, float dt) predict(dt_valid); // if there is a point correspondence problem something has gone wrong, do a reset - if (!find_correspondences(points, f)) + if (!find_correspondences(points)) { //qDebug()<<"Error in finding point correspondences!"; X_CM = X_CM_old; // undo prediction @@ -169,7 +149,8 @@ bool PointTracker::track(const vector& points, float f, float dt) return false; } - int n_iter = POSIT(f); + // XXX TODO fov + POSIT(fov, w, h, headpos); //qDebug()<<"Number of POSIT iterations: "<& points, float f) +bool PointTracker::find_correspondences(const vector& points) { if (init_phase) { // We do a simple freetrack-like sorting in the init phase... @@ -215,9 +196,9 @@ bool PointTracker::find_correspondences(const vector& points, float f) else { // ... otherwise we look at the distance to the projection of the expected model points // project model points under current pose - p_exp[0] = project(Vec3f(0,0,0), f); - p_exp[1] = project(point_model->M01, f); - p_exp[2] = project(point_model->M02, f); + p_exp[0] = project(Vec3f(0,0,0)); + p_exp[1] = project(point_model->M01); + p_exp[2] = project(point_model->M02); // set correspondences by minimum distance to projected model point bool point_taken[PointModel::N_POINTS]; @@ -251,130 +232,48 @@ bool PointTracker::find_correspondences(const vector& points, float f) -int PointTracker::POSIT(float f) +void PointTracker::POSIT(float fov, int w, int h, const cv::Vec3f& headpos) { - // POSIT algorithm for coplanar points as presented in - // [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"] - // we use the same notation as in the paper here - - // The expected rotation used for resolving the ambiguity in POSIT: - // In every iteration step the rotation closer to R_expected is taken - Matx33f R_expected; - if (init_phase) - R_expected = Matx33f::eye(); // in the init phase, we want to be close to the default pose = no rotation - else - R_expected = X_CM.R; // later we want to be close to the last (predicted) rotation - - // initial pose = last (predicted) pose - Vec3f k; - get_row(R_expected, 2, k); - float Z0 = init_phase ? 1000 : X_CM.t[2]; - - float old_epsilon_1 = 0; - float old_epsilon_2 = 0; - float epsilon_1 = 1; - float epsilon_2 = 1; - - Vec3f I0, J0; - Vec2f I0_coeff, J0_coeff; - - Vec3f I_1, J_1, I_2, J_2; - Matx33f R_1, R_2; - Matx33f* R_current; - - const int MAX_ITER = 100; - const float EPS_THRESHOLD = 1e-4; - - int i=1; - for (; iM01)/Z0; - epsilon_2 = k.dot(point_model->M02)/Z0; - - // vector of scalar products and - Vec2f I0_M0i(p[1][0]*(1.0 + epsilon_1) - p[0][0], - p[2][0]*(1.0 + epsilon_2) - p[0][0]); - Vec2f J0_M0i(p[1][1]*(1.0 + epsilon_1) - p[0][1], - p[2][1]*(1.0 + epsilon_2) - p[0][1]); - - // construct projection of I, J onto M0i plane: I0 and J0 - I0_coeff = point_model->P * I0_M0i; - J0_coeff = point_model->P * J0_M0i; - I0 = I0_coeff[0]*point_model->M01 + I0_coeff[1]*point_model->M02; - J0 = J0_coeff[0]*point_model->M01 + J0_coeff[1]*point_model->M02; - - // calculate u component of I, J - float II0 = I0.dot(I0); - float IJ0 = I0.dot(J0); - float JJ0 = J0.dot(J0); - float rho, theta; - if (JJ0 == II0) { - rho = sqrt(abs(2*IJ0)); - theta = -PI/4; - if (IJ0<0) theta *= -1; - } - else { - rho = sqrt(sqrt( (JJ0-II0)*(JJ0-II0) + 4*IJ0*IJ0 )); - theta = atan( -2*IJ0 / (JJ0-II0) ); - if (JJ0 - II0 < 0) theta += PI; - theta /= 2; - } + // XXX hack + this->fov = fov; + _w = w; + _h = h; + std::vector obj_points; + std::vector img_points; - // construct the two solutions - I_1 = I0 + rho*cos(theta)*point_model->u; - I_2 = I0 - rho*cos(theta)*point_model->u; + obj_points.push_back(headpos); + obj_points.push_back(point_model->M01 + headpos); + obj_points.push_back(point_model->M02 + headpos); - J_1 = J0 + rho*sin(theta)*point_model->u; - J_2 = J0 - rho*sin(theta)*point_model->u; + img_points.push_back(p[0]); + img_points.push_back(p[1]); + img_points.push_back(p[2]); - float norm_const = 1.0/norm(I_1); // all have the same norm - - // create rotation matrices - I_1 *= norm_const; J_1 *= norm_const; - I_2 *= norm_const; J_2 *= norm_const; + const float HT_PI = 3.1415926535; - set_row(R_1, 0, I_1); - set_row(R_1, 1, J_1); - set_row(R_1, 2, I_1.cross(J_1)); - - set_row(R_2, 0, I_2); - set_row(R_2, 1, J_2); - set_row(R_2, 2, I_2.cross(J_2)); + const float focal_length_w = 0.5 * w / tan(fov * HT_PI / 180); + const float focal_length_h = 0.5 * h / tan(fov * h / w * HT_PI / 180.0); - // the single translation solution - Z0 = norm_const * f; + cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1); + intrinsics.at (0, 0) = focal_length_w; + intrinsics.at (1, 1) = focal_length_h; + intrinsics.at (0, 2) = w/2; + intrinsics.at (1, 2) = h/2; - // pick the rotation solution closer to the expected one - // in simple metric d(A,B) = || I - A * B^T || - float R_1_deviation = norm(Matx33f::eye() - R_expected * R_1.t()); - float R_2_deviation = norm(Matx33f::eye() - R_expected * R_2.t()); + cv::Mat dist_coeffs = cv::Mat::zeros(5, 1, CV_32FC1); - if (R_1_deviation < R_2_deviation) - R_current = &R_1; - else - R_current = &R_2; + bool lastp = !rvec.empty() && !tvec.empty() && !init_phase; - get_row(*R_current, 2, k); + cv::solvePnP(obj_points, img_points, intrinsics, dist_coeffs, rvec, tvec, lastp, cv::ITERATIVE); - // check for convergence condition - if (abs(epsilon_1 - old_epsilon_1) + abs(epsilon_2 - old_epsilon_2) < EPS_THRESHOLD) - break; - old_epsilon_1 = epsilon_1; - old_epsilon_2 = epsilon_2; - } + cv::Mat rmat; + cv::Rodrigues(rvec, rmat); // apply results - X_CM.R = *R_current; - X_CM.t[0] = p[0][0] * Z0/f; - X_CM.t[1] = p[0][1] * Z0/f; - X_CM.t[2] = Z0; - - return i; - - //Rodrigues(X_CM.R, r); - //qDebug()<<"iter: "<(i); + for (int j = 0; j < 3; j++) + X_CM.R(i, j) = rmat.at(i, j); + } } diff --git a/FTNoIR_Tracker_PT/point_tracker.h b/FTNoIR_Tracker_PT/point_tracker.h index 11034100..e05e8f98 100644 --- a/FTNoIR_Tracker_PT/point_tracker.h +++ b/FTNoIR_Tracker_PT/point_tracker.h @@ -90,7 +90,7 @@ public: // track the pose using the set of normalized point coordinates (x pos in range -0.5:0.5) // f : (focal length)/(sensor width) // dt : time since last call - bool track(const std::vector& points, float f, float dt); + bool track(const std::vector& points, float fov, float dt, int w, int h, const cv::Vec3f &headpos); boost::shared_ptr point_model; bool dynamic_pose_resolution; @@ -98,15 +98,35 @@ public: FrameTrafo get_pose() const { return X_CM; } void reset(); + float fov; + int _w, _h; protected: - inline cv::Vec2f project(const cv::Vec3f& v_M, float f) + cv::Vec2f project(const cv::Vec3f& v_M) { - cv::Vec3f v_C = X_CM * v_M; - return cv::Vec2f(f*v_C[0]/v_C[2], f*v_C[1]/v_C[2]); + if (!rvec.empty() && !tvec.empty() && fov > 0) + { + const float HT_PI = 3.1415926535; + const int w = _w, h = _h; + const float focal_length_w = 0.5 * w / tan(fov * HT_PI / 180); + const float focal_length_h = 0.5 * h / tan(fov * h / w * HT_PI / 180.0); + + cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1); + intrinsics.at (0, 0) = focal_length_w; + intrinsics.at (1, 1) = focal_length_h; + intrinsics.at (0, 2) = w/2; + intrinsics.at (1, 2) = h/2; + std::vector xs; + xs.push_back(v_M); + cv::Mat dist_coeffs = cv::Mat::zeros(5, 1, CV_32FC1); + std::vector rets(1); + cv::projectPoints(xs, rvec, tvec, intrinsics, dist_coeffs, rets); + return rets[0]; + } + return cv::Vec2f(); } - bool find_correspondences(const std::vector& points, float f); + bool find_correspondences(const std::vector& points); cv::Vec2f p[PointModel::N_POINTS]; // the points in model order cv::Vec2f p_exp[PointModel::N_POINTS]; // the expected point positions @@ -116,7 +136,7 @@ protected: void reset_velocities(); - int POSIT(float f); // The POSIT algorithm, returns the number of iterations + void POSIT(float fov, int w, int h, const cv::Vec3f &headpos); // The POSIT algorithm, returns the number of iterations bool init_phase; float dt_valid; // time since last valid tracking result @@ -124,6 +144,7 @@ protected: cv::Vec3f v_r; FrameTrafo X_CM; // trafo from model to camera FrameTrafo X_CM_old; + cv::Mat rvec, tvec; }; #endif //POINTTRACKER_H -- cgit v1.2.3 From 0a32ae32452b02fae0036f9c5099b043d0c9052e Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Wed, 8 Jan 2014 21:45:34 +0100 Subject: buffer flush --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 30 ++++++++++++++---------------- FTNoIR_Tracker_PT/point_tracker.cpp | 33 ++++++++++++++++++++++++--------- FTNoIR_Tracker_PT/point_tracker.h | 18 +++++++++--------- 3 files changed, 47 insertions(+), 34 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index a3e8919b..7bd447cb 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -83,8 +83,8 @@ void Tracker::run() if (new_frame && !frame.empty()) { frame = frame_rotation.rotate_frame(frame); - const std::vector& points = point_extractor.extract_points(frame, dt, false); - tracking_valid = point_tracker.track(points, camera.get_info().fov, dt, frame.cols, frame.rows, t_MH); + const std::vector& points = point_extractor.extract_points(frame, dt, true); + tracking_valid = point_tracker.track(points, camera.get_info().fov, dt, frame.cols, frame.rows); video_widget->update_image(frame); } #ifdef PT_PERF_LOG @@ -119,15 +119,13 @@ void Tracker::apply(settings& s) point_tracker.dt_reset = s.reset_time / 1000.0; t_MH = cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z); R_GC = Matx33f( cos(deg2rad*s.cam_yaw), 0, sin(deg2rad*s.cam_yaw), - 0, 1, 0, - -sin(deg2rad*s.cam_yaw), 0, cos(deg2rad*s.cam_yaw)); - R_GC = R_GC * Matx33f( 1, 0, 0, + 0, 1, 0, + -sin(deg2rad*s.cam_yaw), 0, cos(deg2rad*s.cam_yaw)); + R_GC = R_GC * Matx33f( 1, 0, 0, 0, cos(deg2rad*s.cam_pitch), sin(deg2rad*s.cam_pitch), 0, -sin(deg2rad*s.cam_pitch), cos(deg2rad*s.cam_pitch)); - - FrameTrafo X_MH(Matx33f::eye(), t_MH); - X_GH_0 = R_GC * X_MH; - + FrameTrafo X_MH(Matx33f::eye(), t_MH); + X_GH_0 = R_GC * X_MH; qDebug()<<"Tracker::apply ends"; } @@ -140,10 +138,10 @@ void Tracker::reset() void Tracker::center() { point_tracker.reset(); // we also do a reset here since there is no reset shortkey yet - QMutexLocker lock(&mutex); - FrameTrafo X_CM_0 = point_tracker.get_pose(); - FrameTrafo X_MH(Matx33f::eye(), t_MH); - X_GH_0 = R_GC * X_CM_0 * X_MH; + QMutexLocker lock(&mutex); + FrameTrafo X_CM_0 = point_tracker.get_pose(); + FrameTrafo X_MH(Matx33f::eye(), t_MH); + X_GH_0 = R_GC * X_CM_0 * X_MH; } bool Tracker::get_frame_and_points(cv::Mat& frame_copy, boost::shared_ptr< std::vector >& points) @@ -198,10 +196,10 @@ void Tracker::GetHeadPoseData(THeadPoseData *data) if (!tracking_valid) return; FrameTrafo X_CM = point_tracker.get_pose(); - FrameTrafo X_MH(Matx33f::eye(), t_MH); - FrameTrafo X_GH = R_GC * X_CM * X_MH; + FrameTrafo X_MH(Matx33f::eye(), t_MH); + FrameTrafo X_GH = R_GC * X_CM * X_MH; Matx33f R = X_GH.R * X_GH_0.R.t(); - Vec3f t = X_GH.t - X_GH_0.t; + Vec3f t = X_GH.t - X_GH_0.t; // get translation(s) if (s.bEnableX) data[TX] = t[0] / 10.0; // convert to cm diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index 1df70b17..263be43a 100644 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -104,6 +104,9 @@ void PointTracker::reset() init_phase = true; dt_valid = 0; reset_velocities(); + // assume identity rotation again + X_CM.R = cv::Matx33d::eye(); + X_CM.t = cv::Vec3f(); } void PointTracker::reset_velocities() @@ -113,7 +116,7 @@ void PointTracker::reset_velocities() } -bool PointTracker::track(const vector& points, float fov, float dt, int w, int h, const cv::Vec3f& headpos) +bool PointTracker::track(const vector& points, float