From db59542cbb2fc3c2ac1b40928d514113bced8b0b Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 6 Sep 2014 03:50:52 -0700 Subject: rename case --- ftnoir_tracker_pt/FTNoIR_PT_Controls.ui | 1790 ++++++++++++++++++++++++ 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/boost-compat.h | 5 + ftnoir_tracker_pt/camera.cpp | 351 +++++ ftnoir_tracker_pt/camera.h | 145 ++ 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 | 76 + ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 265 ++++ ftnoir_tracker_pt/ftnoir_tracker_pt.h | 95 ++ ftnoir_tracker_pt/ftnoir_tracker_pt.qrc | 9 + ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp | 321 +++++ ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h | 70 + ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp | 42 + ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h | 27 + ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h | 90 ++ ftnoir_tracker_pt/point_extractor.cpp | 163 +++ ftnoir_tracker_pt/point_extractor.h | 35 + ftnoir_tracker_pt/point_tracker.cpp | 380 +++++ ftnoir_tracker_pt/point_tracker.h | 129 ++ ftnoir_tracker_pt/pt_video_widget.cpp | 64 + ftnoir_tracker_pt/pt_video_widget.h | 71 + ftnoir_tracker_pt/trans_calib.cpp | 44 + ftnoir_tracker_pt/trans_calib.h | 39 + 34 files changed, 4622 insertions(+) create mode 100644 ftnoir_tracker_pt/FTNoIR_PT_Controls.ui 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/boost-compat.h 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.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/pt_video_widget.cpp create mode 100644 ftnoir_tracker_pt/pt_video_widget.h create mode 100644 ftnoir_tracker_pt/trans_calib.cpp create mode 100644 ftnoir_tracker_pt/trans_calib.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..0bbec7e1 --- /dev/null +++ b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui @@ -0,0 +1,1790 @@ + + + UICPTClientControls + + + Qt::NonModal + + + + 0 + 0 + 459 + 621 + + + + + 0 + 0 + + + + PointTracker Settings + + + + :/Resources/Logo_IR.png:/Resources/Logo_IR.png + + + Qt::LeftToRight + + + false + + + + QLayout::SetFixedSize + + + + + + 0 + 0 + + + + + 0 + 0 + + + + + + + 0 + + + + General + + + + + + Tracker Thread + + + + + + 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 + + + + + + + + + + + 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 + + + + + + + + + + + + + + + + + + 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 + + + + + + + + + + + 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 + + + 1 + + + 100 + + + 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 + + + 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+ + + + + + + :/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 + + + + + + + + + + + + + + + + + + Save + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + + + + Ok + + + + + + + + + + Cancel + + + + + + + + + tabWidget + reset_spin + 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/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/boost-compat.h b/ftnoir_tracker_pt/boost-compat.h new file mode 100644 index 00000000..612f2c4d --- /dev/null +++ b/ftnoir_tracker_pt/boost-compat.h @@ -0,0 +1,5 @@ +#pragma once +#include +namespace boost { + using std::shared_ptr; +} diff --git a/ftnoir_tracker_pt/camera.cpp b/ftnoir_tracker_pt/camera.cpp new file mode 100644 index 00000000..754533c5 --- /dev/null +++ b/ftnoir_tracker_pt/camera.cpp @@ -0,0 +1,351 @@ +/* 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. + */ + + #if defined(OPENTRACK_API) && defined(_WIN32) +#include +#include +#endif + +#include "camera.h" +#include +#include + +using namespace cv; + +#if defined(OPENTRACK_API) && (defined(__unix) || defined(__linux) || defined(__APPLE__)) +#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; + } + // 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)) + { + auto wstr = std::wstring(varName.bstrVal); + auto str = std::string(wstr.begin(), wstr.end()); + device_names.push_back(str); + } + 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)); + } + } +# endif +} +#else +// ---------------------------------------------------------------------------- +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); + } +} +#endif + +// ---------------------------------------------------------------------------- +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(); + _set_fps(); + } +} + +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; +} + +// ---------------------------------------------------------------------------- +#ifdef OPENTRACK_API +void CVCamera::start() +{ + cap = new VideoCapture(desired_index); + // extract camera info + if (cap->isOpened()) + { + active = true; + 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() +{ + if (cap) + { + cap->release(); + delete cap; + } + active = false; +} + +bool CVCamera::_get_frame(Mat* frame) +{ + if (cap && cap->isOpened()) + { + Mat img; + /* + * XXX some Windows webcams fail to decode first + * frames and then some every once in a while + * -sh + */ + for (int i = 0; i < 100 && !cap->read(img); i++) + ;; + + if (img.empty()) + return false; + + *frame = img; + 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) cap->set(CV_CAP_PROP_FPS, cam_desired.fps); +} + +void CVCamera::_set_res() +{ + if (cap) + { + 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) +{ + 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(); +} +#endif + +// ---------------------------------------------------------------------------- +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; + } +} diff --git a/ftnoir_tracker_pt/camera.h b/ftnoir_tracker_pt/camera.h new file mode 100644 index 00000000..ea68c387 --- /dev/null +++ b/ftnoir_tracker_pt/camera.h @@ -0,0 +1,145 @@ +/* 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 +#ifndef OPENTRACK_API +# include +#else +# include "FTNoIR_Tracker_PT/boost-compat.h" +# include +# include +#endif +#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; + + float dt_valid; + float dt_mean; + int desired_index; + int active_index; + bool active; + CamInfo cam_info; + CamInfo cam_desired; +}; + + +// ---------------------------------------------------------------------------- +// camera based on OpenCV's videoCapture +#ifdef OPENTRACK_API +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(); + virtual void _set_device_index(); + + cv::VideoCapture* cap; +}; +#else +// ---------------------------------------------------------------------------- +// 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; +}; +#endif + +enum RotationType +{ + CLOCKWISE = 0, + ZERO = 1, + COUNTER_CLOCKWISE = 2 +}; + +// ---------------------------------------------------------------------------- +class FrameRotation +{ +public: + RotationType 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..281f3d57 --- /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 (std::set::iterator iter=frame_observers.begin(); iter!=frame_observers.end(); ++iter) + { + (*iter)->on_frame_provider_destroy(); + } +} diff --git a/ftnoir_tracker_pt/frame_observer.h b/ftnoir_tracker_pt/frame_observer.h new file mode 100644 index 00000000..585a6ee7 --- /dev/null +++ b/ftnoir_tracker_pt/frame_observer.h @@ -0,0 +1,76 @@ +/* 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 +#ifndef OPENTRACK_API +# include +#else +# include "FTNoIR_Tracker_PT/boost-compat.h" +#endif +#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 diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp new file mode 100644 index 00000000..ef72f9a2 --- /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() + : mutex(QMutex::Recursive), + commands(0), + video_widget(NULL), + video_frame(NULL), + tracking_valid(false), + new_settings(nullptr) + +{ + qDebug()<<"Tracker::Tracker"; +} + +Tracker::~Tracker() +{ + qDebug()<<"Tracker::~Tracker"; + // terminate tracker thread + set_command(ABORT); + wait(); + s.video_widget = false; + delete video_widget; + video_widget = NULL; + if (video_frame->layout()) delete video_frame->layout(); +} + +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(); + double dt; + bool new_frame; + forever + { + if (commands & ABORT) break; + if (commands & PAUSE) continue; + commands = 0; + apply_inner(); + dt = time.start() / 1000000000.; + + 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) + { + 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); + } +#ifdef PT_PERF_LOG + log_stream<<"dt: "<(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*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; + + 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::refreshVideo() +{ + if (video_widget) video_widget->update_frame_and_points(); +} + +void Tracker::StartTracker(QFrame *parent_window) +{ + this->video_frame = parent_window; + video_frame->setAttribute(Qt::WA_NativeWindow); + video_frame->show(); + 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()); + camera.start(); + apply(s); + start(); + reset_command(PAUSE); +} + +#ifndef OPENTRACK_API +void Tracker::StopTracker(bool exit) +{ + set_command(PAUSE); +} +#endif + +#ifdef OPENTRACK_API +#define THeadPoseData double +#endif + +void Tracker::GetHeadPoseData(THeadPoseData *data) +{ + { + QMutexLocker lock(&mutex); + + 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; + Matx33f R = X_GH.R * X_GH_0.R.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 + 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, + 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 (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; + } +} + +//----------------------------------------------------------------------------- +#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; +} diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h new file mode 100644 index 00000000..79f16629 --- /dev/null +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h @@ -0,0 +1,95 @@ +/* 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 + +#ifdef OPENTRACK_API +# include "ftnoir_tracker_base/ftnoir_tracker_base.h" +# include "facetracknoir/plugin-support.h" +#endif +#include "ftnoir_tracker_pt_settings.h" +#include "frame_observer.h" +#include "camera.h" +#include "point_extractor.h" +#include "point_tracker.h" +#include "pt_video_widget.h" +#include "facetracknoir/timer.hpp" + +#include +#include +#include +#include +#include +#include +#ifndef OPENTRACK_API +# include +#else +# include "FTNoIR_Tracker_PT/boost-compat.h" +#endif +#include + +//----------------------------------------------------------------------------- +// Constantly processes the tracking chain in a separate thread +class Tracker : public ITracker, QThread, public FrameProvider +{ +public: + Tracker(); + virtual ~Tracker(); + virtual void StartTracker(QFrame* parent_window); + virtual void GetHeadPoseData(double* data); + virtual void refreshVideo(); + + void apply(settings& s); + void apply_inner(); + 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); + volatile int commands; + + CVCamera camera; + FrameRotation frame_rotation; + PointExtractor point_extractor; + PointTracker point_tracker; + + 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 + + PTVideoWidget* video_widget; + QFrame* video_frame; + bool tracking_valid; + + settings s; + std::atomic new_settings; + Timer time; +}; + +#undef VideoWidget + +#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..a8f9a1af --- /dev/null +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.qrc @@ -0,0 +1,9 @@ + + + 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..c103b78c --- /dev/null +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp @@ -0,0 +1,321 @@ +/* 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 +#ifndef OPENTRACK_API +# include +#else +# include "FTNoIR_Tracker_PT/boost-compat.h" +#endif +#include + +using namespace