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_tracker_pt.cpp | 261 -------------------------------- 1 file changed, 261 deletions(-) delete mode 100644 ftnoir_tracker_pt/ftnoir_tracker_pt.cpp (limited to 'ftnoir_tracker_pt/ftnoir_tracker_pt.cpp') diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp deleted file mode 100644 index 48702d19..00000000 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ /dev/null @@ -1,261 +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 -#include -#include -#include -#include "facetracknoir/global-settings.h" - -using namespace std; -using namespace cv; - -//#define PT_PERF_LOG //log performance - -//----------------------------------------------------------------------------- -Tracker::Tracker() - : tracking_valid(false), frame_count(0), commands(0), video_widget(NULL), fresh(false) -{ - should_quit = false; - qDebug()<<"Tracker::Tracker"; - TrackerSettings settings; - settings.load_ini(); - apply(settings); -} - -Tracker::~Tracker() -{ - qDebug()<<"Tracker::~Tracker"; - set_command(ABORT); - wait(); - if (video_widget) delete 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 (should_quit) - break; - - 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()) - { - const std::vector& points = point_extractor.extract_points(frame, dt, draw_frame); - tracking_valid = point_tracker.track(points, camera.get_info().f, dt); - frame_count++; - fresh = true; - } -#ifdef PT_PERF_LOG - log_stream<<"dt: "<(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; - draw_frame = settings.video_widget; - cam_pitch = settings.cam_pitch; - - bEnableRoll = settings.bEnableRoll; - bEnablePitch = settings.bEnablePitch; - bEnableYaw = settings.bEnableYaw; - bEnableX = settings.bEnableX; - bEnableY = settings.bEnableY; - bEnableZ = settings.bEnableZ; - - t_MH = settings.t_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_CH_0 = X_CM_0 * X_MH; -} - -void Tracker::refreshVideo() -{ - if (video_widget && fresh) - { - Mat frame_copy; - std::auto_ptr< vector > points; - { - //QMutexLocker lock(&mutex); - if (!draw_frame || frame.empty()) return; - - // copy the frame and points from the tracker thread - frame_copy = frame.clone(); - points = std::auto_ptr< vector >(new vector(point_extractor.get_points())); - } - //QMutexLocker lck(&mutex); - video_widget->update_image(frame_copy, points); - } -} - -void Tracker::StartTracker(QFrame* videoframe) -{ - const int VIDEO_FRAME_WIDTH = videoframe->width(); - const int VIDEO_FRAME_HEIGHT = videoframe->height(); - TrackerSettings settings; - settings.load_ini(); - apply(settings); - qDebug("Tracker::Initialize"); - // setup video frame - video_widget = new VideoWidget(videoframe); - QHBoxLayout* layout = new QHBoxLayout(); - layout->setContentsMargins(0, 0, 0, 0); - layout->addWidget(video_widget); - if (videoframe->layout()) delete videoframe->layout(); - videoframe->setLayout(layout); - video_widget->resize(VIDEO_FRAME_WIDTH, VIDEO_FRAME_HEIGHT); - videoframe->show(); - connect(&timer, SIGNAL(timeout()), this, SLOT(paint_widget())); - timer.start(40); - camera.start(); - start(); - reset_command(PAUSE); -} - -void Tracker::paint_widget() { - if (fresh) { - fresh = false; - video_widget->update(); - } -} - -bool Tracker::GiveHeadPoseData(double *data) -{ - const double rad2deg = 180.0/3.14159265; - const double deg2rad = 1.0/rad2deg; - { - QMutexLocker lock(&mutex); - - if (!tracking_valid) return false; - - FrameTrafo X_CM = point_tracker.get_pose(); - FrameTrafo X_MH(Matx33f::eye(), t_MH); - FrameTrafo X_CH = X_CM * X_MH; - - Matx33f R = X_CH.R * X_CH_0.R.t(); - Vec3f t = X_CH.t - X_CH_0.t; - - // correct for camera pitch - Matx33f R_CP( 1, 0, 0, - 0, cos(deg2rad*cam_pitch), sin(deg2rad*cam_pitch), - 0, -sin(deg2rad*cam_pitch), cos(deg2rad*cam_pitch)); - R = R_CP * R * R_CP.t(); - t = R_CP * t; - - // 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; - } - - // translate rotation matrix from opengl (G) to roll-pitch-yaw (R) frame - // -z -> x, y -> z, x -> -y - Matx33f R_RG( 0, 0,-1, - -1, 0, 0, - 0, 1, 0); - R = R_RG * R * R_RG.t(); - - // extract rotation angles - double alpha, beta, gamma; - //beta = atan2( -R(2,0), sqrt(R(0,0)*R(0,0) + R(1,0)*R(1,0)) ); - 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; - } - if (bEnableRoll) { - data[Roll] = rad2deg * gamma; - } - } - return true; -} - -//----------------------------------------------------------------------------- -//#pragma comment(linker, "/export:GetTracker=_GetTracker@0") - -extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor() -{ - return new Tracker; -} -- cgit v1.2.3