fov, float dt, int w, int h) { if (!dynamic_pose_resolution) init_phase = true; @@ -150,7 +153,7 @@ bool PointTracker::track(const vector& points, float fov, float dt, int w } // XXX TODO fov - POSIT(fov, w, h, headpos); + POSIT(fov, w, h); //qDebug()<<"Number of POSIT iterations: "<& points, float fov, float dt, int w void PointTracker::predict(float dt) { // predict with constant velocity - Matx33f R; + Matx33d R; Rodrigues(dt*v_r, R); X_CM.R = R*X_CM.R; X_CM.t += dt * v_t; @@ -232,7 +235,7 @@ bool PointTracker::find_correspondences(const vector& points) -void PointTracker::POSIT(float fov, int w, int h, const cv::Vec3f& headpos) +void PointTracker::POSIT(float fov, int w, int h) { // XXX hack this->fov = fov; @@ -241,9 +244,9 @@ void PointTracker::POSIT(float fov, int w, int h, const cv::Vec3f& headpos) std::vector obj_points; std::vector img_points; - obj_points.push_back(headpos); - obj_points.push_back(point_model->M01 + headpos); - obj_points.push_back(point_model->M02 + headpos); + obj_points.push_back(cv::Vec3f(0, 0, 0)); + obj_points.push_back(point_model->M01); + obj_points.push_back(point_model->M02); img_points.push_back(p[0]); img_points.push_back(p[1]); @@ -262,17 +265,29 @@ void PointTracker::POSIT(float fov, int w, int h, const cv::Vec3f& headpos) cv::Mat dist_coeffs = cv::Mat::zeros(5, 1, CV_32FC1); - bool lastp = !rvec.empty() && !tvec.empty() && !init_phase; + bool lastp = !rvec.empty() && !tvec.empty(); cv::solvePnP(obj_points, img_points, intrinsics, dist_coeffs, rvec, tvec, lastp, cv::ITERATIVE); cv::Mat rmat; cv::Rodrigues(rvec, rmat); + // finally, find the closer solution + cv::Mat expected = cv::Mat(X_CM.R); + cv::Mat eye = cv::Mat::eye(3, 3, CV_64FC1); + double dev1 = norm(eye - expected * rmat.t()); + double dev2 = norm(eye - expected * rmat); + + if (dev1 > dev2) + { + rmat = rmat.t(); + cv::Rodrigues(rmat, rvec); + } + // apply results for (int i = 0; i < 3; i++) { - X_CM.t[i] = tvec.at(i); + X_CM.t[i] = tvec.at(i) * 1e-2; for (int j = 0; j < 3; j++) X_CM.R(i, j) = rmat.at(i, j); } diff --git a/FTNoIR_Tracker_PT/point_tracker.h b/FTNoIR_Tracker_PT/point_tracker.h index e05e8f98..823d75c0 100644 --- a/FTNoIR_Tracker_PT/point_tracker.h +++ b/FTNoIR_Tracker_PT/point_tracker.h @@ -21,11 +21,11 @@ class FrameTrafo { public: - FrameTrafo() : R(cv::Matx33f::eye()), t(0,0,0) {} - FrameTrafo(const cv::Matx33f& R, const cv::Vec3f& t) : R(R),t(t) {} + FrameTrafo() : R(cv::Matx33d::eye()), t(0,0,0) {} + FrameTrafo(const cv::Matx33d& R, const cv::Vec3d& t) : R(R),t(t) {} - cv::Matx33f R; - cv::Vec3f t; + cv::Matx33d R; + cv::Vec3d t; }; inline FrameTrafo operator*(const FrameTrafo& X, const FrameTrafo& Y) @@ -33,17 +33,17 @@ inline FrameTrafo operator*(const FrameTrafo& X, const FrameTrafo& Y) return FrameTrafo(X.R*Y.R, X.R*Y.t + X.t); } -inline FrameTrafo operator*(const cv::Matx33f& X, const FrameTrafo& Y) +inline FrameTrafo operator*(const cv::Matx33d& X, const FrameTrafo& Y) { return FrameTrafo(X*Y.R, X*Y.t); } -inline FrameTrafo operator*(const FrameTrafo& X, const cv::Matx33f& Y) +inline FrameTrafo operator*(const FrameTrafo& X, const cv::Matx33d& Y) { return FrameTrafo(X.R*Y, X.t); } -inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3f& v) +inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3d& v) { return X.R*v + X.t; } @@ -90,7 +90,7 @@ public: // track the pose using the set of normalized point coordinates (x pos in range -0.5:0.5) // f : (focal length)/(sensor width) // dt : time since last call - bool track(const std::vector& points, float fov, float dt, int w, int h, const cv::Vec3f &headpos); + bool track(const std::vector& points, float fov, float dt, int w, int h); boost::shared_ptr point_model; bool dynamic_pose_resolution; @@ -136,7 +136,7 @@ protected: void reset_velocities(); - void POSIT(float fov, int w, int h, const cv::Vec3f &headpos); // The POSIT algorithm, returns the number of iterations + void POSIT(float fov, int w, int h); // The POSIT algorithm, returns the number of iterations bool init_phase; float dt_valid; // time since last valid tracking result -- cgit v1.2.3 From d6855de1a83fd54c43384de218d61252de7a7a1b Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Wed, 8 Jan 2014 23:53:45 +0100 Subject: fix crash due to mismatched float/double --- FTNoIR_Tracker_PT/point_tracker.cpp | 11 +++++++---- FTNoIR_Tracker_PT/point_tracker.h | 14 +++++++------- FTNoIR_Tracker_PT/trans_calib.cpp | 4 ++-- 3 files changed, 16 insertions(+), 13 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index 263be43a..9f0fb59e 100644 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -105,8 +105,8 @@ void PointTracker::reset() dt_valid = 0; reset_velocities(); // assume identity rotation again - X_CM.R = cv::Matx33d::eye(); - X_CM.t = cv::Vec3f(); + X_CM.R = cv::Matx33f::eye(); + X_CM.t = cv::Vec3f(0, 0, 1); } void PointTracker::reset_velocities() @@ -168,7 +168,7 @@ bool PointTracker::track(const vector& points, float fov, float dt, int w void PointTracker::predict(float dt) { // predict with constant velocity - Matx33d R; + Matx33f R; Rodrigues(dt*v_r, R); X_CM.R = R*X_CM.R; X_CM.t += dt * v_t; @@ -273,7 +273,10 @@ void PointTracker::POSIT(float fov, int w, int h) cv::Rodrigues(rvec, rmat); // finally, find the closer solution - cv::Mat expected = cv::Mat(X_CM.R); + cv::Mat expected(3, 3, CV_64FC1); + for (int i = 0; i < 3; i++) + for (int j = 0; j < 3; j++) + expected.at(i, j) = X_CM.R(i, j); cv::Mat eye = cv::Mat::eye(3, 3, CV_64FC1); double dev1 = norm(eye - expected * rmat.t()); double dev2 = norm(eye - expected * rmat); diff --git a/FTNoIR_Tracker_PT/point_tracker.h b/FTNoIR_Tracker_PT/point_tracker.h index 823d75c0..ac43489e 100644 --- a/FTNoIR_Tracker_PT/point_tracker.h +++ b/FTNoIR_Tracker_PT/point_tracker.h @@ -21,11 +21,11 @@ class FrameTrafo { public: - FrameTrafo() : R(cv::Matx33d::eye()), t(0,0,0) {} - FrameTrafo(const cv::Matx33d& R, const cv::Vec3d& t) : R(R),t(t) {} + FrameTrafo() : R(cv::Matx33f::eye()), t(0,0,0) {} + FrameTrafo(const cv::Matx33f& R, const cv::Vec3f& t) : R(R),t(t) {} - cv::Matx33d R; - cv::Vec3d t; + cv::Matx33f R; + cv::Vec3f t; }; inline FrameTrafo operator*(const FrameTrafo& X, const FrameTrafo& Y) @@ -33,17 +33,17 @@ inline FrameTrafo operator*(const FrameTrafo& X, const FrameTrafo& Y) return FrameTrafo(X.R*Y.R, X.R*Y.t + X.t); } -inline FrameTrafo operator*(const cv::Matx33d& X, const FrameTrafo& Y) +inline FrameTrafo operator*(const cv::Matx33f& X, const FrameTrafo& Y) { return FrameTrafo(X*Y.R, X*Y.t); } -inline FrameTrafo operator*(const FrameTrafo& X, const cv::Matx33d& Y) +inline FrameTrafo operator*(const FrameTrafo& X, const cv::Matx33f& Y) { return FrameTrafo(X.R*Y, X.t); } -inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3d& v) +inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3f& v) { return X.R*v + X.t; } diff --git a/FTNoIR_Tracker_PT/trans_calib.cpp b/FTNoIR_Tracker_PT/trans_calib.cpp index 9b75a1b6..b2e0ead0 100644 --- a/FTNoIR_Tracker_PT/trans_calib.cpp +++ b/FTNoIR_Tracker_PT/trans_calib.cpp @@ -40,5 +40,5 @@ void TranslationCalibrator::update(const Matx33f& R_CM_k, const Vec3f& t_CM_k) Vec3f TranslationCalibrator::get_estimate() { Vec6f x = P.inv() * y; - return Vec3f(-x[0], -x[1], -x[2]); -} \ No newline at end of file + return Vec3f(-x[0], -x[1], -x[2]); +} -- cgit v1.2.3 From ff04681a70ad5f3f8984aee465b4c20b648779be Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Thu, 9 Jan 2014 07:21:23 +0100 Subject: don't touch tvec scale --- FTNoIR_Tracker_PT/point_tracker.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index 9f0fb59e..c0221909 100644 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -290,7 +290,7 @@ void PointTracker::POSIT(float fov, int w, int h) // apply results for (int i = 0; i < 3; i++) { - X_CM.t[i] = tvec.at(i) * 1e-2; + X_CM.t[i] = tvec.at(i); for (int j = 0; j < 3; j++) X_CM.R(i, j) = rmat.at(i, j); } -- cgit v1.2.3 From 32d2bb24dc947e6ce4ed7dfe2596d6bbc1dba892 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 11 Jan 2014 15:25:27 +0100 Subject: sane default value for PT reset time --- FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h index e0dfa2e6..b2ab8854 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h @@ -69,7 +69,7 @@ struct settings t_MH_x(b, "model-centroid-x", 0), t_MH_y(b, "model-centroid-y", 0), t_MH_z(b, "model-centroid-z", 0), - reset_time(b, "reset-time", 0), + reset_time(b, "reset-time", 2000), bEnableYaw(b, "enable-yaw", true), bEnablePitch(b, "enable-pitch", true), bEnableRoll(b, "enable-roll", true), -- cgit v1.2.3 From 24287f1c4c8308678b1f7320b303548027dd8954 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 11 Jan 2014 15:27:11 +0100 Subject: remove an outdated comment --- FTNoIR_Tracker_PT/point_tracker.cpp | 1 - 1 file changed, 1 deletion(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index c0221909..cce327e9 100644 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -152,7 +152,6 @@ bool PointTracker::track(const vector& points, float fov, float dt, int w return false; } - // XXX TODO fov POSIT(fov, w, h); //qDebug()<<"Number of POSIT iterations: "< Date: Sat, 11 Jan 2014 15:36:14 +0100 Subject: remove hack of passing fov/w/h as member vars --- FTNoIR_Tracker_PT/point_tracker.cpp | 19 ++++++------------- FTNoIR_Tracker_PT/point_tracker.h | 8 ++------ 2 files changed, 8 insertions(+), 19 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index cce327e9..a881da62 100644 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -91,10 +91,7 @@ PointTracker::PointTracker() dt_reset(1), v_t(0,0,0), v_r(0,0,0), - dynamic_pose_resolution(true), - fov(0), - _w(0), - _h(0) + dynamic_pose_resolution(true) { } @@ -144,7 +141,7 @@ bool PointTracker::track(const vector& points, float fov, float dt, int w predict(dt_valid); // if there is a point correspondence problem something has gone wrong, do a reset - if (!find_correspondences(points)) + if (!find_correspondences(points, fov, w, h)) { //qDebug()<<"Error in finding point correspondences!"; X_CM = X_CM_old; // undo prediction @@ -181,7 +178,7 @@ void PointTracker::update_velocities(float dt) v_t = (X_CM.t - X_CM_old.t)/dt; } -bool PointTracker::find_correspondences(const vector& points) +bool PointTracker::find_correspondences(const vector& points, float fov, int w, int h) { if (init_phase) { // We do a simple freetrack-like sorting in the init phase... @@ -198,9 +195,9 @@ bool PointTracker::find_correspondences(const vector& points) else { // ... otherwise we look at the distance to the projection of the expected model points // project model points under current pose - p_exp[0] = project(Vec3f(0,0,0)); - p_exp[1] = project(point_model->M01); - p_exp[2] = project(point_model->M02); + p_exp[0] = project(Vec3f(0,0,0), fov, w, h); + p_exp[1] = project(point_model->M01, fov, w, h); + p_exp[2] = project(point_model->M02, fov, w, h); // set correspondences by minimum distance to projected model point bool point_taken[PointModel::N_POINTS]; @@ -236,10 +233,6 @@ bool PointTracker::find_correspondences(const vector& points) void PointTracker::POSIT(float fov, int w, int h) { - // XXX hack - this->fov = fov; - _w = w; - _h = h; std::vector obj_points; std::vector img_points; diff --git a/FTNoIR_Tracker_PT/point_tracker.h b/FTNoIR_Tracker_PT/point_tracker.h index ac43489e..741d5af4 100644 --- a/FTNoIR_Tracker_PT/point_tracker.h +++ b/FTNoIR_Tracker_PT/point_tracker.h @@ -98,16 +98,12 @@ public: FrameTrafo get_pose() const { return X_CM; } void reset(); - float fov; - int _w, _h; - protected: - cv::Vec2f project(const