std; + +//----------------------------------------------------------------------------- +TrackerDialog::TrackerDialog() + : tracker(NULL), + video_widget_dialog(NULL), + timer(this), + trans_calib_running(false) +{ + qDebug()<<"TrackerDialog::TrackerDialog"; + setAttribute(Qt::WA_DeleteOnClose, false); + + ui.setupUi( this ); + + 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.camroll_combo->addItem("-90"); + ui.camroll_combo->addItem("0"); + ui.camroll_combo->addItem("90"); + + tie_setting(s.dyn_pose_res, ui.dynpose_check); + 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() +{ + 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() +{ + 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_changed(); +} + +void TrackerDialog::set_model(int val) +{ + s.active_model_panel = val; +} + +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; + { + 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(); + } +} + +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(); + 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() +{ + if (tracker) tracker->apply(s); +} + +void TrackerDialog::doCenter() +{ + if (tracker) tracker->center(); +} + +void TrackerDialog::doReset() +{ + if (tracker) tracker->reset(); +} + +void TrackerDialog::save() +{ + do_apply_without_saving(); + s.b->save(); +} + +void TrackerDialog::doOK() +{ + 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() +{ + s.b->revert(); + 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(); +} + +void TrackerDialog::destroy_video_widget(bool do_delete /*= true*/) +{ + if (video_widget_dialog) { + if (do_delete) delete video_widget_dialog; + video_widget_dialog = NULL; + } +} + +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); + } +} + +void TrackerDialog::registerTracker(ITracker *t) +{ + qDebug()<<"TrackerDialog:: Tracker registered"; + tracker = static_cast(t); + if (isVisible() & s.b->modifiedp()) + tracker->apply(s); + 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.tcalib_button->setEnabled(false); + //ui.center_button->setEnabled(false); + ui.reset_button->setEnabled(false); +} + +extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) +{ + return new TrackerDialog; +} 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..0325160d --- /dev/null +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h @@ -0,0 +1,70 @@ +/* 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 + +#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" +#include "pt_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(); + void registerTracker(ITracker *tracker); + void unRegisterTracker(); + void save(); + void trans_calib_step(); + +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); + + void set_model_clip(); + void set_model_cap(); + void set_model_custom(); + + void settings_changed(); + + settings s; + Tracker* tracker; + VideoWidgetDialog* video_widget_dialog; + QTimer timer; + + TranslationCalibrator trans_calib; + bool trans_calib_running; + + Ui::UICPTClientControls ui; +}; + +#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 new file mode 100644 index 00000000..15e830a4 --- /dev/null +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp @@ -0,0 +1,42 @@ +/* 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/Logo_IR.png"); +} + + +#ifdef OPENTRACK_API +# include "facetracknoir/plugin-support.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 new file mode 100644 index 00000000..22e1ff29 --- /dev/null +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h @@ -0,0 +1,27 @@ +/* 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. + */ + +#if defined(OPENTRACK_API) +# include "ftnoir_tracker_base/ftnoir_tracker_base.h" +# include "facetracknoir/plugin-support.h" +#else +# include "../ftnoir_tracker_base/ftnoir_tracker_base.h" +#endif + +//----------------------------------------------------------------------------- +class TrackerDll : +#if defined(OPENTRACK_API) + public Metadata +#else + public ITrackerDll +#endif +{ + void getFullName(QString *strToBeFilled); + void getShortName(QString *strToBeFilled); + void getDescription(QString *strToBeFilled); + void getIcon(QIcon *icon); +}; 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..109090b3 --- /dev/null +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h @@ -0,0 +1,90 @@ +/* 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" + +#include "facetracknoir/options.h" +using namespace options; + +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; + + value m01_x, m01_y, m01_z; + value m02_x, m02_y, m02_z; + value dyn_pose_res, video_widget; + + value t_MH_x, t_MH_y, t_MH_z; + + value reset_time; + + value bEnableYaw, bEnablePitch, bEnableRoll; + value bEnableX, bEnableY, bEnableZ; + + value clip_ty, clip_tz, clip_by, clip_bz; + value active_model_panel, cap_x, cap_y, cap_z; + + 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), + reset_time(b, "reset-time", 2000), + 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 diff --git a/ftnoir_tracker_pt/point_extractor.cpp b/ftnoir_tracker_pt/point_extractor.cpp new file mode 100644 index 00000000..d9ff0a5b --- /dev/null +++ b/ftnoir_tracker_pt/point_extractor.cpp @@ -0,0 +1,163 @@ +/* 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; + + +PointExtractor::PointExtractor(){ + //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; + + if (frame_last.cols != W || frame_last.rows != H) + { + frame_last = cv::Mat(); + } + + // clear old points + points.clear(); + + // convert to grayscale + Mat frame_gray; + cvtColor(frame, frame_gray, CV_RGB2GRAY); + + int secondary = threshold_secondary_val; + + // mask for everything that passes the threshold (or: the upper threshold of the hysteresis) + Mat frame_bin; + // 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(frame_last.empty()){ + frame_bin.copyTo(frame_last); + }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; + + 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; + + 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; + } + } + + // 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; + //qDebug()< "< channels; + 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); + } + + return points; +} diff --git a/ftnoir_tracker_pt/point_extractor.h b/ftnoir_tracker_pt/point_extractor.h new file mode 100644 index 00000000..ff36f3ce --- /dev/null +++ b/ftnoir_tracker_pt/point_extractor.h @@ -0,0 +1,35 @@ +/* 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 +#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; } + PointExtractor(); + + int threshold_val; + int threshold_secondary_val; + int min_size, max_size; + +protected: + std::vector points; + cv::Mat frame_last; +}; + +#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..dfefdaf8 --- /dev/null +++ b/ftnoir_tracker_pt/point_tracker.cpp @@ -0,0 +1,380 @@ +/* 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); +} + +#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 + 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; + 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) +{ + 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: "< +#ifndef OPENTRACK_API +# include +#else +# include "FTNoIR_Tracker_PT/boost-compat.h" +#endif +#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/pt_video_widget.cpp b/ftnoir_tracker_pt/pt_video_widget.cpp new file mode 100644 index 00000000..02817cbf --- /dev/null +++ b/ftnoir_tracker_pt/pt_video_widget.cpp @@ -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. + * + * 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); + _frame = frame.clone(); + freshp = true; +} + +// ---------------------------------------------------------------------------- +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); +} + +void PTVideoWidget::update_and_repaint() +{ + QMutexLocker foo(&mtx); + 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(); + for (int y = 0; y < _frame.rows; y++) + for (int x = 0; x < _frame.cols; x++) + { + const auto& elt = _frame.at(y, x); + 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]; + } + qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation); + texture = qframe; + update(); +} diff --git a/ftnoir_tracker_pt/pt_video_widget.h b/ftnoir_tracker_pt/pt_video_widget.h new file mode 100644 index 00000000..25d593c3 --- /dev/null +++ b/ftnoir_tracker_pt/pt_video_widget.h @@ -0,0 +1,71 @@ +/* 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), + freshp(false) + { + connect(&timer, SIGNAL(timeout()), this, SLOT(update_and_repaint())); + timer.start(40); + } + 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.drawImage(e->rect(), texture); + } + void update_and_repaint(); +private: + QMutex mtx; + QImage texture; + QTimer timer; + cv::Mat _frame; + bool freshp; +}; + +// ---------------------------------------------------------------------------- +// 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/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 -- cgit v1.2.3 From 8762edd0fa1b9131a7e090f9759aba37d6ec64cf Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 6 Sep 2014 22:25:36 -0700 Subject: unbreak build following rename --- ftnoir_tracker_pt/boost-compat.h | 5 ----- ftnoir_tracker_pt/camera.h | 2 +- ftnoir_tracker_pt/frame_observer.h | 6 +++--- ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 7 +++---- ftnoir_tracker_pt/ftnoir_tracker_pt.h | 4 ++-- ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp | 2 +- ftnoir_tracker_pt/point_tracker.cpp | 1 - ftnoir_tracker_pt/point_tracker.h | 4 ++-- ftnoir_tracker_pt/pt_video_widget.h | 2 +- 9 files changed, 13 insertions(+), 20 deletions(-) delete mode 100644 ftnoir_tracker_pt/boost-compat.h (limited to 'ftnoir_tracker_pt') diff --git a/ftnoir_tracker_pt/boost-compat.h b/ftnoir_tracker_pt/boost-compat.h deleted file mode 100644 index 612f2c4d..00000000 --- a/ftnoir_tracker_pt/boost-compat.h +++ /dev/null @@ -1,5 +0,0 @@ -#pragma once -#include -namespace boost { - using std::shared_ptr; -} diff --git a/ftnoir_tracker_pt/camera.h b/ftnoir_tracker_pt/camera.h index ea68c387..a9f60841 100644 --- a/ftnoir_tracker_pt/camera.h +++ b/ftnoir_tracker_pt/camera.h @@ -12,7 +12,7 @@ #ifndef OPENTRACK_API # include #else -# include "FTNoIR_Tracker_PT/boost-compat.h" +# include # include # include #endif diff --git a/ftnoir_tracker_pt/frame_observer.h b/ftnoir_tracker_pt/frame_observer.h index 585a6ee7..c3c20259 100644 --- a/ftnoir_tracker_pt/frame_observer.h +++ b/ftnoir_tracker_pt/frame_observer.h @@ -13,7 +13,7 @@ #ifndef OPENTRACK_API # include #else -# include "FTNoIR_Tracker_PT/boost-compat.h" +# include #endif #include @@ -31,7 +31,7 @@ public: ~FrameProvider(); protected: - virtual bool get_frame_and_points(cv::Mat& frame, boost::shared_ptr< std::vector >& points) = 0; + virtual bool get_frame_and_points(cv::Mat& frame, std::shared_ptr< std::vector >& points) = 0; bool has_observers() const { QMutexLocker lock(&observer_mutex); return !frame_observers.empty(); } @@ -58,7 +58,7 @@ public: if (provider) provider->remove_observer(this); } - bool get_frame_and_points(cv::Mat& frame, boost::shared_ptr< std::vector >& points) { + bool get_frame_and_points(cv::Mat& frame, std::shared_ptr< std::vector >& points) { return provider ? provider->get_frame_and_points(frame, points) : false; } diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index ef72f9a2..268abeab 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -14,7 +14,6 @@ using namespace std; using namespace cv; -using namespace boost; //#define PT_PERF_LOG //log performance @@ -139,7 +138,7 @@ void Tracker::apply_inner() { 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.point_model = std::shared_ptr(new PointModel(M01, M02)); } point_tracker.dynamic_pose_resolution = s.dyn_pose_res; point_tracker.dt_reset = s.reset_time / 1000.0; @@ -172,14 +171,14 @@ void Tracker::center() 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) +bool Tracker::get_frame_and_points(cv::Mat& frame_copy, std::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())); + points = std::shared_ptr< vector >(new vector(point_extractor.get_points())); return true; } diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h index 79f16629..7e944fc2 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h @@ -29,7 +29,7 @@ #ifndef OPENTRACK_API # include #else -# include "FTNoIR_Tracker_PT/boost-compat.h" +# include #endif #include @@ -56,7 +56,7 @@ public: protected: // --- MutexedFrameProvider interface --- - virtual bool get_frame_and_points(cv::Mat& frame, boost::shared_ptr< std::vector >& points); + virtual bool get_frame_and_points(cv::Mat& frame, std::shared_ptr< std::vector >& points); // --- thread --- QMutex mutex; diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp index c103b78c..00d10d13 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp @@ -13,7 +13,7 @@ #ifndef OPENTRACK_API # include #else -# include "FTNoIR_Tracker_PT/boost-compat.h" +# include #endif #include diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp index dfefdaf8..5735c081 100644 --- a/ftnoir_tracker_pt/point_tracker.cpp +++ b/ftnoir_tracker_pt/point_tracker.cpp @@ -14,7 +14,6 @@ #include using namespace cv; -using namespace boost; using namespace std; const float PI = 3.14159265358979323846f; diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h index 11034100..3ff9c724 100644 --- a/ftnoir_tracker_pt/point_tracker.h +++ b/ftnoir_tracker_pt/point_tracker.h @@ -12,7 +12,7 @@ #ifndef OPENTRACK_API # include #else -# include "FTNoIR_Tracker_PT/boost-compat.h" +# include #endif #include @@ -91,7 +91,7 @@ public: // 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; + std::shared_ptr point_model; bool dynamic_pose_resolution; float dt_reset; diff --git a/ftnoir_tracker_pt/pt_video_widget.h b/ftnoir_tracker_pt/pt_video_widget.h index 25d593c3..f7de4db8 100644 --- a/ftnoir_tracker_pt/pt_video_widget.h +++ b/ftnoir_tracker_pt/pt_video_widget.h @@ -16,7 +16,7 @@ # include # include #else -# include "FTNoIR_Tracker_PT/boost-compat.h" +# include # if defined(_WIN32) # include # endif -- cgit v1.2.3 From 05b5171229d840b8b120a1e5b765128973270584 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Thu, 18 Sep 2014 08:49:07 +0200 Subject: -Wall -Wextra, no functional changes --- ftnoir_protocol_sc/ftnoir_protocol_sc.cpp | 10 ++++------ ftnoir_protocol_sc/ftnoir_protocol_sc.h | 2 +- ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp | 5 ++--- ftnoir_tracker_pt/point_tracker.cpp | 20 ++++++++------------ 4 files changed, 15 insertions(+), 22 deletions(-) (limited to 'ftnoir_tracker_pt') diff --git a/ftnoir_protocol_sc/ftnoir_protocol_sc.cpp b/ftnoir_protocol_sc/ftnoir_protocol_sc.cpp index c53aa49c..1baeacd4 100644 --- a/ftnoir_protocol_sc/ftnoir_protocol_sc.cpp +++ b/ftnoir_protocol_sc/ftnoir_protocol_sc.cpp @@ -79,13 +79,11 @@ void FTNoIR_Protocol::sendHeadposeToGame( const double *headpose ) { if (!blnSimConnectActive) { if (SUCCEEDED(simconnect_open(&hSimConnect, "FaceTrackNoIR", NULL, 0, 0, 0))) { - HRESULT hr; - simconnect_subscribetosystemevent(hSimConnect, EVENT_PING, "Frame"); - hr = simconnect_mapclienteventtosimevent(hSimConnect, EVENT_INIT, ""); - hr = simconnect_addclienteventtonotificationgroup(hSimConnect, GROUP0, EVENT_INIT, false); - hr = simconnect_setnotificationgrouppriority(hSimConnect, GROUP0, SIMCONNECT_GROUP_PRIORITY_HIGHEST); + simconnect_mapclienteventtosimevent(hSimConnect, EVENT_INIT, ""); + simconnect_addclienteventtonotificationgroup(hSimConnect, GROUP0, EVENT_INIT, false); + simconnect_setnotificationgrouppriority(hSimConnect, GROUP0, SIMCONNECT_GROUP_PRIORITY_HIGHEST); blnSimConnectActive = true; } } @@ -203,7 +201,7 @@ bool FTNoIR_Protocol::checkServerInstallationOK() return true; } -void CALLBACK FTNoIR_Protocol::processNextSimconnectEvent(SIMCONNECT_RECV* pData, DWORD cbData, void *pContext) +void CALLBACK FTNoIR_Protocol::processNextSimconnectEvent(SIMCONNECT_RECV* pData, DWORD, void *) { switch(pData->dwID) { diff --git a/ftnoir_protocol_sc/ftnoir_protocol_sc.h b/ftnoir_protocol_sc/ftnoir_protocol_sc.h index d6185428..c60f6d85 100644 --- a/ftnoir_protocol_sc/ftnoir_protocol_sc.h +++ b/ftnoir_protocol_sc/ftnoir_protocol_sc.h @@ -133,7 +133,7 @@ class SCControls: public QWidget, public IProtocolDialog Q_OBJECT public: SCControls(); - void registerProtocol(IProtocol *protocol) {} + void registerProtocol(IProtocol *) {} void unRegisterProtocol() {} private: Ui::UICSCControls ui; diff --git a/ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp b/ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp index 0e95f57d..63a3a8b5 100644 --- a/ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp +++ b/ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp @@ -5,10 +5,9 @@ FTNoIR_Tracker::FTNoIR_Tracker() : g_pDI(nullptr), g_pJoystick(nullptr), - iter(-1), - mtx(QMutex::Recursive) + mtx(QMutex::Recursive), + iter(-1) { - GUID bar = {0}; } void FTNoIR_Tracker::reload() diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp index 5735c081..f83ff437 100644 --- a/ftnoir_tracker_pt/point_tracker.cpp +++ b/ftnoir_tracker_pt/point_tracker.cpp @@ -79,13 +79,9 @@ void PointModel::get_d_order(const std::vector& points, int d_order[] { // 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; std::sort(d_vals.begin(), d_vals.end(), #ifdef OPENTRACK_API @@ -95,19 +91,19 @@ void PointModel::get_d_order(const std::vector& points, int d_order[] #endif ); - for (int i = 0; i& points, float f, float dt) return false; } - int n_iter = POSIT(f); + (void) POSIT(f); //qDebug()<<"Number of POSIT iterations: "< Date: Mon, 22 Sep 2014 10:32:36 +0200 Subject: pt: fix warning --- ftnoir_tracker_pt/point_extractor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'ftnoir_tracker_pt') diff --git a/ftnoir_tracker_pt/point_extractor.cpp b/ftnoir_tracker_pt/point_extractor.cpp index d9ff0a5b..968fe23e 100644 --- a/ftnoir_tracker_pt/point_extractor.cpp +++ b/ftnoir_tracker_pt/point_extractor.cpp @@ -20,7 +20,7 @@ PointExtractor::PointExtractor(){ //freopen("CON", "w", stderr); } // ---------------------------------------------------------------------------- -const vector& PointExtractor::extract_points(Mat frame, float dt, bool draw_output) +const vector& PointExtractor::extract_points(Mat frame, float /*dt*/, bool draw_output) { const int W = frame.cols; const int H = frame.rows; -- cgit v1.2.3 From fb0cd9401e26aaf610356ffe899af268012d18c3 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Mon, 22 Sep 2014 11:39:07 +0200 Subject: remove obsolete axis selector from trackers --- ftnoir_tracker_aruco/aruco-trackercontrols.ui | 449 +++++++++------------ ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 24 +- ftnoir_tracker_aruco/ftnoir_tracker_aruco.h | 7 - ftnoir_tracker_freepie-udp/freepie-udp-controls.ui | 159 +------- .../ftnoir_tracker_freepie-udp.cpp | 9 +- .../ftnoir_tracker_freepie-udp.h | 6 +- .../ftnoir_tracker_freepie-udp_dialog.cpp | 3 - ftnoir_tracker_ht/ftnoir_tracker_ht.cpp | 26 +- ftnoir_tracker_ht/ftnoir_tracker_ht.h | 7 - ftnoir_tracker_ht/ht-trackercontrols.ui | 91 +---- .../ftnoir_hydra_clientcontrols.ui | 168 +------- ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp | 43 +- ftnoir_tracker_hydra/ftnoir_tracker_hydra.h | 15 +- .../ftnoir_tracker_hydra_dialog.cpp | 7 - ftnoir_tracker_pt/FTNoIR_PT_Controls.ui | 245 ----------- ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp | 7 - ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h | 9 - ftnoir_tracker_rift/ftnoir_rift_clientcontrols.ui | 200 +-------- ftnoir_tracker_rift/ftnoir_tracker_rift.cpp | 19 +- ftnoir_tracker_rift/ftnoir_tracker_rift.h | 8 +- ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp | 8 - ftnoir_tracker_udp/ftnoir_ftnclientcontrols.ui | 358 +--------------- ftnoir_tracker_udp/ftnoir_tracker_udp.cpp | 14 +- ftnoir_tracker_udp/ftnoir_tracker_udp.h | 10 +- ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp | 10 +- 25 files changed, 281 insertions(+), 1621 deletions(-) (limited to 'ftnoir_tracker_pt') diff --git a/ftnoir_tracker_aruco/aruco-trackercontrols.ui b/ftnoir_tracker_aruco/aruco-trackercontrols.ui index be237e3c..e5654bd5 100644 --- a/ftnoir_tracker_aruco/aruco-trackercontrols.ui +++ b/ftnoir_tracker_aruco/aruco-trackercontrols.ui @@ -10,7 +10,7 @@ 0 0 636 - 346 + 368 @@ -19,243 +19,239 @@ 0 - - - 6666 - 6666 - - - HT tracker settings + Tracker settings - - - 7 - - - + + + - Head position + - - Qt::AlignCenter + + true - - - - - TY - - - - - + + + - TX + Horizontal FOV - - - - - 0 - 0 - + + + + - -10000.000000000000000 + 35.000000000000000 - 10000.000000000000000 + 180.000000000000000 + + + 52.000000000000000 - - + + - TZ + Frames per second - - - - - 0 - 0 - - - - -10000.000000000000000 - - - 10000.000000000000000 - + + + + + Default + + + + + 30 + + + + + 60 + + + + + 120 + + + + + 180 + + - - - - - 0 - 0 - - - - -10000.000000000000000 - - - 10000.000000000000000 + + + + Camera name - - + + + + + - Calibrate + Resolution - - - - - - - Enable axes - - - - 7 - - - 6 - - - 0 - - - 6 - - - 0 - - - - - RX - + + + + + 640x480 + + + + + 320x240 + + + + + 320x200 + + + + + Default (not recommended!) + + - - + + - TX + Red channel only - - + + - RY + Mileage may vary - - + + - TY + Marker pitch - - - - RZ + + + + -180.000000000000000 + + + 180.000000000000000 - - - - TZ + + + + Head center + + + + + Calibrate + + + + + + + TX + + + + + + + + 0 + 0 + + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + + 0 + 0 + + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + + 0 + 0 + + + + -10000.000000000000000 + + + 10000.000000000000000 + + + + + + + TZ + + + + + + + TY + + + + - - - - Frames per second - - - - - - - - - - - Default - - - - - 30 - - - - - 60 - - - - - 120 - - - - - 180 - - - - - - - - Recommended! - - - - - - - Camera name - - - - - - - - - - 35.000000000000000 - - - 180.000000000000000 - - - 52.000000000000000 - - - - + @@ -270,7 +266,7 @@ Qt::RichText - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter true @@ -286,93 +282,16 @@ - - - - Red channel only - - - - - - - - 640x480 - - - - - 320x240 - - - - - 320x200 - - - - - Default (not recommended!) - - - - - - - - Horizontal FOV - - - - + QDialogButtonBox::Cancel|QDialogButtonBox::Ok - - - - -180.000000000000000 - - - 180.000000000000000 - - - - - - - Resolution - - - - - - - Marker pitch - - - - cameraFOV - cameraFPS - cameraName - resolution - red_only - marker_pitch - cx - cy - cz - rx - ry - rz - tx - ty - tz buttonBox diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index b70bef09..f469c7a4 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -380,18 +380,12 @@ void Tracker::GetHeadPoseData(double *data) { QMutexLocker lck(&mtx); - if (s.eyaw) - data[Yaw] = pose[Yaw]; - if (s.epitch) - data[Pitch] = pose[Pitch]; - if (s.eroll) - data[Roll] = pose[Roll]; - if (s.ex) - data[TX] = pose[TX] * .1; - if (s.ey) - data[TY] = pose[TY] * .1; - if (s.ez) - data[TZ] = pose[TZ] * .1; + data[Yaw] = pose[Yaw]; + data[Pitch] = pose[Pitch]; + data[Roll] = pose[Roll]; + data[TX] = pose[TX] * .1; + data[TY] = pose[TY] * .1; + data[TZ] = pose[TZ] * .1; } class TrackerDll : public Metadata @@ -456,12 +450,6 @@ TrackerControls::TrackerControls() tie_setting(s.resolution, ui.resolution); 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); diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h index f2207aef..c431d27a 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h @@ -28,7 +28,6 @@ struct settings { value fov, headpos_x, headpos_y, headpos_z; value camera_index, force_fps, resolution; value red_only; - value eyaw, epitch, eroll, ex, ey, ez; value marker_pitch; settings() : b(bundle("aruco-tracker")), @@ -40,12 +39,6 @@ struct settings { 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), marker_pitch(b, "marker-pitch", 0) {} }; diff --git a/ftnoir_tracker_freepie-udp/freepie-udp-controls.ui b/ftnoir_tracker_freepie-udp/freepie-udp-controls.ui index 937dafaa..9870372a 100644 --- a/ftnoir_tracker_freepie-udp/freepie-udp-controls.ui +++ b/ftnoir_tracker_freepie-udp/freepie-udp-controls.ui @@ -9,8 +9,8 @@ 0 0 - 208 - 240 + 198 + 71 @@ -26,145 +26,31 @@ false - - - 0 - - - - - - - - 0 - - - 65535 - - - - - - - - 0 - 0 - - - - UDP port - - - - + + + + + + 0 + 0 + + + + UDP port + - - - - - 0 - 85 - + + + + 0 - - Enable axis + + 65535 - - - - - - 0 - 0 - - - - Roll - - - - - - - - 20 - 16777215 - - - - Qt::LeftToRight - - - - - - - - - - - 0 - 0 - - - - Yaw - - - - - - - - 0 - 0 - - - - Pitch - - - - - - - - 20 - 16777215 - - - - Qt::LeftToRight - - - - - - - - - - - 20 - 16777215 - - - - Qt::LeftToRight - - - - - - - - - - - + QDialogButtonBox::Cancel|QDialogButtonBox::Ok @@ -173,9 +59,6 @@ - - port - diff --git a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.cpp b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.cpp index 7223a33f..718ec510 100644 --- a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.cpp +++ b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.cpp @@ -92,12 +92,9 @@ void TrackerImpl::GetHeadPoseData(double *data) if (s.enable_z) data[TZ] = pose[TZ]; #endif - if (s.enable_yaw) - data[Yaw] = pose[Yaw]; - if (s.enable_pitch) - data[Pitch] = pose[Pitch]; - if (s.enable_roll) - data[Roll] = pose[Roll]; + data[Yaw] = pose[Yaw]; + data[Pitch] = pose[Pitch]; + data[Roll] = pose[Roll]; } extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor() diff --git a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.h b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.h index 8cefb509..b3f028fc 100644 --- a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.h +++ b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.h @@ -16,13 +16,9 @@ using namespace options; struct settings { pbundle b; value port; - value enable_roll, enable_pitch, enable_yaw; settings() : b(bundle("freepie-udp-tracker")), - port(b, "port", 4237), - enable_roll(b, "enable-roll", true), - enable_pitch(b, "enable-pitch", true), - enable_yaw(b, "enable-yaw", true) + port(b, "port", 4237) {} }; diff --git a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dialog.cpp b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dialog.cpp index d845ff4a..1489e336 100644 --- a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dialog.cpp +++ b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dialog.cpp @@ -9,9 +9,6 @@ TrackerDialog::TrackerDialog() connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel())); tie_setting(s.port, ui.port); - tie_setting(s.enable_yaw, ui.chkEnableYaw); - tie_setting(s.enable_pitch, ui.chkEnablePitch); - tie_setting(s.enable_roll, ui.chkEnableRoll); } void TrackerDialog::doOK() { diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp index ef7e185d..7d6fc24e 100644 --- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp @@ -197,24 +197,16 @@ void Tracker::GetHeadPoseData(double *data) shm->frame.width = 0; } if (shm->result.filled) { - if (s.enableRX) - data[Yaw] = shm->result.rotx; - if (s.enableRY) { - data[Pitch] = shm->result.roty; - } - if (s.enableRZ) { - data[Roll] = shm->result.rotz; - } - if (s.enableTX) - data[TX] = shm->result.tx; - if (s.enableTY) - data[TY] = shm->result.ty; - if (s.enableTZ) - data[TZ] = shm->result.tz; if (fabs(data[Yaw]) > 60 || fabs(data[Pitch]) > 50 || fabs(data[Roll]) > 40) { shm->pause = true; } + data[Yaw] = shm->result.rotx; + data[Pitch] = shm->result.roty; + data[Roll] = shm->result.rotz; + data[TX] = shm->result.tx; + data[TY] = shm->result.ty; + data[TZ] = shm->result.tz; } else { shm->pause = false; } @@ -267,12 +259,6 @@ TrackerControls::TrackerControls() tie_setting(s.camera_idx, ui.cameraName); tie_setting(s.fps, ui.cameraFPS); tie_setting(s.fov, ui.cameraFOV); - tie_setting(s.enableTX, ui.tx); - tie_setting(s.enableTY, ui.ty); - tie_setting(s.enableTZ, ui.tz); - tie_setting(s.enableRX, ui.rx); - tie_setting(s.enableRY, ui.ry); - tie_setting(s.enableRZ, ui.rz); tie_setting(s.resolution, ui.resolution); connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel())); connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK())); diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.h b/ftnoir_tracker_ht/ftnoir_tracker_ht.h index 583249dc..418137bc 100644 --- a/ftnoir_tracker_ht/ftnoir_tracker_ht.h +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.h @@ -20,17 +20,10 @@ using namespace options; struct settings { pbundle b; - value enableTX, enableTY, enableTZ, enableRX, enableRY, enableRZ; value fov; value fps, camera_idx, resolution; settings() : b(bundle("HT-Tracker")), - enableTX(b, "enable-tx", true), - enableTY(b, "enable-ty", true), - enableTZ(b, "enable-tz", true), - enableRX(b, "enable-rx", true), - enableRY(b, "enable-ry", true), - enableRZ(b, "enable-rz", true), fov(b, "fov", 56), fps(b, "fps", 0), camera_idx(b, "camera-index", 0), diff --git a/ftnoir_tracker_ht/ht-trackercontrols.ui b/ftnoir_tracker_ht/ht-trackercontrols.ui index f57022c8..0b94ffc5 100644 --- a/ftnoir_tracker_ht/ht-trackercontrols.ui +++ b/ftnoir_tracker_ht/ht-trackercontrols.ui @@ -9,8 +9,8 @@ 0 0 - 531 - 166 + 354 + 158 @@ -52,91 +52,6 @@ - - - - Enable axes - - - - - 10 - 20 - 70 - 17 - - - - RX - - - - - - 10 - 40 - 70 - 17 - - - - RY - - - - - - 10 - 60 - 70 - 17 - - - - RZ - - - - - - 60 - 20 - 70 - 17 - - - - TX - - - - - - 60 - 40 - 70 - 17 - - - - TY - - - - - - 60 - 60 - 70 - 17 - - - - TZ - - - - @@ -214,7 +129,7 @@ - + QDialogButtonBox::Cancel|QDialogButtonBox::Ok diff --git a/ftnoir_tracker_hydra/ftnoir_hydra_clientcontrols.ui b/ftnoir_tracker_hydra/ftnoir_hydra_clientcontrols.ui index e5e41bec..7cfac075 100644 --- a/ftnoir_tracker_hydra/ftnoir_hydra_clientcontrols.ui +++ b/ftnoir_tracker_hydra/ftnoir_hydra_clientcontrols.ui @@ -9,8 +9,8 @@ 0 0 - 172 - 145 + 190 + 62 @@ -26,167 +26,15 @@ false - - - - - - 0 - 85 - + + + + + None whatsoever - - Enable Axis - - - - - - Pitch: - - - - - - - - 20 - 16777215 - - - - Qt::LeftToRight - - - - - - - - - - - - - X: - - - - - - - - 20 - 16777215 - - - - Qt::LeftToRight - - - - - - - - - - - - - Yaw: - - - - - - - - 20 - 16777215 - - - - Qt::LeftToRight - - - - - - - - - - Y: - - - - - - - - 20 - 16777215 - - - - Qt::LeftToRight - - - - - - - - - - Roll: - - - - - - - - 20 - 16777215 - - - - Qt::LeftToRight - - - - - - - - - - Z: - - - - - - - - 20 - 16777215 - - - - Qt::LeftToRight - - - - - - - - + QDialogButtonBox::Cancel|QDialogButtonBox::Ok diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp index 6345ac57..5770f015 100644 --- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp @@ -8,13 +8,10 @@ # define SIXENSE_UTILS_STATIC_LIB #endif #include -#include +Hydra_Tracker::Hydra_Tracker() : should_quit(false) {} -Hydra_Tracker::Hydra_Tracker() : should_quit(false) -{ - for (int i = 0; i < 6; i++) - newHeadPose[i] = 0; -} +#pragma GCC diagnostic ignored "-Wreorder" +#include Hydra_Tracker::~Hydra_Tracker() { @@ -38,33 +35,13 @@ void Hydra_Tracker::GetHeadPoseData(double *data) float ypr[3]; mat.getEulerAngles().fill(ypr); - newHeadPose[Yaw] = ypr[0]; - newHeadPose[Pitch] = ypr[1]; - newHeadPose[Roll] = ypr[2]; - - - newHeadPose[TX] = acd.controllers[0].pos[0]/50.0f; - newHeadPose[TY] = acd.controllers[0].pos[1]/50.0f; - newHeadPose[TZ] = acd.controllers[0].pos[2]/50.0f; - - if (s.bEnableX) { - data[TX] = newHeadPose[TX]; - } - if (s.bEnableY) { - data[TY] = newHeadPose[TY]; - } - if (s.bEnableY) { - data[TZ] = newHeadPose[TZ]; - } - if (s.bEnableYaw) { - data[Yaw] = newHeadPose[Yaw] * 57.295781f; - } - if (s.bEnablePitch) { - data[Pitch] = newHeadPose[Pitch] * 57.295781f; - } - if (s.bEnableRoll) { - data[Roll] = newHeadPose[Roll] * 57.295781f; - } + data[TX] = acd.controllers[0].pos[0]/50.0; + data[TY] = acd.controllers[0].pos[1]/50.0; + data[TZ] = acd.controllers[0].pos[2]/50.0; + constexpr double r2d = 57.295781; + data[Yaw] = ypr[0] * r2d; + data[Pitch] = ypr[1] * r2d; + data[Roll] = ypr[2] * r2d; } extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor() diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h index fdfc2643..2b3c84a7 100644 --- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h @@ -6,15 +6,8 @@ using namespace options; struct settings { pbundle b; - value bEnableRoll, bEnablePitch, bEnableYaw, bEnableX, bEnableY, bEnableZ; settings() : - b(bundle("tracker-hydra")), - bEnableRoll(b, "enable-rz", true), - bEnablePitch(b, "enable-ry", true), - bEnableYaw(b, "enable-rx", true), - bEnableX(b, "enable-tx", true), - bEnableY(b, "enable-ty", true), - bEnableZ(b, "enable-tz", true) + b(bundle("tracker-hydra")) {} }; @@ -25,15 +18,11 @@ public: ~Hydra_Tracker(); void StartTracker(QFrame *) override; void GetHeadPoseData(double *data) override; + virtual int preferredHz() override { return 250; } volatile bool should_quit; -protected: - void run(); // qthread override run method private: settings s; - bool isCalibrated; - double newHeadPose[6]; // Structure with new headpose QMutex mutex; - virtual int preferredHz() override { return 250; } }; class TrackerControls: public QWidget, public ITrackerDialog diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp index 6c98a0a1..3df77d15 100644 --- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp @@ -9,13 +9,6 @@ QWidget() // Connect Qt signals to member-functions connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK())); connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel())); - - 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); } void TrackerControls::doOK() { diff --git a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui index 0bbec7e1..44dfc060 100644 --- a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui +++ b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui @@ -129,245 +129,6 @@ - - - - - 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 - - - - - - - @@ -1723,12 +1484,6 @@ tabWidget reset_spin - chkEnableRoll - chkEnablePitch - chkEnableYaw - chkEnableX - chkEnableY - chkEnableZ camdevice_combo res_x_spin res_y_spin diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp index 00d10d13..4ba981a5 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp @@ -57,13 +57,6 @@ TrackerDialog::TrackerDialog() 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); diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h index 109090b3..1eca1e35 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h @@ -38,9 +38,6 @@ struct settings value reset_time; - value bEnableYaw, bEnablePitch, bEnableRoll; - value bEnableX, bEnableY, bEnableZ; - value clip_ty, clip_tz, clip_by, clip_bz; value active_model_panel, cap_x, cap_y, cap_z; @@ -70,12 +67,6 @@ struct settings t_MH_y(b, "model-centroid-y", 0), t_MH_z(b, "model-centroid-z", 0), reset_time(b, "reset-time", 2000), - 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), diff --git a/ftnoir_tracker_rift/ftnoir_rift_clientcontrols.ui b/ftnoir_tracker_rift/ftnoir_rift_clientcontrols.ui index 62edbec5..20c8f00b 100644 --- a/ftnoir_tracker_rift/ftnoir_rift_clientcontrols.ui +++ b/ftnoir_tracker_rift/ftnoir_rift_clientcontrols.ui @@ -9,8 +9,8 @@ 0 0 - 532 - 481 + 218 + 200 @@ -33,7 +33,7 @@ false - + Yaw spring @@ -151,7 +151,7 @@ - + @@ -164,198 +164,6 @@ - - - - Axes - - - false - - - - QFormLayout::ExpandingFieldsGrow - - - - - - 0 - 0 - - - - Pitch: - - - - - - - - 0 - 0 - - - - - 20 - 16777215 - - - - Qt::LeftToRight - - - - - - - - - - - - - - 0 - 0 - - - - Yaw: - - - - - - - - 0 - 0 - - - - - 20 - 16777215 - - - - Qt::LeftToRight - - - - - - - - - - - 0 - 0 - - - - Roll: - - - - - - - - 0 - 0 - - - - - 20 - 16777215 - - - - Qt::LeftToRight - - - - - - - - - - - 0 - 0 - - - - X - - - - - - - Qt::LeftToRight - - - - - - - - - - - 0 - 0 - - - - Y - - - - - - - Qt::LeftToRight - - - - - - - - - - - 0 - 0 - - - - Z - - - - - - - Qt::LeftToRight - - - - - - - - - diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp index 33d8f418..46e8c29f 