cv::Vec3f& v_M) + cv::Vec2f project(const cv::Vec3f& v_M, float fov, int w, int h) { if (!rvec.empty() && !tvec.empty() && fov > 0) { const float HT_PI = 3.1415926535; - const int w = _w, h = _h; const float focal_length_w = 0.5 * w / tan(fov * HT_PI / 180); const float focal_length_h = 0.5 * h / tan(fov * h / w * HT_PI / 180.0); @@ -126,7 +122,7 @@ protected: return cv::Vec2f(); } - bool find_correspondences(const std::vector& points); + bool find_correspondences(const std::vector& points, float fov, int w, int h); cv::Vec2f p[PointModel::N_POINTS]; // the points in model order cv::Vec2f p_exp[PointModel::N_POINTS]; // the expected point positions -- cgit v1.2.3 From 786fbaef73c522b6d138145b612034913ff70d03 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 11 Jan 2014 15:40:31 +0100 Subject: replace hand-rolled timer class with QElapsedTimer --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 3 +- FTNoIR_Tracker_PT/ftnoir_tracker_pt.h | 4 +- FTNoIR_Tracker_PT/timer.cpp | 66 --------------------------------- FTNoIR_Tracker_PT/timer.h | 44 ---------------------- 4 files changed, 3 insertions(+), 114 deletions(-) delete mode 100644 FTNoIR_Tracker_PT/timer.cpp delete mode 100644 FTNoIR_Tracker_PT/timer.h (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index 7bd447cb..83bf6911 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -76,8 +76,7 @@ void Tracker::run() if (commands & PAUSE) continue; commands = 0; - dt = time.elapsed() / 1000.0; - time.restart(); + dt = time.restart() / 1000.0; new_frame = camera.get_frame(dt, &frame); if (new_frame && !frame.empty()) diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h index c7f1dc02..067a4072 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h @@ -18,7 +18,7 @@ #include "point_extractor.h" #include "point_tracker.h" #include "pt_video_widget.h" -#include "timer.h" +#include #include #include @@ -84,7 +84,7 @@ protected: bool tracking_valid; settings s; - Timer time; + QElapsedTimer time; }; #undef VideoWidget diff --git a/FTNoIR_Tracker_PT/timer.cpp b/FTNoIR_Tracker_PT/timer.cpp deleted file mode 100644 index 080dd713..00000000 --- a/FTNoIR_Tracker_PT/timer.cpp +++ /dev/null @@ -1,66 +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 "timer.h" - -#include - -// ---------------------------------------------------------------------------- -Timer::Timer() -: startTime(0), endTime(0), running(false) -{ -#ifdef WIN32 - QueryPerformanceFrequency(&frequency); - startCount.QuadPart = 0; - endCount.QuadPart = 0; -#else - startCount.tv_sec = startCount.tv_usec = 0; - endCount.tv_sec = endCount.tv_usec = 0; -#endif -} - - -void Timer::start() -{ -#ifdef WIN32 - QueryPerformanceCounter(&startCount); -#else - gettimeofday(&startCount, NULL); -#endif - running = true; -} - - -void Timer::stop() -{ -#ifdef WIN32 - QueryPerformanceCounter(&endCount); -#else - gettimeofday(&endCount, NULL); -#endif - running = false; -} - - -double Timer::elapsed() -{ -#ifdef WIN32 - if (running) - QueryPerformanceCounter(&endCount); - - startTime = startCount.QuadPart * (1e3 / frequency.QuadPart); - endTime = endCount.QuadPart * (1e3 / frequency.QuadPart); - return endTime - startTime; -#else - if(running) - gettimeofday(&endCount, NULL); - - startTime = (startCount.tv_sec) + startCount.tv_usec * 1e-6; - endTime = (endCount.tv_sec) + endCount.tv_usec * 1e-6; - return (endTime - startTime) * 1e3; -#endif -} diff --git a/FTNoIR_Tracker_PT/timer.h b/FTNoIR_Tracker_PT/timer.h deleted file mode 100644 index f189e23c..00000000 --- a/FTNoIR_Tracker_PT/timer.h +++ /dev/null @@ -1,44 +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 PT_TIMER_H -#define PT_TIMER_H - -#ifdef WIN32 // Windows system specific -#include -#else // Unix based system specific -#include -#endif - -// ---------------------------------------------------------------------------- -// High resolution timer based on http://www.songho.ca/misc/timer/timer.html -class Timer -{ -public: - Timer(); - - void start(); - void stop(); - void restart() { start(); } // for Qt compatibility - double elapsed(); // get elapsed time in ms - -protected: - double startTime; // starting time in ms - double endTime; // ending time in ms - bool running; - -#ifdef WIN32 - LARGE_INTEGER frequency; // ticks per second - LARGE_INTEGER startCount; - LARGE_INTEGER endCount; -#else - timeval startCount; - timeval endCount; -#endif -}; - -#endif //PT_TIMER_H \ No newline at end of file -- cgit v1.2.3 From 9d3b82bf518798635ddc9f1de8446ff37a5e2281 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 11 Jan 2014 16:16:39 +0100 Subject: prevent empty video frame upon race --- FTNoIR_Tracker_PT/pt_video_widget.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/pt_video_widget.cpp b/FTNoIR_Tracker_PT/pt_video_widget.cpp index 38c49567..75fa18a0 100644 --- a/FTNoIR_Tracker_PT/pt_video_widget.cpp +++ b/FTNoIR_Tracker_PT/pt_video_widget.cpp @@ -21,7 +21,7 @@ void PTVideoWidget::update_image(const cv::Mat& frame) const int rate = 40; if (freshp) return; - if (!update_throttler.isValid() || update_throttler.elapsed() > rate) + if (frame.empty() || !update_throttler.isValid() || update_throttler.elapsed() > rate) { _frame = frame.clone(); update_throttler.restart(); -- cgit v1.2.3 From 9e9d76b68996840d264f7c8760d7879c2cc8781c Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 11 Jan 2014 16:16:55 +0100 Subject: display extracted points' centers --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index 83bf6911..b4100998 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -83,6 +83,23 @@ void Tracker::run() { frame = frame_rotation.rotate_frame(frame); const std::vector& points = point_extractor.extract_points(frame, dt, true); + for (auto p : points) + { + auto p2 = cv::Point(p[0] * frame.cols + frame.cols/2, + p[1] * frame.rows + frame.rows/2); + cv::Scalar color(0, 255, 0); + qDebug() << p2.x << p2.y; + cv::line(frame, + cv::Point(p2.x - 20, p2.y), + cv::Point(p2.x + 20, p2.y), + color, + 4); + cv::line(frame, + cv::Point(p2.x, p2.y - 20), + cv::Point(p2.x, p2.y + 20), + color, + 4); + } tracking_valid = point_tracker.track(points, camera.get_info().fov, dt, frame.cols, frame.rows); video_widget->update_image(frame); } -- cgit v1.2.3 From 7217cf5ac2191c92c956c88f012282882593bfc4 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 11 Jan 2014 16:27:09 +0100 Subject: fix translation estimation --- FTNoIR_Tracker_PT/point_tracker.cpp | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index a881da62..2dd89aed 100644 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -240,9 +240,11 @@ void PointTracker::POSIT(float fov, int w, int h) obj_points.push_back(point_model->M01); obj_points.push_back(point_model->M02); - img_points.push_back(p[0]); - img_points.push_back(p[1]); - img_points.push_back(p[2]); + for (int i = 0; i < 3; i++) + { + auto p2 = cv::Point(p[i][0] * w + w/2, p[i][1] * h + h/2); + img_points.push_back(p2); + } const float HT_PI = 3.1415926535; -- cgit v1.2.3 From cb2afb510c98f168e312007cbb92f70b7b4ffa4b Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 11 Jan 2014 16:41:55 +0100 Subject: reset levmarq internal state on reset (duh) --- FTNoIR_Tracker_PT/point_tracker.cpp | 2 ++ 1 file changed, 2 insertions(+) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index 2dd89aed..69d46645 100644 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -104,6 +104,8 @@ void PointTracker::reset() // assume identity rotation again X_CM.R = cv::Matx33f::eye(); X_CM.t = cv::Vec3f(0, 0, 1); + rvec = Mat(); + tvec = Mat(); } void PointTracker::reset_velocities() -- cgit v1.2.3 From d9953cc2cdb7c679f7df2cfb118644cb81d23bbd Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 11 Jan 2014 18:07:24 +0100 Subject: use proper scale for translation --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index b4100998..c94fa3ff 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -218,9 +218,9 @@ void Tracker::GetHeadPoseData(THeadPoseData *data) Vec3f t = X_GH.t - X_GH_0.t; // get translation(s) - if (s.bEnableX) data[TX] = t[0] / 10.0; // convert to cm - if (s.bEnableY) data[TY] = t[1] / 10.0; - if (s.bEnableZ) data[TZ] = t[2] / 10.0; + if (s.bEnableX) data[TX] = t[0]; // convert to cm + if (s.bEnableY) data[TY] = t[1]; + if (s.bEnableZ) data[TZ] = t[2]; // translate rotation matrix from opengl (G) to roll-pitch-yaw (E) frame // -z -> x, y -> z, x -> -y -- cgit v1.2.3 From 7da7a26385c1d54762d6f2d11a7036d856bc5864 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 11 Jan 2014 18:07:48 +0100 Subject: use correct scale for point coords --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 2 +- FTNoIR_Tracker_PT/point_tracker.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index c94fa3ff..9f74127f 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -86,7 +86,7 @@ void Tracker::run() for (auto p : points) { auto p2 = cv::Point(p[0] * frame.cols + frame.cols/2, - p[1] * frame.rows + frame.rows/2); + -p[1] * frame.cols + frame.rows/2); cv::Scalar color(0, 255, 0); qDebug() << p2.x << p2.y; cv::line(frame, diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index 69d46645..faac9963 100644 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -244,7 +244,7 @@ void PointTracker::POSIT(float fov, int w, int h) for (int i = 0; i < 3; i++) { - auto p2 = cv::Point(p[i][0] * w + w/2, p[i][1] * h + h/2); + auto p2 = cv::Point(p[i][0] * w + w/2, -p[i][1] * h + w/2); img_points.push_back(p2); } -- cgit v1.2.3 From 19dcf6de27cbb4347f940186370823f479ab1a5c Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 11 Jan 2014 18:08:15 +0100 Subject: get rid of frame copy throttling --- FTNoIR_Tracker_PT/pt_video_widget.cpp | 11 ++--------- FTNoIR_Tracker_PT/pt_video_widget.h | 2 -- 2 files changed, 2 insertions(+), 11 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/pt_video_widget.cpp b/FTNoIR_Tracker_PT/pt_video_widget.cpp index 75fa18a0..02817cbf 100644 --- a/FTNoIR_Tracker_PT/pt_video_widget.cpp +++ b/FTNoIR_Tracker_PT/pt_video_widget.cpp @@ -18,15 +18,8 @@ using namespace std; void PTVideoWidget::update_image(const cv::Mat& frame) { QMutexLocker foo(&mtx); - const int rate = 40; - if (freshp) - return; - if (frame.empty() || !update_throttler.isValid() || update_throttler.elapsed() > rate) - { - _frame = frame.clone(); - update_throttler.restart(); - freshp = true; - } + _frame = frame.clone(); + freshp = true; } // ---------------------------------------------------------------------------- diff --git a/FTNoIR_Tracker_PT/pt_video_widget.h b/FTNoIR_Tracker_PT/pt_video_widget.h index c47198db..25d593c3 100644 --- a/FTNoIR_Tracker_PT/pt_video_widget.h +++ b/FTNoIR_Tracker_PT/pt_video_widget.h @@ -24,7 +24,6 @@ #include #include #include -#include class PTVideoWidget : public QWidget, public FrameObserver { @@ -53,7 +52,6 @@ private: QImage texture; QTimer timer; cv::Mat _frame; - QElapsedTimer update_throttler; bool freshp; }; -- cgit v1.2.3 From fa0908c3a5d449afab5d48553c6af7294e1b6998 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 11 Jan 2014 18:09:46 +0100 Subject: remove forgotten debug code --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 1 - 1 file changed, 1 deletion(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index 9f74127f..102f62ee 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -88,7 +88,6 @@ void Tracker::run() auto p2 = cv::Point(p[0] * frame.cols + frame.cols/2, -p[1] * frame.cols + frame.rows/2); cv::Scalar color(0, 255, 0); - qDebug() << p2.x << p2.y; cv::line(frame, cv::Point(p2.x - 20, p2.y), cv::Point(p2.x + 20, p2.y), -- cgit v1.2.3 From 69dddfbab322d55d6b26336f20fcfdb2ebaecdad Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 11 Jan 2014 18:13:01 +0100 Subject: FINALLY fix d_order -> image pos --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 3 +-- FTNoIR_Tracker_PT/point_tracker.cpp | 2 +- 2 files changed, 2 insertions(+), 3 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index 102f62ee..c949b8d0 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -85,8 +85,7 @@ void Tracker::run() const std::vector& points = point_extractor.extract_points(frame, dt, true); for (auto p : points) { - auto p2 = cv::Point(p[0] * frame.cols + frame.cols/2, - -p[1] * frame.cols + frame.rows/2); + auto p2 = cv::Point(p[0] * frame.cols + frame.cols/2, -p[1] * frame.cols + frame.rows/2); cv::Scalar color(0, 255, 0); cv::line(frame, cv::Point(p2.x - 20, p2.y), diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index faac9963..96d9d972 100644 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -244,7 +244,7 @@ void PointTracker::POSIT(float fov, int w, int h) for (int i = 0; i < 3; i++) { - auto p2 = cv::Point(p[i][0] * w + w/2, -p[i][1] * h + w/2); + auto p2 = cv::Point(p[i][0] * w + w/2, -p[i][1] * w + h/2); img_points.push_back(p2); } -- cgit v1.2.3 From d471aba741dc9e3c70c919820e36a2613590d723 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 12 Jan 2014 18:23:21 +0100 Subject: correct focal length equation --- FTNoIR_Tracker_PT/point_tracker.cpp | 4 ++-- FTNoIR_Tracker_PT/point_tracker.h | 4 ++-- ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 6 +++--- 3 files changed, 7 insertions(+), 7 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index 96d9d972..885b327a 100644 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -250,8 +250,8 @@ void PointTracker::POSIT(float fov, int w, int h) const float HT_PI = 3.1415926535; - const float focal_length_w = 0.5 * w / tan(fov * HT_PI / 180); - const float focal_length_h = 0.5 * h / tan(fov * h / w * HT_PI / 180.0); + const float focal_length_w = 0.5 * w / tan(0.5 * fov * HT_PI / 180); + const float focal_length_h = 0.5 * h / tan(0.5 * fov * h / w * HT_PI / 180.0); cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1); intrinsics.at (0, 0) = focal_length_w; diff --git a/FTNoIR_Tracker_PT/point_tracker.h b/FTNoIR_Tracker_PT/point_tracker.h index 741d5af4..69eb9bba 100644 --- a/FTNoIR_Tracker_PT/point_tracker.h +++ b/FTNoIR_Tracker_PT/point_tracker.h @@ -104,8 +104,8 @@ protected: if (!rvec.empty() && !tvec.empty() && fov > 0) { const float HT_PI = 3.1415926535; - const float focal_length_w = 0.5 * w / tan(fov * HT_PI / 180); - const float focal_length_h = 0.5 * h / tan(fov * h / w * HT_PI / 180.0); + const float focal_length_w = 0.5 * w / tan(0.5 * fov * HT_PI / 180); + const float focal_length_h = 0.5 * h / tan(0.5 * fov * h / w * HT_PI / 180.0); cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1); intrinsics.at (0, 0) = focal_length_w; diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index cbd9f531..77f794b9 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -217,8 +217,8 @@ void Tracker::run() const int scale = frame.cols > 480 ? 2 : 1; detector.setThresholdParams(scale > 1 ? 11 : 7, 4); - const float focal_length_w = 0.5 * grayscale.cols / tan(s.fov * HT_PI / 180); - const float focal_length_h = 0.5 * grayscale.rows / tan(s.fov * grayscale.rows / grayscale.cols * HT_PI / 180.0); + const float focal_length_w = 0.5 * grayscale.cols / tan(0.5 * s.fov * HT_PI / 180); + const float focal_length_h = 0.5 * grayscale.rows / tan(0.5 * s.fov * grayscale.rows / grayscale.cols * HT_PI / 180.0); cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1); intrinsics.at (0, 0) = focal_length_w; intrinsics.at (1, 1) = focal_length_h; @@ -286,7 +286,7 @@ void Tracker::run() cv::TermCriteria(cv::TermCriteria::MAX_ITER | cv::TermCriteria::EPS, 20, 1e-2)); - const float size = 7; + const float size = 3.5; const double p = s.marker_pitch; const double sq = sin(p * HT_PI / 180); -- cgit v1.2.3 From b83a47cb32443981ce9998b2015f7d310fb72821 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 12 Jan 2014 19:49:57 +0100 Subject: Revert "correct focal length equation" This reverts commit 4312ef4098a449d38209c4f20ed573e9deb1713c. --- FTNoIR_Tracker_PT/point_tracker.cpp | 4 ++-- FTNoIR_Tracker_PT/point_tracker.h | 4 ++-- ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 6 +++--- 3 files changed, 7 insertions(+), 7 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index 885b327a..96d9d972 100644 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -250,8 +250,8 @@ void PointTracker::POSIT(float fov, int w, int h) const float HT_PI = 3.1415926535; - const float focal_length_w = 0.5 * w / tan(0.5 * fov * HT_PI / 180); - const float focal_length_h = 0.5 * h / tan(0.5 * fov * h / w * HT_PI / 180.0); + const float focal_length_w = 0.5 * w / tan(fov * HT_PI / 180); + const float focal_length_h = 0.5 * h / tan(fov * h / w * HT_PI / 180.0); cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1); intrinsics.at (0, 0) = focal_length_w; diff --git a/FTNoIR_Tracker_PT/point_tracker.h b/FTNoIR_Tracker_PT/point_tracker.h index 69eb9bba..741d5af4 100644 --- a/FTNoIR_Tracker_PT/point_tracker.h +++ b/FTNoIR_Tracker_PT/point_tracker.h @@ -104,8 +104,8 @@ protected: if (!rvec.empty() && !tvec.empty() && fov > 0) { const float HT_PI = 3.1415926535; - const float focal_length_w = 0.5 * w / tan(0.5 * fov * HT_PI / 180); - const float focal_length_h = 0.5 * h / tan(0.5 * fov * h / w * HT_PI / 180.0); + const float focal_length_w = 0.5 * w / tan(fov * HT_PI / 180); + const float focal_length_h = 0.5 * h / tan(fov * h / w * HT_PI / 180.0); cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1); intrinsics.at (0, 0) = focal_length_w; diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index 9d484775..fc641ef1 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -217,8 +217,8 @@ void Tracker::run() const int scale = frame.cols > 480 ? 2 : 1; detector.setThresholdParams(scale > 1 ? 11 : 7, 4); - const float focal_length_w = 0.5 * grayscale.cols / tan(0.5 * s.fov * HT_PI / 180); - const float focal_length_h = 0.5 * grayscale.rows / tan(0.5 * s.fov * grayscale.rows / grayscale.cols * HT_PI / 180.0); + const float focal_length_w = 0.5 * grayscale.cols / tan(s.fov * HT_PI / 180); + const float focal_length_h = 0.5 * grayscale.rows / tan(s.fov * grayscale.rows / grayscale.cols * HT_PI / 180.0); cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1); intrinsics.at (0, 0) = focal_length_w; intrinsics.at (1, 1) = focal_length_h; @@ -286,7 +286,7 @@ void Tracker::run() cv::TermCriteria(cv::TermCriteria::MAX_ITER | cv::TermCriteria::EPS, 20, 1e-2)); - const float size = 3.5; + const float size = 7; const double p = s.marker_pitch; const double sq = sin(p * HT_PI / 180); -- cgit v1.2.3 From 488198a4b440936a7fb7fc90c5527a32a0f0b249 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 12 Jan 2014 19:50:00 +0100 Subject: Revert "FINALLY fix d_order -> image pos" This reverts commit 4bfda0171465193476cebb03373ae165ab9e67ab. --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 3 ++- FTNoIR_Tracker_PT/point_tracker.cpp | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index c949b8d0..102f62ee 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -85,7 +85,8 @@ void Tracker::run() const std::vector& points = point_extractor.extract_points(frame, dt, true); for (auto p : points) { - auto p2 = cv::Point(p[0] * frame.cols + frame.cols/2, -p[1] * frame.cols + frame.rows/2); + auto p2 = cv::Point(p[0] * frame.cols + frame.cols/2, + -p[1] * frame.cols + frame.rows/2); cv::Scalar color(0, 255, 0); cv::line(frame, cv::Point(p2.x - 20, p2.y), diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index 96d9d972..faac9963 100644 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -244,7 +244,7 @@ void PointTracker::POSIT(float fov, int w, int h) for (int i = 0; i < 3; i++) { - auto p2 = cv::Point(p[i][0] * w + w/2, -p[i][1] * w + h/2); + auto p2 = cv::Point(p[i][0] * w + w/2, -p[i][1] * h + w/2); img_points.push_back(p2); } -- cgit v1.2.3 From fcda9735bf3df5b43286cbd340f4c85de9228323 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 12 Jan 2014 19:50:03 +0100 Subject: Revert "remove forgotten debug code" This reverts commit c2bd0204f1cc9f68d0a43581aa6a767959d92ed0. --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 1 + 1 file changed, 1 insertion(+) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index 102f62ee..9f74127f 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -88,6 +88,7 @@ void Tracker::run() auto p2 = cv::Point(p[0] * frame.cols + frame.cols/2, -p[1] * frame.cols + frame.rows/2); cv::Scalar color(0, 255, 0); + qDebug() << p2.x << p2.y; cv::line(frame, cv::Point(p2.x - 20, p2.y), cv::Point(p2.x + 20, p2.y), -- cgit v1.2.3 From f281ba0224b31eec31469372b3cbc27706a9b381 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 12 Jan 2014 19:50:03 +0100 Subject: Revert "use correct scale for point coords" This reverts commit 3ea8dbeb7574e7a61388adcc3a9fd722798504fe. --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 2 +- FTNoIR_Tracker_PT/point_tracker.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index 9f74127f..c94fa3ff 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -86,7 +86,7 @@ void Tracker::run() for (auto p : points) { auto p2 = cv::Point(p[0] * frame.cols + frame.cols/2, - -p[1] * frame.cols + frame.rows/2); + p[1] * frame.rows + frame.rows/2); cv::Scalar color(0, 255, 0); qDebug() << p2.x << p2.y; cv::line(frame, diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index faac9963..69d46645 100644 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -244,7 +244,7 @@ void PointTracker::POSIT(float fov, int w, int h) for (int i = 0; i < 3; i++) { - auto p2 = cv::Point(p[i][0] * w + w/2, -p[i][1] * h + w/2); + auto p2 = cv::Point(p[i][0] * w + w/2, p[i][1] * h + h/2); img_points.push_back(p2); } -- cgit v1.2.3 From 74b4bd09a8b70ceeec59a96b50bd36b3ebfa1237 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 12 Jan 2014 19:50:05 +0100 Subject: Revert "use proper scale for translation" This reverts commit efe0a4ae5985fbbbca6ae86c40c61d87d4aa6bae. --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index c94fa3ff..b4100998 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -218,9 +218,9 @@ void Tracker::GetHeadPoseData(THeadPoseData *data) Vec3f t = X_GH.t - X_GH_0.t; // get translation(s) - if (s.bEnableX) data[TX] = t[0]; // convert to cm - if (s.bEnableY) data[TY] = t[1]; - if (s.bEnableZ) data[TZ] = t[2]; + if (s.bEnableX) data[TX] = t[0] / 10.0; // convert to cm + if (s.bEnableY) data[TY] = t[1] / 10.0; + if (s.bEnableZ) data[TZ] = t[2] / 10.0; // translate rotation matrix from opengl (G) to roll-pitch-yaw (E) frame // -z -> x, y -> z, x -> -y -- cgit v1.2.3 From 4e4e72f6c9c2c133f050c04c4f9117aebfd1ee4b Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 12 Jan 2014 19:50:05 +0100 Subject: Revert "reset levmarq internal state on reset (duh)" This reverts commit 476b4fd96effe8108ad65930bb90cb2a4bed2216. --- FTNoIR_Tracker_PT/point_tracker.cpp | 2 -- 1 file changed, 2 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index 69d46645..2dd89aed 100644 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -104,8 +104,6 @@ void PointTracker::reset() // assume identity rotation again X_CM.R = cv::Matx33f::eye(); X_CM.t = cv::Vec3f(0, 0, 1); - rvec = Mat(); - tvec = Mat(); } void PointTracker::reset_velocities() -- cgit v1.2.3 From 421f63c8ff3d434fec8a93e38e9178cdb3c593c6 