100644 --- a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp +++ b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp @@ -55,18 +55,13 @@ void Rift_Tracker::GetHeadPoseData(double *data) yaw += s.constant_drift; old_yaw=yaw; } - if (s.bEnableYaw) - data[Yaw] = yaw * 57.295781; - if (s.bEnablePitch) - data[Pitch] = pitch * -57.295781; - if (s.bEnableRoll) - data[Roll] = roll * 57.295781; - if (s.bEnableX) - data[TX] = pose.Position.x * -1e2; - if (s.bEnableY) - data[TY] = pose.Position.y * 1e2; - if (s.bEnableX) - data[TZ] = pose.Position.z * 1e2; + constexpr double d2r = 57.295781; + data[Yaw] = yaw * d2r; + data[Pitch] = pitch * -d2r; + data[Roll] = roll * d2r; + data[TX] = pose.Position.x * -1e2; + data[TY] = pose.Position.y * 1e2; + data[TZ] = pose.Position.z * 1e2; } } } diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift.h b/ftnoir_tracker_rift/ftnoir_tracker_rift.h index ee51b2cb..de224ca5 100644 --- a/ftnoir_tracker_rift/ftnoir_tracker_rift.h +++ b/ftnoir_tracker_rift/ftnoir_tracker_rift.h @@ -12,16 +12,10 @@ using namespace options; struct settings { pbundle b; - value bEnableYaw, bEnablePitch, bEnableRoll, bEnableX, bEnableY, bEnableZ, useYawSpring; + value useYawSpring; value constant_drift, persistence, deadzone; settings() : b(bundle("Rift")), - bEnableYaw(b, "EnableYaw", true), - bEnablePitch(b, "EnablePitch", true), - bEnableRoll(b, "EnableRoll", true), - bEnableX(b, "EnableX", true), - bEnableY(b, "EnableY", true), - bEnableZ(b, "EnableZ", true), useYawSpring(b, "yaw-spring", false), constant_drift(b, "constant-drift", 0.000005), persistence(b, "persistence", 0.99999), diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp b/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp index cc8079bf..390eac0e 100644 --- a/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp +++ b/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp @@ -9,14 +9,6 @@ QWidget() connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK())); connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel())); - 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.constant_drift, ui.constantDrift); tie_setting(s.deadzone, ui.deadzone); tie_setting(s.persistence, ui.persistence); diff --git a/ftnoir_tracker_udp/ftnoir_ftnclientcontrols.ui b/ftnoir_tracker_udp/ftnoir_ftnclientcontrols.ui index 6f81a50b..f485e67f 100644 --- a/ftnoir_tracker_udp/ftnoir_ftnclientcontrols.ui +++ b/ftnoir_tracker_udp/ftnoir_ftnclientcontrols.ui @@ -9,8 +9,8 @@ 0 0 - 411 - 232 + 216 + 71 @@ -26,353 +26,35 @@ false - - - - - - - Port-number - - - - - - - 0 - - - 65535 - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - - - - 0 - 85 - - - - Enable Axis + + + + + Port - - - - 10 - 20 - 150 - 73 - - - - - - - Roll: - - - - - - - Pitch: - - - - - - - Yaw: - - - - - - - - 20 - 16777215 - - - - Qt::LeftToRight - - - - - - - - - - - - - - 20 - 16777215 - - - - Qt::LeftToRight - - - - - - - - - - - 20 - 16777215 - - - - Qt::LeftToRight - - - - - - - - - - X: - - - - - - - - 20 - 16777215 - - - - Qt::LeftToRight - - - - - - - - - - Y: - - - - - - - - 20 - 16777215 - - - - Qt::LeftToRight - - - - - - - - - - Z: - - - - - - - - 20 - 16777215 - - - - Qt::LeftToRight - - - - - - - - - - Qt::Horizontal - - - QSizePolicy::Minimum - - - - 40 - 20 - - - - - - - - - - Qt::Vertical + + + + 0 - - - 20 - 40 - + + 65535 - - - - - - - - Enter the port-number for the remote PC. - - - true - - - - - - - Remember: you may have to change firewall-settings too! - - - - + - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - QLayout::SetDefaultConstraint - - - - - - 0 - 0 - - - - - 100 - 0 - - - - - 100 - 16777215 - - - - OK - - - - - - - - 0 - 0 - - - - - 100 - 0 - - - - - 100 - 16777215 - - - - Cancel - - - - - - - - - Qt::Horizontal - - - QSizePolicy::Fixed - - - - 10 - 20 - - - - - + + + + QDialogButtonBox::Cancel|QDialogButtonBox::Ok + + spinPortNumber - btnOK - btnCancel diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp index 1b6d9ddd..335616d5 100644 --- a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp +++ b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp @@ -62,18 +62,8 @@ void FTNoIR_Tracker::StartTracker(QFrame*) void FTNoIR_Tracker::GetHeadPoseData(double *data) { QMutexLocker foo(&mutex); - if (s.enable_x) - data[TX] = newHeadPose[TX]; - if (s.enable_y) - data[TY] = newHeadPose[TY]; - if (s.enable_z) - data[TZ] = newHeadPose[TZ]; - if (s.enable_yaw) - data[Yaw] = newHeadPose[Yaw]; - if (s.enable_pitch) - data[Pitch] = newHeadPose[Pitch]; - if (s.enable_roll) - data[Roll] = newHeadPose[Roll]; + for (int i = 0; i < 6; i++) + data[i] = last_recv_pose[i]; } extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor() diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp.h b/ftnoir_tracker_udp/ftnoir_tracker_udp.h index 22c9c465..92d321b2 100644 --- a/ftnoir_tracker_udp/ftnoir_tracker_udp.h +++ b/ftnoir_tracker_udp/ftnoir_tracker_udp.h @@ -10,17 +10,9 @@ using namespace options; struct settings { pbundle b; value port; - value enable_roll, enable_pitch, enable_yaw, - enable_x, enable_y, enable_z; settings() : b(bundle("udp-tracker")), - port(b, "port", 4242), - enable_roll(b, "enable-roll", true), - enable_pitch(b, "enable-pitch", true), - enable_yaw(b, "enable-yaw", true), - enable_x(b, "enable-x", true), - enable_y(b, "enable-y", true), - enable_z(b, "enable-y", true) + port(b, "port", 4242) {} }; diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp b/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp index 17b174e8..16a59292 100644 --- a/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp +++ b/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp @@ -30,15 +30,9 @@ QWidget() { ui.setupUi( this ); - connect(ui.btnOK, SIGNAL(clicked()), this, SLOT(doOK())); - connect(ui.btnCancel, SIGNAL(clicked()), this, SLOT(doCancel())); + connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK())); + connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel())); - tie_setting(s.enable_x, ui.chkEnableX); - tie_setting(s.enable_y, ui.chkEnableY); - tie_setting(s.enable_z, ui.chkEnableZ); - tie_setting(s.enable_yaw, ui.chkEnableYaw); - tie_setting(s.enable_pitch, ui.chkEnablePitch); - tie_setting(s.enable_roll, ui.chkEnableRoll); tie_setting(s.port, ui.spinPortNumber); } -- cgit v1.2.3 From 32f89f4f96f92e58e73e48fb09491bdcaba1174f Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Mon, 22 Sep 2014 11:43:13 +0200 Subject: win32: all plugins in Windows binary distro updated to new api --- ftnoir_filter_accela/ftnoir_filter_accela.cpp | 2 +- ftnoir_filter_accela/ftnoir_filter_accela.h | 3 +-- ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp | 2 +- ftnoir_filter_accela/ftnoir_filter_accela_dll.cpp | 2 +- ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp | 2 +- ftnoir_filter_ewma2/ftnoir_filter_ewma2.h | 3 +-- ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp | 2 +- ftnoir_filter_ewma2/ftnoir_filter_ewma_dll.cpp | 2 +- ftnoir_filter_kalman/ftnoir_filter_kalman.h | 9 ++++----- ftnoir_filter_kalman/kalman.cpp | 6 +++--- ftnoir_protocol_fg/ftnoir_protocol_fg.cpp | 5 ++--- ftnoir_protocol_fg/ftnoir_protocol_fg.h | 3 +-- ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp | 2 +- ftnoir_protocol_fg/ftnoir_protocol_fg_dll.cpp | 2 +- ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.cpp | 2 +- ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.h | 3 +-- ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dialog.cpp | 2 +- ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dll.cpp | 2 +- ftnoir_protocol_ft/ftnoir_protocol_ft.cpp | 2 +- ftnoir_protocol_ft/ftnoir_protocol_ft.h | 3 +-- ftnoir_protocol_ft/ftnoir_protocol_ft_dialog.cpp | 2 +- ftnoir_protocol_ft/ftnoir_protocol_ft_dll.cpp | 2 +- ftnoir_protocol_ftn/ftnoir_protocol_ftn.cpp | 2 +- ftnoir_protocol_ftn/ftnoir_protocol_ftn.h | 4 +--- ftnoir_protocol_ftn/ftnoir_protocol_ftn_dialog.cpp | 2 +- ftnoir_protocol_ftn/ftnoir_protocol_ftn_dll.cpp | 2 +- ftnoir_protocol_libevdev/ftnoir_protocol_libevdev.cpp | 5 ++--- ftnoir_protocol_libevdev/ftnoir_protocol_libevdev.h | 3 +-- .../ftnoir_protocol_libevdev_dialog.cpp | 2 +- .../ftnoir_protocol_libevdev_dll.cpp | 2 +- ftnoir_protocol_mouse/ftnoir_protocol_mouse.cpp | 2 +- ftnoir_protocol_mouse/ftnoir_protocol_mouse.h | 3 +-- ftnoir_protocol_mouse/ftnoir_protocol_mouse_dialog.cpp | 2 +- ftnoir_protocol_mouse/ftnoir_protocol_mouse_dll.cpp | 2 +- ftnoir_protocol_sc/ftnoir_protocol_sc.cpp | 2 +- ftnoir_protocol_sc/ftnoir_protocol_sc.h | 5 ++--- ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp | 2 +- ftnoir_protocol_sc/ftnoir_protocol_sc_dll.cpp | 2 +- ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.cpp | 5 ++--- ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.h | 3 +-- ftnoir_protocol_vjoy/ftnoir_protocol_vjoy_dialog.cpp | 2 +- ftnoir_protocol_vjoy/ftnoir_protocol_vjoy_dll.cpp | 2 +- ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 9 ++++----- ftnoir_tracker_aruco/ftnoir_tracker_aruco.h | 2 +- ftnoir_tracker_aruco/ftnoir_tracker_aruco_dll.h | 3 +-- .../ftnoir_tracker_freepie-udp.cpp | 2 +- ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.h | 3 +-- .../ftnoir_tracker_freepie-udp_dialog.cpp | 2 +- .../ftnoir_tracker_freepie-udp_dll.cpp | 2 +- ftnoir_tracker_ht/ftnoir_tracker_ht.cpp | 13 ++++--------- ftnoir_tracker_ht/ftnoir_tracker_ht.h | 2 +- ftnoir_tracker_ht/ftnoir_tracker_ht_dll.h | 3 +-- ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp | 3 ++- ftnoir_tracker_hydra/ftnoir_tracker_hydra.h | 3 +-- ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp | 2 +- ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp | 2 +- ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp | 2 +- ftnoir_tracker_joystick/ftnoir_tracker_joystick.h | 3 +-- .../ftnoir_tracker_joystick_dialog.cpp | 2 +- ftnoir_tracker_joystick/ftnoir_tracker_joystick_dll.cpp | 2 +- ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 16 ++++++++-------- ftnoir_tracker_pt/ftnoir_tracker_pt.h | 3 +-- ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp | 4 ++-- ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h | 2 +- ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp | 4 ++-- ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h | 3 +-- ftnoir_tracker_rift/ftnoir_tracker_rift.cpp | 3 ++- ftnoir_tracker_rift/ftnoir_tracker_rift.h | 3 +-- ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp | 2 +- ftnoir_tracker_rift/ftnoir_tracker_rift_dll.cpp | 2 +- ftnoir_tracker_udp/ftnoir_tracker_udp.cpp | 2 +- ftnoir_tracker_udp/ftnoir_tracker_udp.h | 4 ++-- ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp | 2 +- ftnoir_tracker_udp/ftnoir_tracker_udp_dll.cpp | 2 +- 74 files changed, 101 insertions(+), 128 deletions(-) (limited to 'ftnoir_tracker_pt') diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.cpp b/ftnoir_filter_accela/ftnoir_filter_accela.cpp index 08e64667..b7aee77c 100644 --- a/ftnoir_filter_accela/ftnoir_filter_accela.cpp +++ b/ftnoir_filter_accela/ftnoir_filter_accela.cpp @@ -61,7 +61,7 @@ void FTNoIR_Filter::FilterHeadPoseData(const double* target_camera_position, } } -extern "C" FTNOIR_FILTER_BASE_EXPORT IFilter* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT IFilter* CALLING_CONVENTION GetConstructor() { return new FTNoIR_Filter; } diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.h b/ftnoir_filter_accela/ftnoir_filter_accela.h index 4a9136b5..c9a434e7 100644 --- a/ftnoir_filter_accela/ftnoir_filter_accela.h +++ b/ftnoir_filter_accela/ftnoir_filter_accela.h @@ -1,7 +1,6 @@ #pragma once -#include "ftnoir_filter_base/ftnoir_filter_base.h" #include "ui_ftnoir_accela_filtercontrols.h" -#include "facetracknoir/plugin-support.h" +#include "facetracknoir/plugin-api.hpp" #include #define ACCELA_SMOOTHING_ROTATION 60.0 diff --git a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp index 41b6022b..7afcd014 100644 --- a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp +++ b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp @@ -52,7 +52,7 @@ void FilterControls::save() { accela_filter->receiveSettings(); } -extern "C" FTNOIR_FILTER_BASE_EXPORT IFilterDialog* CALLING_CONVENTION GetDialog() +extern "C" OPENTRACK_EXPORT IFilterDialog* CALLING_CONVENTION GetDialog() { return new FilterControls; } diff --git a/ftnoir_filter_accela/ftnoir_filter_accela_dll.cpp b/ftnoir_filter_accela/ftnoir_filter_accela_dll.cpp index d42baef7..e908b873 100644 --- a/ftnoir_filter_accela/ftnoir_filter_accela_dll.cpp +++ b/ftnoir_filter_accela/ftnoir_filter_accela_dll.cpp @@ -1,7 +1,7 @@ #include "ftnoir_filter_accela.h" #include "facetracknoir/plugin-support.h" -extern "C" FTNOIR_FILTER_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() { return new FTNoIR_FilterDll; } diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp index d1f06a64..810cfef9 100644 --- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp +++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp @@ -91,7 +91,7 @@ void FTNoIR_Filter::FilterHeadPoseData(const double *target_camera_position, } } -extern "C" FTNOIR_FILTER_BASE_EXPORT IFilter* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT IFilter* CALLING_CONVENTION GetConstructor() { return new FTNoIR_Filter; } diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h index 35a316e6..8863348c 100644 --- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h +++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h @@ -1,7 +1,6 @@ #pragma once -#include "ftnoir_filter_base/ftnoir_filter_base.h" -#include "facetracknoir/plugin-support.h" +#include "facetracknoir/plugin-api.hpp" #include "ui_ftnoir_ewma_filtercontrols.h" #include #include diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp b/ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp index 437928a3..9e89bdb7 100644 --- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp +++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp @@ -43,7 +43,7 @@ void FilterControls::save() { pFilter->receiveSettings(); } -extern "C" FTNOIR_FILTER_BASE_EXPORT IFilterDialog* CALLING_CONVENTION GetDialog( ) +extern "C" OPENTRACK_EXPORT IFilterDialog* CALLING_CONVENTION GetDialog( ) { return new FilterControls; } diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma_dll.cpp b/ftnoir_filter_ewma2/ftnoir_filter_ewma_dll.cpp index 5c381e31..9a5a9148 100644 --- a/ftnoir_filter_ewma2/ftnoir_filter_ewma_dll.cpp +++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma_dll.cpp @@ -1,7 +1,7 @@ #include "ftnoir_filter_ewma2.h" #include "facetracknoir/plugin-support.h" -extern "C" FTNOIR_FILTER_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() { return new FTNoIR_FilterDll; } diff --git a/ftnoir_filter_kalman/ftnoir_filter_kalman.h b/ftnoir_filter_kalman/ftnoir_filter_kalman.h index 9964d6f2..2ff172d5 100755 --- a/ftnoir_filter_kalman/ftnoir_filter_kalman.h +++ b/ftnoir_filter_kalman/ftnoir_filter_kalman.h @@ -8,9 +8,8 @@ #ifndef INCLUDED_FTN_FILTER_H #define INCLUDED_FTN_FILTER_H -#include "ftnoir_filter_base/ftnoir_filter_base.h" #include "ui_ftnoir_kalman_filtercontrols.h" -#include "facetracknoir/plugin-support.h" +#include "facetracknoir/plugin-api.hpp" #include #include #include @@ -21,7 +20,7 @@ #include "facetracknoir/options.h" using namespace options; -class FTNOIR_FILTER_BASE_EXPORT FTNoIR_Filter : public IFilter +class OPENTRACK_EXPORT FTNoIR_Filter : public IFilter { public: FTNoIR_Filter(); @@ -36,7 +35,7 @@ public: qint64 timedelta; }; -class FTNOIR_FILTER_BASE_EXPORT FTNoIR_FilterDll : public Metadata +class OPENTRACK_EXPORT FTNoIR_FilterDll : public Metadata { public: void getFullName(QString *strToBeFilled) { *strToBeFilled = QString("Kalman filter"); } @@ -45,7 +44,7 @@ public: void getIcon(QIcon *icon){ *icon = QIcon(":/images/filter-16.png"); } }; -class FTNOIR_FILTER_BASE_EXPORT FilterControls: public QWidget, public IFilterDialog +class OPENTRACK_EXPORT FilterControls: public QWidget, public IFilterDialog { Q_OBJECT public: diff --git a/ftnoir_filter_kalman/kalman.cpp b/ftnoir_filter_kalman/kalman.cpp index 1f2ebb3b..cb622d79 100644 --- a/ftnoir_filter_kalman/kalman.cpp +++ b/ftnoir_filter_kalman/kalman.cpp @@ -121,16 +121,16 @@ void FilterControls::doCancel() { close(); } -extern "C" FTNOIR_FILTER_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() { return new FTNoIR_FilterDll; } -extern "C" FTNOIR_FILTER_BASE_EXPORT IFilter* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT IFilter* CALLING_CONVENTION GetConstructor() { return new FTNoIR_Filter; } -extern "C" FTNOIR_FILTER_BASE_EXPORT IFilterDialog* CALLING_CONVENTION GetDialog() { +extern "C" OPENTRACK_EXPORT IFilterDialog* CALLING_CONVENTION GetDialog() { return new FilterControls; } diff --git a/ftnoir_protocol_fg/ftnoir_protocol_fg.cpp b/ftnoir_protocol_fg/ftnoir_protocol_fg.cpp index 15a79131..45293796 100644 --- a/ftnoir_protocol_fg/ftnoir_protocol_fg.cpp +++ b/ftnoir_protocol_fg/ftnoir_protocol_fg.cpp @@ -26,8 +26,7 @@ * It is based on the (Linux) example made by Melchior FRANZ. * ********************************************************************************/ #include "ftnoir_protocol_fg.h" -#include "facetracknoir/plugin-support.h" -#include +#include "facetracknoir/plugin-api.hpp" // For Todd and Arda Kutlu @@ -58,7 +57,7 @@ bool FTNoIR_Protocol::checkServerInstallationOK() return outSocket.bind(QHostAddress::Any, 0, QUdpSocket::ShareAddress | QUdpSocket::ReuseAddressHint); } -extern "C" FTNOIR_PROTOCOL_BASE_EXPORT IProtocol* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT IProtocol* CALLING_CONVENTION GetConstructor() { return new FTNoIR_Protocol; } diff --git a/ftnoir_protocol_fg/ftnoir_protocol_fg.h b/ftnoir_protocol_fg/ftnoir_protocol_fg.h index f24331d9..4b25a3e1 100644 --- a/ftnoir_protocol_fg/ftnoir_protocol_fg.h +++ b/ftnoir_protocol_fg/ftnoir_protocol_fg.h @@ -26,13 +26,12 @@ * It is based on the (Linux) example made by Melchior FRANZ. * ********************************************************************************/ #pragma once -#include "ftnoir_protocol_base/ftnoir_protocol_base.h" #include "ui_ftnoir_fgcontrols.h" #include "fgtypes.h" #include #include #include -#include "facetracknoir/plugin-support.h" +#include "facetracknoir/plugin-api.hpp" #include "facetracknoir/options.h" using namespace options; diff --git a/ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp b/ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp index d9c596b7..eb8b9a81 100644 --- a/ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp +++ b/ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp @@ -63,7 +63,7 @@ void FGControls::doCancel() { this->close(); } -extern "C" FTNOIR_PROTOCOL_BASE_EXPORT IProtocolDialog* CALLING_CONVENTION GetDialog( ) +extern "C" OPENTRACK_EXPORT IProtocolDialog* CALLING_CONVENTION GetDialog( ) { return new FGControls; } diff --git a/ftnoir_protocol_fg/ftnoir_protocol_fg_dll.cpp b/ftnoir_protocol_fg/ftnoir_protocol_fg_dll.cpp index b7e286fd..a1f065c7 100644 --- a/ftnoir_protocol_fg/ftnoir_protocol_fg_dll.cpp +++ b/ftnoir_protocol_fg/ftnoir_protocol_fg_dll.cpp @@ -26,7 +26,7 @@ #include #include "facetracknoir/plugin-support.h" -extern "C" FTNOIR_PROTOCOL_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() { return new FTNoIR_ProtocolDll; } diff --git a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.cpp b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.cpp index 572843c5..f5e6d5ea 100644 --- a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.cpp +++ b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.cpp @@ -158,7 +158,7 @@ bool FTNoIR_Protocol::checkServerInstallationOK() return true; } -extern "C" FTNOIR_PROTOCOL_BASE_EXPORT FTNoIR_Protocol* CALLING_CONVENTION GetConstructor(void) +extern "C" OPENTRACK_EXPORT FTNoIR_Protocol* CALLING_CONVENTION GetConstructor(void) { return new FTNoIR_Protocol; } diff --git a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.h b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.h index 6e0db58c..fd63ed6b 100644 --- a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.h +++ b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.h @@ -31,8 +31,7 @@ #include #include #include "FSUIPC_User.h" -#include "facetracknoir/plugin-support.h" -#include "ftnoir_protocol_base/ftnoir_protocol_base.h" +#include "facetracknoir/plugin-api.hpp" #include "ui_ftnoir_fsuipccontrols.h" #include #include diff --git a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dialog.cpp b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dialog.cpp index 89823499..e8c04dfe 100644 --- a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dialog.cpp +++ b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dialog.cpp @@ -56,7 +56,7 @@ void FSUIPCControls::getLocationOfDLL() } } -extern "C" FTNOIR_PROTOCOL_BASE_EXPORT IProtocolDialog* CALLING_CONVENTION GetDialog(void) +extern "C" OPENTRACK_EXPORT IProtocolDialog* CALLING_CONVENTION GetDialog(void) { return new FSUIPCControls; } diff --git a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dll.cpp b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dll.cpp index 6cffc4f3..b2cd6e02 100644 --- a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dll.cpp +++ b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dll.cpp @@ -25,7 +25,7 @@ #include "ftnoir_protocol_fsuipc.h" #include "facetracknoir/plugin-support.h" -extern "C" FTNOIR_PROTOCOL_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata(void) +extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata(void) { return new FTNoIR_ProtocolDll; } diff --git a/ftnoir_protocol_ft/ftnoir_protocol_ft.cpp b/ftnoir_protocol_ft/ftnoir_protocol_ft.cpp index 39ac649d..d0cbfa97 100644 --- a/ftnoir_protocol_ft/ftnoir_protocol_ft.cpp +++ b/ftnoir_protocol_ft/ftnoir_protocol_ft.cpp @@ -171,7 +171,7 @@ bool FTNoIR_Protocol::checkServerInstallationOK() return true; } -extern "C" FTNOIR_PROTOCOL_BASE_EXPORT IProtocol* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT IProtocol* CALLING_CONVENTION GetConstructor() { return new FTNoIR_Protocol; } diff --git a/ftnoir_protocol_ft/ftnoir_protocol_ft.h b/ftnoir_protocol_ft/ftnoir_protocol_ft.h index b1d71f08..d7a792b7 100644 --- a/ftnoir_protocol_ft/ftnoir_protocol_ft.h +++ b/ftnoir_protocol_ft/ftnoir_protocol_ft.h @@ -25,9 +25,8 @@ * to games, using the FreeTrackClient.dll. * ********************************************************************************/ #pragma once -#include "ftnoir_protocol_base/ftnoir_protocol_base.h" #include "ui_ftnoir_ftcontrols.h" -#include "facetracknoir/plugin-support.h" +#include "facetracknoir/plugin-api.hpp" #include "fttypes.h" #include #include diff --git a/ftnoir_protocol_ft/ftnoir_protocol_ft_dialog.cpp b/ftnoir_protocol_ft/ftnoir_protocol_ft_dialog.cpp index 98d61675..626d5358 100644 --- a/ftnoir_protocol_ft/ftnoir_protocol_ft_dialog.cpp +++ b/ftnoir_protocol_ft/ftnoir_protocol_ft_dialog.cpp @@ -73,7 +73,7 @@ void FTControls::selectDLL() { } } -extern "C" FTNOIR_PROTOCOL_BASE_EXPORT IProtocolDialog* CALLING_CONVENTION GetDialog() +extern "C" OPENTRACK_EXPORT IProtocolDialog* CALLING_CONVENTION GetDialog() { return new FTControls; } diff --git a/ftnoir_protocol_ft/ftnoir_protocol_ft_dll.cpp b/ftnoir_protocol_ft/ftnoir_protocol_ft_dll.cpp index d5a51457..d6f05bad 100644 --- a/ftnoir_protocol_ft/ftnoir_protocol_ft_dll.cpp +++ b/ftnoir_protocol_ft/ftnoir_protocol_ft_dll.cpp @@ -1,7 +1,7 @@ #include "facetracknoir/plugin-support.h" #include "ftnoir_protocol_ft/ftnoir_protocol_ft.h" -extern "C" FTNOIR_PROTOCOL_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() { return new FTNoIR_ProtocolDll; } diff --git a/ftnoir_protocol_ftn/ftnoir_protocol_ftn.cpp b/ftnoir_protocol_ftn/ftnoir_protocol_ftn.cpp index af6f63f3..4ee7362b 100644 --- a/ftnoir_protocol_ftn/ftnoir_protocol_ftn.cpp +++ b/ftnoir_protocol_ftn/ftnoir_protocol_ftn.cpp @@ -48,7 +48,7 @@ bool FTNoIR_Protocol::checkServerInstallationOK() return outSocket.bind(QHostAddress::Any, 0, QUdpSocket::ShareAddress | QUdpSocket::ReuseAddressHint); } -extern "C" FTNOIR_PROTOCOL_BASE_EXPORT IProtocol* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT IProtocol* CALLING_CONVENTION GetConstructor() { return new FTNoIR_Protocol; } diff --git a/ftnoir_protocol_ftn/ftnoir_protocol_ftn.h b/ftnoir_protocol_ftn/ftnoir_protocol_ftn.h index 498df50c..c14a7dba 100644 --- a/ftnoir_protocol_ftn/ftnoir_protocol_ftn.h +++ b/ftnoir_protocol_ftn/ftnoir_protocol_ftn.h @@ -27,14 +27,12 @@ ********************************************************************************/ #pragma once -#include "ftnoir_protocol_base/ftnoir_protocol_base.h" -#include "ftnoir_tracker_base/ftnoir_tracker_base.h" #include "ui_ftnoir_ftncontrols.h" #include #include #include #include -#include "facetracknoir/plugin-support.h" +#include "facetracknoir/plugin-api.hpp" #include "facetracknoir/options.h" using namespace options; diff --git a/ftnoir_protocol_ftn/ftnoir_protocol_ftn_dialog.cpp b/ftnoir_protocol_ftn/ftnoir_protocol_ftn_dialog.cpp index 6afe20f2..b4a92b39 100644 --- a/ftnoir_protocol_ftn/ftnoir_protocol_ftn_dialog.cpp +++ b/ftnoir_protocol_ftn/ftnoir_protocol_ftn_dialog.cpp @@ -56,7 +56,7 @@ void FTNControls::doCancel() { this->close(); } -extern "C" FTNOIR_PROTOCOL_BASE_EXPORT IProtocolDialog* CALLING_CONVENTION GetDialog( ) +extern "C" OPENTRACK_EXPORT IProtocolDialog* CALLING_CONVENTION GetDialog( ) { return new FTNControls; } diff --git a/ftnoir_protocol_ftn/ftnoir_protocol_ftn_dll.cpp b/ftnoir_protocol_ftn/ftnoir_protocol_ftn_dll.cpp index fdc2f4ca..da89a9ca 100644 --- a/ftnoir_protocol_ftn/ftnoir_protocol_ftn_dll.cpp +++ b/ftnoir_protocol_ftn/ftnoir_protocol_ftn_dll.cpp @@ -25,7 +25,7 @@ #include "ftnoir_protocol_ftn.h" #include "facetracknoir/plugin-support.h" -extern "C" FTNOIR_PROTOCOL_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() { return new FTNoIR_ProtocolDll; } diff --git a/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev.cpp b/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev.cpp index d2a8e5bf..ca395b34 100644 --- a/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev.cpp +++ b/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev.cpp @@ -1,6 +1,5 @@ #include "ftnoir_protocol_libevdev.h" -#include "facetracknoir/plugin-support.h" -//#include "ftnoir_tracker_base/ftnoir_tracker_types.h" +#include "facetracknoir/plugin-api.hpp" #include #include @@ -95,7 +94,7 @@ void FTNoIR_Protocol::sendHeadposeToGame(const double* headpose) { (void) libevdev_uinput_write_event(uidev, EV_SYN, SYN_REPORT, 0); } -extern "C" FTNOIR_PROTOCOL_BASE_EXPORT IProtocol* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT IProtocol* CALLING_CONVENTION GetConstructor() { return new FTNoIR_Protocol; } diff --git a/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev.h b/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev.h index cb40959d..da753238 100644 --- a/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev.h +++ b/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev.h @@ -5,11 +5,10 @@ * copyright notice and this permission notice appear in all copies. */ #pragma once -#include "ftnoir_protocol_base/ftnoir_protocol_base.h" #include "ui_ftnoir_libevdev_controls.h" #include -#include "facetracknoir/plugin-support.h" +#include "facetracknoir/plugin-api.hpp" extern "C" { # include diff --git a/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev_dialog.cpp b/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev_dialog.cpp index b63cc0c7..152095d4 100644 --- a/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev_dialog.cpp +++ b/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev_dialog.cpp @@ -20,7 +20,7 @@ void LibevdevControls::doCancel() { void LibevdevControls::save() { } -extern "C" FTNOIR_PROTOCOL_BASE_EXPORT IProtocolDialog* CALLING_CONVENTION GetDialog( ) +extern "C" OPENTRACK_EXPORT IProtocolDialog* CALLING_CONVENTION GetDialog( ) { return new LibevdevControls; } diff --git a/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev_dll.cpp b/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev_dll.cpp index 639b93d7..01f7ff5f 100644 --- a/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev_dll.cpp +++ b/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev_dll.cpp @@ -10,7 +10,7 @@ FTNoIR_ProtocolDll::~FTNoIR_ProtocolDll() } -extern "C" FTNOIR_PROTOCOL_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() { return new FTNoIR_ProtocolDll; } diff --git a/ftnoir_protocol_mouse/ftnoir_protocol_mouse.cpp b/ftnoir_protocol_mouse/ftnoir_protocol_mouse.cpp index cd50dbe5..f78eb16d 100644 --- a/ftnoir_protocol_mouse/ftnoir_protocol_mouse.cpp +++ b/ftnoir_protocol_mouse/ftnoir_protocol_mouse.cpp @@ -63,7 +63,7 @@ bool FTNoIR_Protocol::checkServerInstallationOK() return true; } -extern "C" FTNOIR_PROTOCOL_BASE_EXPORT IProtocol* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT IProtocol* CALLING_CONVENTION GetConstructor() { return new FTNoIR_Protocol; } diff --git a/ftnoir_protocol_mouse/ftnoir_protocol_mouse.h b/ftnoir_protocol_mouse/ftnoir_protocol_mouse.h index e096bf50..8f1f3ff1 100644 --- a/ftnoir_protocol_mouse/ftnoir_protocol_mouse.h +++ b/ftnoir_protocol_mouse/ftnoir_protocol_mouse.h @@ -30,7 +30,6 @@ #ifndef INCLUDED_MOUSESERVER_H #define INCLUDED_MOUSESERVER_H -#include "ftnoir_protocol_base/ftnoir_protocol_base.h" #include "ui_ftnoir_mousecontrols.h" #include #include @@ -40,7 +39,7 @@ #include #include #include -#include "facetracknoir/plugin-support.h" +#include "facetracknoir/plugin-api.hpp" #include "facetracknoir/options.h" using namespace options; diff --git a/ftnoir_protocol_mouse/ftnoir_protocol_mouse_dialog.cpp b/ftnoir_protocol_mouse/ftnoir_protocol_mouse_dialog.cpp index 63524de9..50ea8f2e 100644 --- a/ftnoir_protocol_mouse/ftnoir_protocol_mouse_dialog.cpp +++ b/ftnoir_protocol_mouse/ftnoir_protocol_mouse_dialog.cpp @@ -63,7 +63,7 @@ void MOUSEControls::doCancel() { this->close(); } -extern "C" FTNOIR_PROTOCOL_BASE_EXPORT IProtocolDialog* CALLING_CONVENTION GetDialog( ) +extern "C" OPENTRACK_EXPORT IProtocolDialog* CALLING_CONVENTION GetDialog( ) { return new MOUSEControls; } diff --git a/ftnoir_protocol_mouse/ftnoir_protocol_mouse_dll.cpp b/ftnoir_protocol_mouse/ftnoir_protocol_mouse_dll.cpp index 0f63b290..50f889db 100644 --- a/ftnoir_protocol_mouse/ftnoir_protocol_mouse_dll.cpp +++ b/ftnoir_protocol_mouse/ftnoir_protocol_mouse_dll.cpp @@ -25,7 +25,7 @@ #include "ftnoir_protocol_mouse.h" #include "facetracknoir/plugin-support.h" -extern "C" FTNOIR_PROTOCOL_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() { return new FTNoIR_ProtocolDll; } diff --git a/ftnoir_protocol_sc/ftnoir_protocol_sc.cpp b/ftnoir_protocol_sc/ftnoir_protocol_sc.cpp index b3f4b490..0901546a 100644 --- a/ftnoir_protocol_sc/ftnoir_protocol_sc.cpp +++ b/ftnoir_protocol_sc/ftnoir_protocol_sc.cpp @@ -246,7 +246,7 @@ void CALLBACK FTNoIR_Protocol::processNextSimconnectEvent(SIMCONNECT_RECV* pData } } -extern "C" FTNOIR_PROTOCOL_BASE_EXPORT IProtocol* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT IProtocol* CALLING_CONVENTION GetConstructor() { return new FTNoIR_Protocol; } diff --git a/ftnoir_protocol_sc/ftnoir_protocol_sc.h b/ftnoir_protocol_sc/ftnoir_protocol_sc.h index c60f6d85..5a90224f 100644 --- a/ftnoir_protocol_sc/ftnoir_protocol_sc.h +++ b/ftnoir_protocol_sc/ftnoir_protocol_sc.h @@ -29,7 +29,7 @@ #pragma once #undef _WIN32_WINNT #define _WIN32_WINNT 0x0502 -#include "facetracknoir/plugin-support.h" +#include "facetracknoir/plugin-api.hpp" // // Prevent the SimConnect manifest from being merged in the application-manifest // This is necessary to run FaceTrackNoIR on a PC without FSX @@ -38,8 +38,7 @@ #include #include -#include -#include +#include "ui_ftnoir_sccontrols.h" #include #include #include diff --git a/ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp b/ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp index ea55cc1b..8845bec6 100644 --- a/ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp +++ b/ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp @@ -48,7 +48,7 @@ void SCControls::doCancel() { close(); } -extern "C" FTNOIR_PROTOCOL_BASE_EXPORT IProtocolDialog* CALLING_CONVENTION GetDialog( ) +extern "C" OPENTRACK_EXPORT IProtocolDialog* CALLING_CONVENTION GetDialog( ) { return new SCControls; } diff --git a/ftnoir_protocol_sc/ftnoir_protocol_sc_dll.cpp b/ftnoir_protocol_sc/ftnoir_protocol_sc_dll.cpp index e4741d42..6effb6d5 100644 --- a/ftnoir_protocol_sc/ftnoir_protocol_sc_dll.cpp +++ b/ftnoir_protocol_sc/ftnoir_protocol_sc_dll.cpp @@ -26,7 +26,7 @@ #include #include "facetracknoir/plugin-support.h" -extern "C" FTNOIR_PROTOCOL_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() { return new FTNoIR_ProtocolDll; } diff --git a/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.cpp b/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.cpp index ee7d2e85..803bc25a 100644 --- a/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.cpp +++ b/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.cpp @@ -1,6 +1,5 @@ #include "ftnoir_protocol_vjoy.h" -#include "facetracknoir/plugin-support.h" -#include +#include "facetracknoir/plugin-api.hpp" FTNoIR_Protocol::FTNoIR_Protocol() { @@ -28,7 +27,7 @@ void FTNoIR_Protocol::sendHeadposeToGame( const double *headpose ) { VJoy_UpdateJoyState(0, state); } -extern "C" FTNOIR_PROTOCOL_BASE_EXPORT IProtocol* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT IProtocol* CALLING_CONVENTION GetConstructor() { return new FTNoIR_Protocol; } diff --git a/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.h b/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.h index b63a5492..6f30705f 100644 --- a/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.h +++ b/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.h @@ -26,10 +26,9 @@ * It is based on the (Linux) example made by Melchior FRANZ. * ********************************************************************************/ #pragma once -#include "ftnoir_protocol_base/ftnoir_protocol_base.h" #include "ui_ftnoir_vjoy_controls.h" #include -#include "facetracknoir/plugin-support.h" +#include "facetracknoir/plugin-api.hpp" #define FT_PROGRAMID "FT_ProgramID" diff --git a/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy_dialog.cpp b/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy_dialog.cpp index 66aa559e..440b12dc 100644 --- a/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy_dialog.cpp +++ b/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy_dialog.cpp @@ -20,7 +20,7 @@ void VJoyControls::doCancel() { void VJoyControls::save() { } -extern "C" FTNOIR_PROTOCOL_BASE_EXPORT IProtocolDialog* CALLING_CONVENTION GetDialog( ) +extern "C" OPENTRACK_EXPORT IProtocolDialog* CALLING_CONVENTION GetDialog( ) { return new VJoyControls; } diff --git a/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy_dll.cpp b/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy_dll.cpp index 180cd683..812a2af9 100644 --- a/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy_dll.cpp +++ b/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy_dll.cpp @@ -10,7 +10,7 @@ FTNoIR_ProtocolDll::~FTNoIR_ProtocolDll() } -extern "C" FTNOIR_PROTOCOL_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() { return new FTNoIR_ProtocolDll; } diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index f469c7a4..b27b96b8 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -5,10 +5,9 @@ * copyright notice and this permission notice appear in all copies. */ -#include "ftnoir_tracker_base/ftnoir_tracker_base.h" #include "ftnoir_tracker_aruco.h" #include "ui_aruco-trackercontrols.h" -#include "facetracknoir/plugin-support.h" +#include "facetracknoir/plugin-api.hpp" #include #include #include @@ -422,19 +421,19 @@ void TrackerDll::getIcon(QIcon *icon) //----------------------------------------------------------------------------- //#pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0") -extern "C" FTNOIR_TRACKER_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() { return new TrackerDll; } //#pragma comment(linker, "/export:GetTracker=_GetTracker@0") -extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT ITracker* CALLING_CONVENTION GetConstructor() { return new Tracker; } -extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) +extern "C" OPENTRACK_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) { return new TrackerControls; } diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h index c431d27a..b953d2b4 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h @@ -8,7 +8,6 @@ #ifndef FTNOIR_TRACKER_HT_H #define FTNOIR_TRACKER_HT_H -#include "ftnoir_tracker_base/ftnoir_tracker_base.h" #include "ui_aruco-trackercontrols.h" #include "ar_video_widget.h" #include @@ -21,6 +20,7 @@ #include #include "facetracknoir/options.h" #include "ftnoir_tracker_aruco/trans_calib.h" +#include "facetracknoir/plugin-api.hpp" using namespace options; struct settings { diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco_dll.