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 12 Jan 2014 19:50:06 +0100 Subject: Revert "fix translation estimation" This reverts commit 5cf25c6d0e524d21ea3eb9691f922b8c9b2fd73d. --- FTNoIR_Tracker_PT/point_tracker.cpp | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index 2dd89aed..a881da62 100644 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -240,11 +240,9 @@ void PointTracker::POSIT(float fov, int w, int h) obj_points.push_back(point_model->M01); obj_points.push_back(point_model->M02); - for (int i = 0; i < 3; i++) - { - auto p2 = cv::Point(p[i][0] * w + w/2, p[i][1] * h + h/2); - img_points.push_back(p2); - } + img_points.push_back(p[0]); + img_points.push_back(p[1]); + img_points.push_back(p[2]); const float HT_PI = 3.1415926535; -- cgit v1.2.3 From 0d2a44867c9f5c31789152e8f5735dc85987554e Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 12 Jan 2014 19:50:07 +0100 Subject: Revert "display extracted points' centers" This reverts commit cfbcc6b5dba563b3d4d41a82aa990445730b0528. --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 17 ----------------- 1 file changed, 17 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index b4100998..83bf6911 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -83,23 +83,6 @@ void Tracker::run() { frame = frame_rotation.rotate_frame(frame); const std::vector& points = point_extractor.extract_points(frame, dt, true); - for (auto p : points) - { - auto p2 = cv::Point(p[0] * frame.cols + frame.cols/2, - p[1] * frame.rows + frame.rows/2); - cv::Scalar color(0, 255, 0); - qDebug() << p2.x << p2.y; - cv::line(frame, - cv::Point(p2.x - 20, p2.y), - cv::Point(p2.x + 20, p2.y), - color, - 4); - cv::line(frame, - cv::Point(p2.x, p2.y - 20), - cv::Point(p2.x, p2.y + 20), - color, - 4); - } tracking_valid = point_tracker.track(points, camera.get_info().fov, dt, frame.cols, frame.rows); video_widget->update_image(frame); } -- cgit v1.2.3 From 302dfd055bd368752216701a0d0e963d5bf6d3e9 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 12 Jan 2014 19:53:59 +0100 Subject: Revert "remove hack of passing fov/w/h as member vars" This reverts commit 6e1610667fb33517299997e628652fd91380e762. --- FTNoIR_Tracker_PT/point_tracker.cpp | 19 +++++++++++++------ FTNoIR_Tracker_PT/point_tracker.h | 8 ++++++-- 2 files changed, 19 insertions(+), 8 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index a881da62..cce327e9 100644 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -91,7 +91,10 @@ PointTracker::PointTracker() dt_reset(1), v_t(0,0,0), v_r(0,0,0), - dynamic_pose_resolution(true) + dynamic_pose_resolution(true), + fov(0), + _w(0), + _h(0) { } @@ -141,7 +144,7 @@ bool PointTracker::track(const vector& points, float fov, float dt, int w predict(dt_valid); // if there is a point correspondence problem something has gone wrong, do a reset - if (!find_correspondences(points, fov, w, h)) + if (!find_correspondences(points)) { //qDebug()<<"Error in finding point correspondences!"; X_CM = X_CM_old; // undo prediction @@ -178,7 +181,7 @@ void PointTracker::update_velocities(float dt) v_t = (X_CM.t - X_CM_old.t)/dt; } -bool PointTracker::find_correspondences(const vector& points, float fov, int w, int h) +bool PointTracker::find_correspondences(const vector& points) { if (init_phase) { // We do a simple freetrack-like sorting in the init phase... @@ -195,9 +198,9 @@ bool PointTracker::find_correspondences(const vector& points, float fov, else { // ... otherwise we look at the distance to the projection of the expected model points // project model points under current pose - p_exp[0] = project(Vec3f(0,0,0), fov, w, h); - p_exp[1] = project(point_model->M01, fov, w, h); - p_exp[2] = project(point_model->M02, fov, w, h); + p_exp[0] = project(Vec3f(0,0,0)); + p_exp[1] = project(point_model->M01); + p_exp[2] = project(point_model->M02); // set correspondences by minimum distance to projected model point bool point_taken[PointModel::N_POINTS]; @@ -233,6 +236,10 @@ bool PointTracker::find_correspondences(const vector& points, float fov, void PointTracker::POSIT(float fov, int w, int h) { + // XXX hack + this->fov = fov; + _w = w; + _h = h; std::vector obj_points; std::vector img_points; diff --git a/FTNoIR_Tracker_PT/point_tracker.h b/FTNoIR_Tracker_PT/point_tracker.h index 741d5af4..ac43489e 100644 --- a/FTNoIR_Tracker_PT/point_tracker.h +++ b/FTNoIR_Tracker_PT/point_tracker.h @@ -98,12 +98,16 @@ public: FrameTrafo get_pose() const { return X_CM; } void reset(); + float fov; + int _w, _h; + protected: - cv::Vec2f project(const cv::Vec3f& v_M, float fov, int w, int h) + cv::Vec2f project(const cv::Vec3f& v_M) { if (!rvec.empty() && !tvec.empty() && fov > 0) { const float HT_PI = 3.1415926535; + const int w = _w, h = _h; const float focal_length_w = 0.5 * w / tan(fov * HT_PI / 180); const float focal_length_h = 0.5 * h / tan(fov * h / w * HT_PI / 180.0); @@ -122,7 +126,7 @@ protected: return cv::Vec2f(); } - bool find_correspondences(const std::vector& points, float fov, int w, int h); + bool find_correspondences(const std::vector& points); cv::Vec2f p[PointModel::N_POINTS]; // the points in model order cv::Vec2f p_exp[PointModel::N_POINTS]; // the expected point positions -- cgit v1.2.3 From 7a7f7e70a6f104c5838b162f4d28afa6a8ae1d5f Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 12 Jan 2014 19:54:00 +0100 Subject: Revert "remove an outdated comment" This reverts commit 7be138a8ece3cd90e0cbca0b30e812d0a19d10c6. --- FTNoIR_Tracker_PT/point_tracker.cpp | 1 + 1 file changed, 1 insertion(+) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index cce327e9..c0221909 100644 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -152,6 +152,7 @@ bool PointTracker::track(const vector& points, float fov, float dt, int w return false; } + // XXX TODO fov POSIT(fov, w, h); //qDebug()<<"Number of POSIT iterations: "< Date: Sun, 12 Jan 2014 19:54:01 +0100 Subject: Revert "don't touch tvec scale" This reverts commit 69bc6490911f062c7eb72ff73431bfe7381034fd. --- FTNoIR_Tracker_PT/point_tracker.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index c0221909..9f0fb59e 100644 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -290,7 +290,7 @@ void PointTracker::POSIT(float fov, int w, int h) // apply results for (int i = 0; i < 3; i++) { - X_CM.t[i] = tvec.at(i); + X_CM.t[i] = tvec.at(i) * 1e-2; for (int j = 0; j < 3; j++) X_CM.R(i, j) = rmat.at(i, j); } -- cgit v1.2.3 From 80c43ba62517d1228423f9d1992999edda612616 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 12 Jan 2014 19:54:02 +0100 Subject: Revert "fix crash due to mismatched float/double" This reverts commit 9fc8e2da02f2e5c2295199826e408cc026d6eae6. --- FTNoIR_Tracker_PT/point_tracker.cpp | 11 ++++------- FTNoIR_Tracker_PT/point_tracker.h | 14 +++++++------- FTNoIR_Tracker_PT/trans_calib.cpp | 4 ++-- 3 files changed, 13 insertions(+), 16 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index 9f0fb59e..263be43a 100644 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -105,8 +105,8 @@ void PointTracker::reset() dt_valid = 0; reset_velocities(); // assume identity rotation again - X_CM.R = cv::Matx33f::eye(); - X_CM.t = cv::Vec3f(0, 0, 1); + X_CM.R = cv::Matx33d::eye(); + X_CM.t = cv::Vec3f(); } void PointTracker::reset_velocities() @@ -168,7 +168,7 @@ bool PointTracker::track(const vector& points, float fov, float dt, int w void PointTracker::predict(float dt) { // predict with constant velocity - Matx33f R; + Matx33d R; Rodrigues(dt*v_r, R); X_CM.R = R*X_CM.R; X_CM.t += dt * v_t; @@ -273,10 +273,7 @@ void PointTracker::POSIT(float fov, int w, int h) cv::Rodrigues(rvec, rmat); // finally, find the closer solution - cv::Mat expected(3, 3, CV_64FC1); - for (int i = 0; i < 3; i++) - for (int j = 0; j < 3; j++) - expected.at(i, j) = X_CM.R(i, j); + cv::Mat expected = cv::Mat(X_CM.R); cv::Mat eye = cv::Mat::eye(3, 3, CV_64FC1); double dev1 = norm(eye - expected * rmat.t()); double dev2 = norm(eye - expected * rmat); diff --git a/FTNoIR_Tracker_PT/point_tracker.h b/FTNoIR_Tracker_PT/point_tracker.h index ac43489e..823d75c0 100644 --- a/FTNoIR_Tracker_PT/point_tracker.h +++ b/FTNoIR_Tracker_PT/point_tracker.h @@ -21,11 +21,11 @@ class FrameTrafo { public: - FrameTrafo() : R(cv::Matx33f::eye()), t(0,0,0) {} - FrameTrafo(const cv::Matx33f& R, const cv::Vec3f& t) : R(R),t(t) {} + FrameTrafo() : R(cv::Matx33d::eye()), t(0,0,0) {} + FrameTrafo(const cv::Matx33d& R, const cv::Vec3d& t) : R(R),t(t) {} - cv::Matx33f R; - cv::Vec3f t; + cv::Matx33d R; + cv::Vec3d t; }; inline FrameTrafo operator*(const FrameTrafo& X, const FrameTrafo& Y) @@ -33,17 +33,17 @@ inline FrameTrafo operator*(const FrameTrafo& X, const FrameTrafo& Y) return FrameTrafo(X.R*Y.R, X.R*Y.t + X.t); } -inline FrameTrafo operator*(const cv::Matx33f& X, const FrameTrafo& Y) +inline FrameTrafo operator*(const cv::Matx33d& X, const FrameTrafo& Y) { return FrameTrafo(X*Y.R, X*Y.t); } -inline FrameTrafo operator*(const FrameTrafo& X, const cv::Matx33f& Y) +inline FrameTrafo operator*(const FrameTrafo& X, const cv::Matx33d& Y) { return FrameTrafo(X.R*Y, X.t); } -inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3f& v) +inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3d& v) { return X.R*v + X.t; } diff --git a/FTNoIR_Tracker_PT/trans_calib.cpp b/FTNoIR_Tracker_PT/trans_calib.cpp index b2e0ead0..9b75a1b6 100644 --- a/FTNoIR_Tracker_PT/trans_calib.cpp +++ b/FTNoIR_Tracker_PT/trans_calib.cpp @@ -40,5 +40,5 @@ void TranslationCalibrator::update(const Matx33f& R_CM_k, const Vec3f& t_CM_k) Vec3f TranslationCalibrator::get_estimate() { Vec6f x = P.inv() * y; - return Vec3f(-x[0], -x[1], -x[2]); -} + return Vec3f(-x[0], -x[1], -x[2]); +} \ No newline at end of file -- cgit v1.2.3 From 9d21e7d23fa17b91fb76a14d90630b027b78c2c8 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 12 Jan 2014 19:54:03 +0100 Subject: Revert "buffer flush" This reverts commit 0f6a0d8b20aa1d7415f6d0596f91ea9b766ecf69. --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 30 ++++++++++++++++-------------- FTNoIR_Tracker_PT/point_tracker.cpp | 33 +++++++++------------------------ FTNoIR_Tracker_PT/point_tracker.h | 18 +++++++++--------- 3 files changed, 34 insertions(+), 47 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index 83bf6911..740cf3da 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -82,8 +82,8 @@ void Tracker::run() if (new_frame && !frame.empty()) { frame = frame_rotation.rotate_frame(frame); - const std::vector& points = point_extractor.extract_points(frame, dt, true); - tracking_valid = point_tracker.track(points, camera.get_info().fov, dt, frame.cols, frame.rows); + const std::vector& points = point_extractor.extract_points(frame, dt, false); + tracking_valid = point_tracker.track(points, camera.get_info().fov, dt, frame.cols, frame.rows, t_MH); video_widget->update_image(frame); } #ifdef PT_PERF_LOG @@ -118,13 +118,15 @@ void Tracker::apply(settings& s) point_tracker.dt_reset = s.reset_time / 1000.0; t_MH = cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z); R_GC = Matx33f( cos(deg2rad*s.cam_yaw), 0, sin(deg2rad*s.cam_yaw), - 0, 1, 0, - -sin(deg2rad*s.cam_yaw), 0, cos(deg2rad*s.cam_yaw)); - R_GC = R_GC * Matx33f( 1, 0, 0, + 0, 1, 0, + -sin(deg2rad*s.cam_yaw), 0, cos(deg2rad*s.cam_yaw)); + R_GC = R_GC * Matx33f( 1, 0, 0, 0, cos(deg2rad*s.cam_pitch), sin(deg2rad*s.cam_pitch), 0, -sin(deg2rad*s.cam_pitch), cos(deg2rad*s.cam_pitch)); - FrameTrafo X_MH(Matx33f::eye(), t_MH); - X_GH_0 = R_GC * X_MH; + + FrameTrafo X_MH(Matx33f::eye(), t_MH); + X_GH_0 = R_GC * X_MH; + qDebug()<<"Tracker::apply ends"; } @@ -137,10 +139,10 @@ void Tracker::reset() void Tracker::center() { point_tracker.reset(); // we also do a reset here since there is no reset shortkey yet - QMutexLocker lock(&mutex); - FrameTrafo X_CM_0 = point_tracker.get_pose(); - FrameTrafo X_MH(Matx33f::eye(), t_MH); - X_GH_0 = R_GC * X_CM_0 * X_MH; + QMutexLocker lock(&mutex); + FrameTrafo X_CM_0 = point_tracker.get_pose(); + FrameTrafo X_MH(Matx33f::eye(), t_MH); + X_GH_0 = R_GC * X_CM_0 * X_MH; } bool Tracker::get_frame_and_points(cv::Mat& frame_copy, boost::shared_ptr< std::vector >& points) @@ -195,10 +197,10 @@ void Tracker::GetHeadPoseData(THeadPoseData *data) if (!tracking_valid) return; FrameTrafo X_CM = point_tracker.get_pose(); - FrameTrafo X_MH(Matx33f::eye(), t_MH); - FrameTrafo X_GH = R_GC * X_CM * X_MH; + FrameTrafo X_MH(Matx33f::eye(), t_MH); + FrameTrafo X_GH = R_GC * X_CM * X_MH; Matx33f R = X_GH.R * X_GH_0.R.t(); - Vec3f t = X_GH.t - X_GH_0.t; + Vec3f t = X_GH.t - X_GH_0.t; // get translation(s) if (s.bEnableX) data[TX] = t[0] / 10.0; // convert to cm diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index 263be43a..1df70b17 100644 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -104,9 +104,6 @@ void PointTracker::reset() init_phase = true; dt_valid = 0; reset_velocities(); - // assume identity rotation again - X_CM.R = cv::Matx33d::eye(); - X_CM.t = cv::Vec3f(); } void PointTracker::reset_velocities() @@ -116,7 +113,7 @@ void PointTracker::reset_velocities() } -bool PointTracker::track(const vector& points, float fov, float dt, int w, int h) +bool PointTracker::track(const vector& points, float fov, float dt, int w, int h, const cv::Vec3f& headpos) { if (!dynamic_pose_resolution) init_phase = true; @@ -153,7 +150,7 @@ bool PointTracker::track(const vector& points, float fov, float dt, int w } // XXX TODO fov - POSIT(fov, w, h); + POSIT(fov, w, h, headpos); //qDebug()<<"Number of POSIT iterations: "<& points, float fov, float dt, int w void PointTracker::predict(float dt) { // predict with constant velocity - Matx33d R; + Matx33f R; Rodrigues(dt*v_r, R); X_CM.R = R*X_CM.R; X_CM.t += dt * v_t; @@ -235,7 +232,7 @@ bool PointTracker::find_correspondences(const vector& points) -void PointTracker::POSIT(float fov, int w, int h) +void PointTracker::POSIT(float fov, int w, int h, const cv::Vec3f& headpos) { // XXX hack this->fov = fov; @@ -244,9 +241,9 @@ void PointTracker::POSIT(float fov, int w, int h) std::vector obj_points; std::vector img_points; - obj_points.push_back(cv::Vec3f(0, 0, 0)); - obj_points.push_back(point_model->M01); - obj_points.push_back(point_model->M02); + obj_points.push_back(headpos); + obj_points.push_back(point_model->M01 + headpos); + obj_points.push_back(point_model->M02 + headpos); img_points.push_back(p[0]); img_points.push_back(p[1]); @@ -265,29 +262,17 @@ void PointTracker::POSIT(float fov, int w, int h) cv::Mat dist_coeffs = cv::Mat::zeros(5, 1, CV_32FC1); - bool lastp = !rvec.empty() && !tvec.empty(); + bool lastp = !rvec.empty() && !tvec.empty() && !init_phase; cv::solvePnP(obj_points, img_points, intrinsics, dist_coeffs, rvec, tvec, lastp, cv::ITERATIVE); cv::Mat rmat; cv::Rodrigues(rvec, rmat); - // finally, find the closer solution - cv::Mat expected = cv::Mat(X_CM.R); - cv::Mat eye = cv::Mat::eye(3, 3, CV_64FC1); - double dev1 = norm(eye - expected * rmat.t()); - double dev2 = norm(eye - expected * rmat); - - if (dev1 > dev2) - { - rmat = rmat.t(); - cv::Rodrigues(rmat, rvec); - } - // apply results for (int i = 0; i < 3; i++) { - X_CM.t[i] = tvec.at(i) * 1e-2; + X_CM.t[i] = tvec.at(i); for (int j = 0; j < 3; j++) X_CM.R(i, j) = rmat.at(i, j); } diff --git a/FTNoIR_Tracker_PT/point_tracker.h b/FTNoIR_Tracker_PT/point_tracker.h index 823d75c0..e05e8f98 100644 --- a/FTNoIR_Tracker_PT/point_tracker.h +++ b/FTNoIR_Tracker_PT/point_tracker.h @@ -21,11 +21,11 @@ class FrameTrafo { public: - FrameTrafo() : R(cv::Matx33d::eye()), t(0,0,0) {} - FrameTrafo(const cv::Matx33d& R, const cv::Vec3d& t) : R(R),t(t) {} + FrameTrafo() : R(cv::Matx33f::eye()), t(0,0,0) {} + FrameTrafo(const cv::Matx33f& R, const cv::Vec3f& t) : R(R),t(t) {} - cv::Matx33d R; - cv::Vec3d t; + cv::Matx33f R; + cv::Vec3f t; }; inline FrameTrafo operator*(const FrameTrafo& X, const FrameTrafo& Y) @@ -33,17 +33,17 @@ inline FrameTrafo operator*(const FrameTrafo& X, const FrameTrafo& Y) return FrameTrafo(X.R*Y.R, X.R*Y.t + X.t); } -inline FrameTrafo operator*(const cv::Matx33d& X, const FrameTrafo& Y) +inline FrameTrafo operator*(const cv::Matx33f& X, const FrameTrafo& Y) { return FrameTrafo(X*Y.R, X*Y.t); } -inline FrameTrafo operator*(const FrameTrafo& X, const cv::Matx33d& Y) +inline FrameTrafo operator*(const FrameTrafo& X, const cv::Matx33f& Y) { return FrameTrafo(X.R*Y, X.t); } -inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3d& v) +inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3f& v) { return X.R*v + X.t; } @@ -90,7 +90,7 @@ public: // track the pose using the set of normalized point coordinates (x pos in range -0.5:0.5) // f : (focal length)/(sensor width) // dt : time since last call - bool track(const std::vector& points, float fov, float dt, int w, int h); + bool track(const std::vector& points, float fov, float dt, int w, int h, const cv::Vec3f &headpos); boost::shared_ptr point_model; bool dynamic_pose_resolution; @@ -136,7 +136,7 @@ protected: void reset_velocities(); - void POSIT(float fov, int w, int h); // The POSIT algorithm, returns the number of iterations + void POSIT(float fov, int w, int h, const cv::Vec3f &headpos); // The POSIT algorithm, returns the number of iterations bool init_phase; float dt_valid; // time since last valid tracking result -- cgit v1.2.3 From 689c297be28e2f5050e234bdc69594c53166f194 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 12 Jan 2014 19:54:04 +0100 Subject: Revert "use levmarq instead of coplanar POSIT implemented in numerically unstable fashion" This reverts commit 0bc59a0a7a42bcf65ebf3814e5f25fb17d735faa. --- FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui | 13 +- FTNoIR_Tracker_PT/camera.cpp | 8 +- FTNoIR_Tracker_PT/camera.h | 6 +- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 4 +- FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp | 2 +- FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h | 4 +- FTNoIR_Tracker_PT/point_tracker.cpp | 191 +++++++++++++++++++------ FTNoIR_Tracker_PT/point_tracker.h | 33 +---- 8 files changed, 169 insertions(+), 92 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui index 461253cf..bdbed955 100644 --- a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui +++ b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui @@ -515,26 +515,23 @@ - FOV + F/W - fov_dspin + f_dspin - + The camera's focal length devided by its sensor width 2 - - 1.000000000000000 - - 1.000000000000000 + 0.100000000000000 @@ -1736,7 +1733,7 @@ res_x_spin res_y_spin fps_spin - fov_dspin + f_dspin camroll_combo campitch_spin camyaw_spin diff --git a/FTNoIR_Tracker_PT/camera.cpp b/FTNoIR_Tracker_PT/camera.cpp index 8986be60..754533c5 100644 --- a/FTNoIR_Tracker_PT/camera.cpp +++ b/FTNoIR_Tracker_PT/camera.cpp @@ -108,11 +108,11 @@ void Camera::set_device_index(int index) } } -void Camera::set_fov(float f) +void Camera::set_f(float f) { - if (cam_desired.fov != f) + if (cam_desired.f != f) { - cam_desired.fov = f; + cam_desired.f = f; _set_f(); } } @@ -208,7 +208,7 @@ void CVCamera::_set_index() void CVCamera::_set_f() { - cam_info.fov = cam_desired.fov; + cam_info.f = cam_desired.f; } void CVCamera::_set_fps() diff --git a/FTNoIR_Tracker_PT/camera.h b/FTNoIR_Tracker_PT/camera.h index 6768e419..ea68c387 100644 --- a/FTNoIR_Tracker_PT/camera.h +++ b/FTNoIR_Tracker_PT/camera.h @@ -25,12 +25,12 @@ void get_camera_device_names(std::vector& device_names); // ---------------------------------------------------------------------------- struct CamInfo { - CamInfo() : res_x(0), res_y(0), fps(0), fov(56) {} + CamInfo() : res_x(0), res_y(0), fps(0), f(1) {} int res_x; int res_y; int fps; - float fov; + float f; // (focal length) / (sensor width) }; // ---------------------------------------------------------------------------- @@ -48,7 +48,7 @@ public: // calls corresponding template methods and reinitializes frame rate calculation void set_device_index(int index); - void set_fov(float f); + void set_f(float f); void set_fps(int fps); void set_res(int x_res, int y_res); diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index 740cf3da..53d9c9e4 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -83,7 +83,7 @@ void Tracker::run() { frame = frame_rotation.rotate_frame(frame); const std::vector& points = point_extractor.extract_points(frame, dt, false); - tracking_valid = point_tracker.track(points, camera.get_info().fov, dt, frame.cols, frame.rows, t_MH); + tracking_valid = point_tracker.track(points, camera.get_info().f, dt); video_widget->update_image(frame); } #ifdef PT_PERF_LOG @@ -103,7 +103,7 @@ void Tracker::apply(settings& s) camera.set_device_index(s.cam_index); camera.set_res(s.cam_res_x, s.cam_res_y); camera.set_fps(s.cam_fps); - camera.set_fov(s.cam_fov); + camera.set_f(s.cam_f); frame_rotation.rotation = static_cast(static_cast(s.cam_roll)); point_extractor.threshold_val = s.threshold; point_extractor.threshold_secondary_val = s.threshold_secondary; diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp index 4ae20f48..c103b78c 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_dialog.cpp @@ -46,7 +46,7 @@ TrackerDialog::TrackerDialog() tie_setting(s.reset_time, ui.reset_spin); tie_setting(s.cam_index, ui.camdevice_combo); - tie_setting(s.cam_fov, ui.fov_dspin); + tie_setting(s.cam_f, ui.f_dspin); 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); diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h index b2ab8854..109090b3 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt_settings.h @@ -28,7 +28,7 @@ struct settings threshold_secondary, min_point_size, max_point_size; - value cam_fov; + value cam_f; value m01_x, m01_y, m01_z; value m02_x, m02_y, m02_z; @@ -57,7 +57,7 @@ struct settings threshold_secondary(b, "threshold-secondary", 128), min_point_size(b, "min-point-size", 10), max_point_size(b, "max-point-size", 50), - cam_fov(b, "camera-fov", 56), + cam_f(b, "camera-focal-length", 1), m01_x(b, "m_01-x", 0), m01_y(b, "m_01-y", 0), m01_z(b, "m_01-z", 0), diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index 1df70b17..dfefdaf8 100644 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -17,6 +17,23 @@ using namespace cv; using namespace boost; using namespace std; +const float PI = 3.14159265358979323846f; + +// ---------------------------------------------------------------------------- +static void get_row(const Matx33f& m, int i, Vec3f& v) +{ + v[0] = m(i,0); + v[1] = m(i,1); + v[2] = m(i,2); +} + +static void set_row(Matx33f& m, int i, const Vec3f& v) +{ + m(i,0) = v[0]; + m(i,1) = v[1]; + m(i,2) = v[2]; +} + // ---------------------------------------------------------------------------- PointModel::PointModel(Vec3f M01, Vec3f M02) : M01(M01), @@ -91,11 +108,9 @@ PointTracker::PointTracker() dt_reset(1), v_t(0,0,0), v_r(0,0,0), - dynamic_pose_resolution(true), - fov(0), - _w(0), - _h(0) + dynamic_pose_resolution(true) { + X_CM.t[2] = 1000; // default position: 1 m away from cam; } void PointTracker::reset() @@ -113,7 +128,7 @@ void PointTracker::reset_velocities() } -bool PointTracker::track(const vector& points, float fov, float dt, int w, int h, const cv::Vec3f& headpos) +bool PointTracker::track(const vector& points, float f, float dt) { if (!dynamic_pose_resolution) init_phase = true; @@ -125,7 +140,12 @@ bool PointTracker::track(const vector& points, float fov, float dt, int w reset(); } - bool no_model = !point_model; + bool no_model = +#ifdef OPENTRACK_API + point_model.get() == NULL; +#else + !point_model; +#endif // if there is a pointtracking problem, reset the velocities if (no_model || points.size() != PointModel::N_POINTS) @@ -141,7 +161,7 @@ bool PointTracker::track(const vector& points, float fov, float dt, int w predict(dt_valid); // if there is a point correspondence problem something has gone wrong, do a reset - if (!find_correspondences(points)) + if (!find_correspondences(points, f)) { //qDebug()<<"Error in finding point correspondences!"; X_CM = X_CM_old; // undo prediction @@ -149,8 +169,7 @@ bool PointTracker::track(const vector& points, float fov, float dt, int w return false; } - // XXX TODO fov - POSIT(fov, w, h, headpos); + int n_iter = POSIT(f); //qDebug()<<"Number of POSIT iterations: "<& points) +bool PointTracker::find_correspondences(const vector& points, float f) { if (init_phase) { // We do a simple freetrack-like sorting in the init phase... @@ -196,9 +215,9 @@ bool PointTracker::find_correspondences(const vector& points) else { // ... otherwise we look at the distance to the projection of the expected model points // project model points under current pose - p_exp[0] = project(Vec3f(0,0,0)); - p_exp[1] = project(point_model->M01); - p_exp[2] = project(point_model->M02); + p_exp[0] = project(Vec3f(0,0,0), f); + p_exp[1] = project(point_model->M01, f); + p_exp[2] = project(point_model->M02, f); // set correspondences by minimum distance to projected model point bool point_taken[PointModel::N_POINTS]; @@ -232,48 +251,130 @@ bool PointTracker::find_correspondences(const vector& points) -void PointTracker::POSIT(float fov, int w, int h, const cv::Vec3f& headpos) +int PointTracker::POSIT(float f) { - // XXX hack - this->fov = fov; - _w = w; - _h = h; - std::vector obj_points; - std::vector img_points; + // POSIT algorithm for coplanar points as presented in + // [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"] + // we use the same notation as in the paper here + + // The expected rotation used for resolving the ambiguity in POSIT: + // In every iteration step the rotation closer to R_expected is taken + Matx33f R_expected; + if (init_phase) + R_expected = Matx33f::eye(); // in the init phase, we want to be close to the default pose = no rotation + else + R_expected = X_CM.R; // later we want to be close to the last (predicted) rotation + + // initial pose = last (predicted) pose + Vec3f k; + get_row(R_expected, 2, k); + float Z0 = init_phase ? 1000 : X_CM.t[2]; + + float old_epsilon_1 = 0; + float old_epsilon_2 = 0; + float epsilon_1 = 1; + float epsilon_2 = 1; + + Vec3f I0, J0; + Vec2f I0_coeff, J0_coeff; + + Vec3f I_1, J_1, I_2, J_2; + Matx33f R_1, R_2; + Matx33f* R_current; + + const int MAX_ITER = 100; + const float EPS_THRESHOLD = 1e-4; + + int i=1; + for (; iM01)/Z0; + epsilon_2 = k.dot(point_model->M02)/Z0; + + // vector of scalar products and + Vec2f I0_M0i(p[1][0]*(1.0 + epsilon_1) - p[0][0], + p[2][0]*(1.0 + epsilon_2) - p[0][0]); + Vec2f J0_M0i(p[1][1]*(1.0 + epsilon_1) - p[0][1], + p[2][1]*(1.0 + epsilon_2) - p[0][1]); + + // construct projection of I, J onto M0i plane: I0 and J0 + I0_coeff = point_model->P * I0_M0i; + J0_coeff = point_model->P * J0_M0i; + I0 = I0_coeff[0]*point_model->M01 + I0_coeff[1]*point_model->M02; + J0 = J0_coeff[0]*point_model->M01 + J0_coeff[1]*point_model->M02; + + // calculate u component of I, J + float II0 = I0.dot(I0); + float IJ0 = I0.dot(J0); + float JJ0 = J0.dot(J0); + float rho, theta; + if (JJ0 == II0) { + rho = sqrt(abs(2*IJ0)); + theta = -PI/4; + if (IJ0<0) theta *= -1; + } + else { + rho = sqrt(sqrt( (JJ0-II0)*(JJ0-II0) + 4*IJ0*IJ0 )); + theta = atan( -2*IJ0 / (JJ0-II0) ); + if (JJ0 - II0 < 0) theta += PI; + theta /= 2; + } - obj_points.push_back(headpos); - obj_points.push_back(point_model->M01 + headpos); - obj_points.push_back(point_model->M02 + headpos); + // construct the two solutions + I_1 = I0 + rho*cos(theta)*point_model->u; + I_2 = I0 - rho*cos(theta)*point_model->u; - img_points.push_back(p[0]); - img_points.push_back(p[1]); - img_points.push_back(p[2]); + J_1 = J0 + rho*sin(theta)*point_model->u; + J_2 = J0 - rho*sin(theta)*point_model->u; - const float HT_PI = 3.1415926535; + float norm_const = 1.0/norm(I_1); // all have the same norm + + // create rotation matrices + I_1 *= norm_const; J_1 *= norm_const; + I_2 *= norm_const; J_2 *= norm_const; - const float focal_length_w = 0.5 * w / tan(fov * HT_PI / 180); - const float focal_length_h = 0.5 * h / tan(fov * h / w * HT_PI / 180.0); + set_row(R_1, 0, I_1); + set_row(R_1, 1, J_1); + set_row(R_1, 2, I_1.cross(J_1)); + + set_row(R_2, 0, I_2); + set_row(R_2, 1, J_2); + set_row(R_2, 2, I_2.cross(J_2)); - cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1); - intrinsics.at (0, 0) = focal_length_w; - intrinsics.at (1, 1) = focal_length_h; - intrinsics.at (0, 2) = w/2; - intrinsics.at (1, 2) = h/2; + // the single translation solution + Z0 = norm_const * f; - cv::Mat dist_coeffs = cv::Mat::zeros(5, 1, CV_32FC1); + // pick the rotation solution closer to the expected one + // in simple metric d(A,B) = || I - A * B^T || + float R_1_deviation = norm(Matx33f::eye() - R_expected * R_1.t()); + float R_2_deviation = norm(Matx33f::eye() - R_expected * R_2.t()); - bool lastp = !rvec.empty() && !tvec.empty() && !init_phase; + if (R_1_deviation < R_2_deviation) + R_current = &R_1; + else + R_current = &R_2; - cv::solvePnP(obj_points, img_points, intrinsics, dist_coeffs, rvec, tvec, lastp, cv::ITERATIVE); + get_row(*R_current, 2, k); - cv::Mat rmat; - cv::Rodrigues(rvec, rmat); + // check for convergence condition + if (abs(epsilon_1 - old_epsilon_1) + abs(epsilon_2 - old_epsilon_2) < EPS_THRESHOLD) + break; + old_epsilon_1 = epsilon_1; + old_epsilon_2 = epsilon_2; + } // apply results - for (int i = 0; i < 3; i++) - { - X_CM.t[i] = tvec.at(i); - for (int j = 0; j < 3; j++) - X_CM.R(i, j) = rmat.at(i, j); - } + X_CM.R = *R_current; + X_CM.t[0] = p[0][0] * Z0/f; + X_CM.t[1] = p[0][1] * Z0/f; + X_CM.t[2] = Z0; + + return i; + + //Rodrigues(X_CM.R, r); + //qDebug()<<"iter: "<& points, float fov, float dt, int w, int h, const cv::Vec3f &headpos); + bool track(const std::vector& points, float f, float dt); boost::shared_ptr point_model; bool dynamic_pose_resolution; @@ -98,35 +98,15 @@ public: FrameTrafo get_pose() const { return X_CM; } void reset(); - float fov; - int _w, _h; protected: - cv::Vec2f project(const cv::Vec3f& v_M) + inline cv::Vec2f project(const cv::Vec3f& v_M, float f) { - if (!rvec.empty() && !tvec.empty() && fov > 0) - { - const float HT_PI = 3.1415926535; - const int w = _w, h = _h; - const float focal_length_w = 0.5 * w / tan(fov * HT_PI / 180); - const float focal_length_h = 0.5 * h / tan(fov * h / w * HT_PI / 180.0); - - cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1); - intrinsics.at (0, 0) = focal_length_w; - intrinsics.at (1, 1) = focal_length_h; - intrinsics.at (0, 2) = w/2; - intrinsics.at (1, 2) = h/2; - std::vector xs; - xs.push_back(v_M); - cv::Mat dist_coeffs = cv::Mat::zeros(5, 1, CV_32FC1); - std::vector rets(1); - cv::projectPoints(xs, rvec, tvec, intrinsics, dist_coeffs, rets); - return rets[0]; - } - return cv::Vec2f(); + cv::Vec3f v_C = X_CM * v_M; + return cv::Vec2f(f*v_C[0]/v_C[2], f*v_C[1]/v_C[2]); } - bool find_correspondences(const std::vector& points); + bool find_correspondences(const std::vector& points, float f); cv::Vec2f p[PointModel::N_POINTS]; // the points in model order cv::Vec2f p_exp[PointModel::N_POINTS]; // the expected point positions @@ -136,7 +116,7 @@ protected: void reset_velocities(); - void POSIT(float fov, int w, int h, const cv::Vec3f &headpos); // The POSIT algorithm, returns the number of iterations + int POSIT(float f); // The POSIT algorithm, returns the number of iterations bool init_phase; float dt_valid; // time since last valid tracking result @@ -144,7 +124,6 @@ protected: cv::Vec3f v_r; FrameTrafo X_CM; // trafo from model to camera FrameTrafo X_CM_old; - cv::Mat rvec, tvec; }; #endif //POINTTRACKER_H -- cgit v1.2.3 From c057fc0acfccb5772514cebd82a9a6337ca8c231 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 12 Jan 2014 19:50:07 +0100 Subject: pt: display points' centers --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 17 ++++++++++++++++- 1 file changed, 16 insertions(+), 1 deletion(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index 53d9c9e4..39825168 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -82,7 +82,22 @@ void Tracker::run() if (new_frame && !frame.empty()) { frame = frame_rotation.rotate_frame(frame); - const std::vector& points = point_extractor.extract_points(frame, dt, false); + const std::vector& points = point_extractor.extract_points(frame, dt, true); + for (auto p : points) + { + auto p2 = cv::Point(p[0] * frame.cols + frame.cols/2, -p[1] * frame.cols + frame.rows/2); + cv::Scalar color(0, 255, 0); + cv::line(frame, + cv::Point(p2.x - 20, p2.y), + cv::Point(p2.x + 20, p2.y), + color, + 4); + cv::line(frame, + cv::Point(p2.x, p2.y - 20), + cv::Point(p2.x, p2.y + 20), + color, + 4); + } tracking_valid = point_tracker.track(points, camera.get_info().f, dt); video_widget->update_image(frame); } -- cgit v1.2.3 From 464cb73809b73f533d4ddc401425484b890b170c Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Mon, 13 Jan 2014 09:38:44 +0100 Subject: pt: protect against pthread starvation when stopping --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 4 ++-- FTNoIR_Tracker_PT/ftnoir_tracker_pt.h | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index 39825168..d15e13f8 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -45,13 +45,13 @@ Tracker::~Tracker() void Tracker::set_command(Command command) { - QMutexLocker lock(&mutex); + //QMutexLocker lock(&mutex); commands |= command; } void Tracker::reset_command(Command command) { - QMutexLocker lock(&mutex); + //QMutexLocker lock(&mutex); commands &= ~command; } diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h index 067a4072..1f6efce1 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h @@ -65,7 +65,7 @@ protected: }; void set_command(Command command); void reset_command(Command command); - int commands; + volatile int commands; CVCamera camera; FrameRotation frame_rotation; -- cgit v1.2.3 From 0232c0af79ce21c5c5735db5368ac83aa12f94b2 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Tue, 14 Jan 2014 00:44:09 +0100 Subject: prevent mutex starvation with PT on non-Windows platforms --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index d15e13f8..162e4343 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -69,9 +69,7 @@ void Tracker::run() float dt; bool new_frame; forever - { - QMutexLocker lock(&mutex); - + { if (commands & ABORT) break; if (commands & PAUSE) continue; commands = 0; @@ -79,8 +77,11 @@ void Tracker::run() dt = time.restart() / 1000.0; new_frame = camera.get_frame(dt, &frame); + if (new_frame && !frame.empty()) { + QMutexLocker lock(&mutex); + frame = frame_rotation.rotate_frame(frame); const std::vector& points = point_extractor.extract_points(frame, dt, true); for (auto p : points) -- cgit v1.2.3 From 65facfc7c819a5fc14385aedbb2848eb68bac390 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Wed, 15 Jan 2014 19:17:51 +0100 Subject: make all tracker/protocol/filter dialogs non-modal --- FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui | 2 +- ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui | 2 +- ftnoir_filter_ewma2/ftnoir_ewma_filtercontrols.ui | 2 +- ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui | 2 +- ftnoir_protocol_fg/ftnoir_fgcontrols.ui | 2 +- ftnoir_protocol_fsuipc/ftnoir_fsuipccontrols.ui | 2 +- ftnoir_protocol_ft/ftnoir_ftcontrols.ui | 2 +- ftnoir_protocol_ftn/ftnoir_ftncontrols.ui | 2 +- ftnoir_protocol_libevdev/ftnoir_libevdev_controls.ui | 2 +- ftnoir_protocol_mouse/ftnoir_mousecontrols.ui | 2 +- ftnoir_protocol_sc/ftnoir_sccontrols.ui | 2 +- ftnoir_protocol_vjoy/ftnoir_vjoy_controls.ui | 2 +- ftnoir_protocol_wine/ftnoir_winecontrols.ui | 2 +- ftnoir_tracker_aruco/aruco-trackercontrols.ui | 2 +- ftnoir_tracker_ht/ht-trackercontrols.ui | 2 +- ftnoir_tracker_hydra/ftnoir_hydra_clientcontrols.ui | 2 +- ftnoir_tracker_joystick/ftnoir_tracker_joystick_controls.ui | 2 +- ftnoir_tracker_rift/ftnoir_rift_clientcontrols.ui | 2 +- ftnoir_tracker_udp/ftnoir_ftnclientcontrols.ui | 2 +- 19 files changed, 19 insertions(+), 19 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui index bdbed955..0bbec7e1 100644 --- a/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui +++ b/FTNoIR_Tracker_PT/FTNoIR_PT_Controls.ui @@ -3,7 +3,7 @@ UICPTClientControls - Qt::ApplicationModal + Qt::NonModal diff --git a/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui b/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui index debd1250..c544263d 100644 --- a/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui +++ b/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui @@ -3,7 +3,7 @@ AccelaUICFilterControls - Qt::ApplicationModal + Qt::NonModal diff --git a/ftnoir_filter_ewma2/ftnoir_ewma_filtercontrols.ui b/ftnoir_filter_ewma2/ftnoir_ewma_filtercontrols.ui index a1083265..8ee633cc 100644 --- a/ftnoir_filter_ewma2/ftnoir_ewma_filtercontrols.ui +++ b/ftnoir_filter_ewma2/ftnoir_ewma_filtercontrols.ui @@ -3,7 +3,7 @@ UICFilterControls - Qt::ApplicationModal + Qt::NonModal diff --git a/ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui b/ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui index a9fdec6e..e0c849c9 100644 --- a/ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui +++ b/ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui @@ -3,7 +3,7 @@ KalmanUICFilterControls - Qt::ApplicationModal + Qt::NonModal diff --git a/ftnoir_protocol_fg/ftnoir_fgcontrols.ui b/ftnoir_protocol_fg/ftnoir_fgcontrols.ui index e351647b..a4092c05 100644 --- a/ftnoir_protocol_fg/ftnoir_fgcontrols.ui +++ b/ftnoir_protocol_fg/ftnoir_fgcontrols.ui @@ -3,7 +3,7 @@ UICFGControls - Qt::ApplicationModal + Qt::NonModal diff --git a/ftnoir_protocol_fsuipc/ftnoir_fsuipccontrols.ui b/ftnoir_protocol_fsuipc/ftnoir_fsuipccontrols.ui index 1ce77862..6cb066bd 100644 --- a/ftnoir_protocol_fsuipc/ftnoir_fsuipccontrols.ui +++ b/ftnoir_protocol_fsuipc/ftnoir_fsuipccontrols.ui @@ -3,7 +3,7 @@ UICFSUIPCControls - Qt::ApplicationModal + Qt::NonModal diff --git a/ftnoir_protocol_ft/ftnoir_ftcontrols.ui b/ftnoir_protocol_ft/ftnoir_ftcontrols.ui index bd5980b4..941aaff0 100644 --- a/ftnoir_protocol_ft/ftnoir_ftcontrols.ui +++ b/ftnoir_protocol_ft/ftnoir_ftcontrols.ui @@ -3,7 +3,7 @@ UICFTControls - Qt::ApplicationModal + Qt::NonModal true diff --git a/ftnoir_protocol_ftn/ftnoir_ftncontrols.ui b/ftnoir_protocol_ftn/ftnoir_ftncontrols.ui index 429e7046..48679f3c 100644 --- a/ftnoir_protocol_ftn/ftnoir_ftncontrols.ui +++ b/ftnoir_protocol_ftn/ftnoir_ftncontrols.ui @@ -3,7 +3,7 @@ UICFTNControls - Qt::ApplicationModal + Qt::NonModal diff --git a/ftnoir_protocol_libevdev/ftnoir_libevdev_controls.ui b/ftnoir_protocol_libevdev/ftnoir_libevdev_controls.ui index e85e001e..d2b86445 100644 --- a/ftnoir_protocol_libevdev/ftnoir_libevdev_controls.ui +++ b/ftnoir_protocol_libevdev/ftnoir_libevdev_controls.ui @@ -3,7 +3,7 @@ UICLibevdevControls - Qt::ApplicationModal + Qt::NonModal diff --git a/ftnoir_protocol_mouse/ftnoir_mousecontrols.ui b/ftnoir_protocol_mouse/ftnoir_mousecontrols.ui index 540e4f0d..2705fff7 100644 --- a/ftnoir_protocol_mouse/ftnoir_mousecontrols.ui +++ b/ftnoir_protocol_mouse/ftnoir_mousecontrols.ui @@ -3,7 +3,7 @@ UICMOUSEControls - Qt::ApplicationModal + Qt::NonModal diff --git a/ftnoir_protocol_sc/ftnoir_sccontrols.ui b/ftnoir_protocol_sc/ftnoir_sccontrols.ui index 430b3912..87dc8d86 100644 --- a/ftnoir_protocol_sc/ftnoir_sccontrols.ui +++ b/ftnoir_protocol_sc/ftnoir_sccontrols.ui @@ -3,7 +3,7 @@ UICSCControls - Qt::ApplicationModal + Qt::NonModal diff --git a/ftnoir_protocol_vjoy/ftnoir_vjoy_controls.ui b/ftnoir_protocol_vjoy/ftnoir_vjoy_controls.ui index 94b229fb..2214b887 100644 --- a/ftnoir_protocol_vjoy/ftnoir_vjoy_controls.ui +++ b/ftnoir_protocol_vjoy/ftnoir_vjoy_controls.ui @@ -3,7 +3,7 @@ UICVJoyControls - Qt::ApplicationModal + Qt::NonModal diff --git a/ftnoir_protocol_wine/ftnoir_winecontrols.ui b/ftnoir_protocol_wine/ftnoir_winecontrols.ui index 749feb0f..9356c448 100644 --- a/ftnoir_protocol_wine/ftnoir_winecontrols.ui +++ b/ftnoir_protocol_wine/ftnoir_winecontrols.ui @@ -3,7 +3,7 @@ UICFTControls - Qt::ApplicationModal + Qt::NonModal diff --git a/ftnoir_tracker_aruco/aruco-trackercontrols.ui b/ftnoir_tracker_aruco/aruco-trackercontrols.ui index e0794eb9..1d5a4241 100644 --- a/ftnoir_tracker_aruco/aruco-trackercontrols.ui +++ b/ftnoir_tracker_aruco/aruco-trackercontrols.ui @@ -3,7 +3,7 @@ Form - Qt::ApplicationModal + Qt::NonModal diff --git a/ftnoir_tracker_ht/ht-trackercontrols.ui b/ftnoir_tracker_ht/ht-trackercontrols.ui index 55501ef1..f57022c8 100644 --- a/ftnoir_tracker_ht/ht-trackercontrols.ui +++ b/ftnoir_tracker_ht/ht-trackercontrols.ui @@ -3,7 +3,7 @@ Form - Qt::ApplicationModal + Qt::NonModal diff --git a/ftnoir_tracker_hydra/ftnoir_hydra_clientcontrols.ui b/ftnoir_tracker_hydra/ftnoir_hydra_clientcontrols.ui index 1acbf93f..e5e41bec 100644 --- a/ftnoir_tracker_hydra/ftnoir_hydra_clientcontrols.ui +++ b/ftnoir_tracker_hydra/ftnoir_hydra_clientcontrols.ui @@ -3,7 +3,7 @@ UIHydraControls - Qt::ApplicationModal + Qt::NonModal diff --git a/ftnoir_tracker_joystick/ftnoir_tracker_joystick_controls.ui b/ftnoir_tracker_joystick/ftnoir_tracker_joystick_controls.ui index 7522cf31..5d349169 100644 --- a/ftnoir_tracker_joystick/ftnoir_tracker_joystick_controls.ui +++ b/ftnoir_tracker_joystick/ftnoir_tracker_joystick_controls.ui @@ -3,7 +3,7 @@ UIJoystickControls - Qt::ApplicationModal + Qt::NonModal diff --git a/ftnoir_tracker_rift/ftnoir_rift_clientcontrols.ui b/ftnoir_tracker_rift/ftnoir_rift_clientcontrols.ui index e868a9c3..a9168239 100644 --- a/ftnoir_tracker_rift/ftnoir_rift_clientcontrols.ui +++ b/ftnoir_tracker_rift/ftnoir_rift_clientcontrols.ui @@ -3,7 +3,7 @@ UIRiftControls - Qt::ApplicationModal + Qt::NonModal diff --git a/ftnoir_tracker_udp/ftnoir_ftnclientcontrols.ui b/ftnoir_tracker_udp/ftnoir_ftnclientcontrols.ui index fc614477..5c602792 100644 --- a/ftnoir_tracker_udp/ftnoir_ftnclientcontrols.ui +++ b/ftnoir_tracker_udp/ftnoir_ftnclientcontrols.ui @@ -3,7 +3,7 @@ UICFTNClientControls - Qt::ApplicationModal + Qt::NonModal -- cgit v1.2.3 From e5276167b90c9f156c31fd811a7106f1880b2856 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Wed, 11 Jun 2014 17:42:05 +0200 Subject: use the precise counter Signed-off-by: Stanislaw Halik --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 2 +- FTNoIR_Tracker_PT/ftnoir_tracker_pt.h | 4 ++-- ftnoir_filter_accela/ftnoir_filter_accela.cpp | 3 +-- ftnoir_filter_accela/ftnoir_filter_accela.h | 4 ++-- 4 files changed, 6 insertions(+), 7 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index 162e4343..cbc1f1dc 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -74,7 +74,7 @@ void Tracker::run() if (commands & PAUSE) continue; commands = 0; - dt = time.restart() / 1000.0; + dt = time.start() / 1000.0; new_frame = camera.get_frame(dt, &frame); diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h index 1f6efce1..80abbc6a 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h @@ -18,7 +18,7 @@ #include "point_extractor.h" #include "point_tracker.h" #include "pt_video_widget.h" -#include +#include "facetracknoir/timer.hpp" #include #include @@ -84,7 +84,7 @@ protected: bool tracking_valid; settings s; - QElapsedTimer time; + Timer time; }; #undef VideoWidget diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.cpp b/ftnoir_filter_accela/ftnoir_filter_accela.cpp index 13e4ea79..31cb94bd 100644 --- a/ftnoir_filter_accela/ftnoir_filter_accela.cpp +++ b/ftnoir_filter_accela/ftnoir_filter_accela.cpp @@ -67,8 +67,7 @@ void FTNoIR_Filter::FilterHeadPoseData(const double* target_camera_position, { for (int i = 0; i < 6; i++) last_input[i] = target_camera_position[i]; - frame_delta = timer.isValid() ? timer.elapsed() : 1; - timer.start(); + frame_delta = timer.start(); } else { auto d = timer.elapsed(); double c = clamp(0.0, 1.0, d / (double) frame_delta); diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.h b/ftnoir_filter_accela/ftnoir_filter_accela.h index 42db2e47..f56ae57c 100644 --- a/ftnoir_filter_accela/ftnoir_filter_accela.h +++ b/ftnoir_filter_accela/ftnoir_filter_accela.h @@ -3,7 +3,7 @@ #include "ui_ftnoir_accela_filtercontrols.h" #include "facetracknoir/global-settings.h" #include -#include +#include "facetracknoir/timer.hpp" #define ACCELA_SMOOTHING_ROTATION 60.0 #define ACCELA_SMOOTHING_TRANSLATION 40.0 @@ -51,7 +51,7 @@ private: bool first_run; double last_input[6]; double last_output[3][6]; - QElapsedTimer timer; + Timer timer; qint64 frame_delta; }; -- cgit v1.2.3 From 64dea656becd8c914a3c8dc3f3b4f0d71bd3f2d0 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Wed, 11 Jun 2014 20:05:36 +0200 Subject: Defer PT apply to avoid deadlock --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 22 ++++++++++++++++++---- FTNoIR_Tracker_PT/ftnoir_tracker_pt.h | 6 ++++-- 2 files changed, 22 insertions(+), 6 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index cbc1f1dc..787a5128 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -26,7 +26,9 @@ Tracker::Tracker() : commands(0), video_widget(NULL), video_frame(NULL), - tracking_valid(false) + tracking_valid(false), + need_apply(false), + new_settings(nullptr) { qDebug()<<"Tracker::Tracker"; } @@ -73,7 +75,7 @@ void Tracker::run() if (commands & ABORT) break; if (commands & PAUSE) continue; commands = 0; - + apply_inner(); dt = time.start() / 1000.0; new_frame = camera.get_frame(dt, &frame); @@ -111,11 +113,23 @@ void Tracker::run() qDebug()<<"Tracker:: Thread stopping"; } - void Tracker::apply(settings& s) { - qDebug()<<"Tracker:: Applying settings"; QMutexLocker lock(&mutex); + need_apply = true; + // caller guarantees object lifetime + new_settings = &s; +} + +void Tracker::apply_inner() +{ + QMutexLocker lock(&mutex); + if (!need_apply) + return; + qDebug()<<"Tracker:: Applying settings"; + auto& s = *new_settings; + new_settings = nullptr; + need_apply = false; camera.set_device_index(s.cam_index); camera.set_res(s.cam_res_x, s.cam_res_y); camera.set_fps(s.cam_fps); diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h index 80abbc6a..47a9987b 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h @@ -44,6 +44,7 @@ public: virtual void refreshVideo(); void apply(settings& s); + void apply_inner(); void center(); void reset(); // reset the trackers internal state variables void run(); @@ -81,9 +82,10 @@ protected: PTVideoWidget* video_widget; QFrame* video_frame; - bool tracking_valid; - + bool tracking_valid, need_apply; + settings s; + settings* new_settings; Timer time; }; -- cgit v1.2.3