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco_dll.h index af2ec00c..66e57100 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco_dll.h +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco_dll.h @@ -5,8 +5,7 @@ * copyright notice and this permission notice appear in all copies. */ -#include "ftnoir_tracker_base/ftnoir_tracker_base.h" -#include "facetracknoir/plugin-support.h" +#include "facetracknoir/plugin-api.hpp" //----------------------------------------------------------------------------- class TrackerDll : public Metadata diff --git a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.cpp b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.cpp index 718ec510..143d0c06 100644 --- a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.cpp +++ b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.cpp @@ -97,7 +97,7 @@ void TrackerImpl::GetHeadPoseData(double *data) data[Roll] = pose[Roll]; } -extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT ITracker* CALLING_CONVENTION GetConstructor() { return new TrackerImpl; } diff --git a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.h b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.h index b3f028fc..4999053d 100644 --- a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.h +++ b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.h @@ -5,11 +5,10 @@ * copyright notice and this permission notice appear in all copies. */ -#include "ftnoir_tracker_base/ftnoir_tracker_base.h" #include "ui_freepie-udp-controls.h" #include #include -#include "facetracknoir/plugin-support.h" +#include "facetracknoir/plugin-api.hpp" #include "facetracknoir/options.h" using namespace options; diff --git a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dialog.cpp b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dialog.cpp index 1489e336..ee6c4284 100644 --- a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dialog.cpp +++ b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dialog.cpp @@ -21,7 +21,7 @@ void TrackerDialog::doCancel() { this->close(); } -extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog() +extern "C" OPENTRACK_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog() { return new TrackerDialog; } diff --git a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dll.cpp b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dll.cpp index cfaa9f47..7578150f 100644 --- a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dll.cpp +++ b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dll.cpp @@ -21,7 +21,7 @@ void TrackerMeta::getIcon(QIcon *icon) *icon = QIcon(":/glovepie.png"); } -extern "C" FTNOIR_TRACKER_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() { return new TrackerMeta; } diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp index 7d6fc24e..14d5faa1 100644 --- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp @@ -1,10 +1,9 @@ #include "stdafx.h" -#include "ftnoir_tracker_base/ftnoir_tracker_base.h" #include "headtracker-ftnoir.h" #include "ftnoir_tracker_ht.h" #include "ftnoir_tracker_ht_dll.h" #include "ui_ht-trackercontrols.h" -#include "facetracknoir/plugin-support.h" +#include "facetracknoir/plugin-api.hpp" #include #if defined(_WIN32) @@ -197,10 +196,6 @@ void Tracker::GetHeadPoseData(double *data) shm->frame.width = 0; } if (shm->result.filled) { - if (fabs(data[Yaw]) > 60 || fabs(data[Pitch]) > 50 || fabs(data[Roll]) > 40) - { - shm->pause = true; - } data[Yaw] = shm->result.rotx; data[Pitch] = shm->result.roty; data[Roll] = shm->result.rotz; @@ -234,17 +229,17 @@ void TrackerDll::getIcon(QIcon *icon) *icon = QIcon(":/images/ht.png"); } -extern "C" FTNOIR_TRACKER_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() { return new TrackerDll; } -extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT ITracker* CALLING_CONVENTION GetConstructor() { return new Tracker; } -extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) +extern "C" OPENTRACK_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) { return new TrackerControls; } diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.h b/ftnoir_tracker_ht/ftnoir_tracker_ht.h index 418137bc..b9f002a4 100644 --- a/ftnoir_tracker_ht/ftnoir_tracker_ht.h +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.h @@ -9,13 +9,13 @@ #define FTNOIR_TRACKER_HT_H #include "stdafx.h" -#include "ftnoir_tracker_base/ftnoir_tracker_base.h" #include "headtracker-ftnoir.h" #include "ui_ht-trackercontrols.h" #include "ht_video_widget.h" #include "compat/compat.h" #include #include "facetracknoir/options.h" +#include "facetracknoir/plugin-api.hpp" using namespace options; struct settings { diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht_dll.h b/ftnoir_tracker_ht/ftnoir_tracker_ht_dll.h index af2ec00c..66e57100 100644 --- a/ftnoir_tracker_ht/ftnoir_tracker_ht_dll.h +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht_dll.h @@ -5,8 +5,7 @@ * copyright notice and this permission notice appear in all copies. */ -#include "ftnoir_tracker_base/ftnoir_tracker_base.h" -#include "facetracknoir/plugin-support.h" +#include "facetracknoir/plugin-api.hpp" //----------------------------------------------------------------------------- class TrackerDll : public Metadata diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp index 5770f015..a28bd398 100644 --- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp @@ -8,6 +8,7 @@ # define SIXENSE_UTILS_STATIC_LIB #endif #include + Hydra_Tracker::Hydra_Tracker() : should_quit(false) {} #pragma GCC diagnostic ignored "-Wreorder" @@ -44,7 +45,7 @@ void Hydra_Tracker::GetHeadPoseData(double *data) data[Roll] = ypr[2] * r2d; } -extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT ITracker* CALLING_CONVENTION GetConstructor() { return new Hydra_Tracker; } diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h index 2b3c84a7..0049d977 100644 --- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h @@ -1,6 +1,5 @@ -#include "ftnoir_tracker_base/ftnoir_tracker_base.h" #include "ui_ftnoir_hydra_clientcontrols.h" -#include "facetracknoir/plugin-support.h" +#include "facetracknoir/plugin-api.hpp" #include "facetracknoir/options.h" using namespace options; diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp index 3df77d15..80b5fb22 100644 --- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp @@ -21,7 +21,7 @@ void TrackerControls::doCancel() { close(); } -extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) +extern "C" OPENTRACK_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) { return new TrackerControls; } diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp index b14b865c..8388ddfe 100644 --- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp @@ -23,7 +23,7 @@ void FTNoIR_TrackerDll::getIcon(QIcon *icon) *icon = QIcon(":/images/facetracknoir.png"); } -extern "C" FTNOIR_TRACKER_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() { return new FTNoIR_TrackerDll; } diff --git a/ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp b/ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp index 90091e5d..9b98d4be 100644 --- a/ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp +++ b/ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp @@ -200,7 +200,7 @@ void FTNoIR_Tracker::GetHeadPoseData(double *data) data[i] = values[i] * limits[i] / AXIS_MAX; } -extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT ITracker* CALLING_CONVENTION GetConstructor() { return new FTNoIR_Tracker; } diff --git a/ftnoir_tracker_joystick/ftnoir_tracker_joystick.h b/ftnoir_tracker_joystick/ftnoir_tracker_joystick.h index 75ea9f52..2c2ebb47 100644 --- a/ftnoir_tracker_joystick/ftnoir_tracker_joystick.h +++ b/ftnoir_tracker_joystick/ftnoir_tracker_joystick.h @@ -5,7 +5,6 @@ * copyright notice and this permission notice appear in all copies. */ #pragma once -#include "ftnoir_tracker_base/ftnoir_tracker_base.h" #include "ui_ftnoir_tracker_joystick_controls.h" #include #include @@ -16,7 +15,7 @@ #include #include #include -#include "facetracknoir/plugin-support.h" +#include "facetracknoir/plugin-api.hpp" #ifndef DIRECTINPUT_VERSION # define DIRECTINPUT_VERSION 0x800 #endif diff --git a/ftnoir_tracker_joystick/ftnoir_tracker_joystick_dialog.cpp b/ftnoir_tracker_joystick/ftnoir_tracker_joystick_dialog.cpp index eea7f916..67e480a3 100644 --- a/ftnoir_tracker_joystick/ftnoir_tracker_joystick_dialog.cpp +++ b/ftnoir_tracker_joystick/ftnoir_tracker_joystick_dialog.cpp @@ -53,7 +53,7 @@ void TrackerControls::doCancel() { this->close(); } -extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) +extern "C" OPENTRACK_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) { return new TrackerControls; } diff --git a/ftnoir_tracker_joystick/ftnoir_tracker_joystick_dll.cpp b/ftnoir_tracker_joystick/ftnoir_tracker_joystick_dll.cpp index f5867fea..075ed555 100644 --- a/ftnoir_tracker_joystick/ftnoir_tracker_joystick_dll.cpp +++ b/ftnoir_tracker_joystick/ftnoir_tracker_joystick_dll.cpp @@ -22,7 +22,7 @@ void FTNoIR_TrackerDll::getIcon(QIcon *icon) *icon = QIcon(":/images/facetracknoir.png"); } -extern "C" FTNOIR_TRACKER_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() { return new FTNoIR_TrackerDll; } diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index 268abeab..219c8990 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -229,9 +229,9 @@ 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; + data[TX] = t[0] / 10.0; // convert to cm + data[TY] = t[1] / 10.0; + data[TZ] = t[2] / 10.0; // translate rotation matrix from opengl (G) to roll-pitch-yaw (E) frame // -z -> x, y -> z, x -> -y @@ -246,18 +246,18 @@ void Tracker::GetHeadPoseData(THeadPoseData *data) alpha = atan2( R(1,0), R(0,0)); gamma = atan2( R(2,1), R(2,2)); - 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; + data[Yaw] = rad2deg * alpha; + data[Pitch] = - rad2deg * beta; // FTNoIR expects a minus here + data[Roll] = rad2deg * gamma; } } //----------------------------------------------------------------------------- #ifdef OPENTRACK_API -extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT ITracker* CALLING_CONVENTION GetConstructor() #else #pragma comment(linker, "/export:GetTracker=_GetTracker@0") -FTNOIR_TRACKER_BASE_EXPORT ITrackerPtr __stdcall GetTracker() +OPENTRACK_EXPORT ITrackerPtr __stdcall GetTracker() #endif { return new Tracker; diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h index 7e944fc2..63b8353e 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h @@ -9,8 +9,7 @@ #define FTNOIR_TRACKER_PT_H #ifdef OPENTRACK_API -# include "ftnoir_tracker_base/ftnoir_tracker_base.h" -# include "facetracknoir/plugin-support.h" +# include "facetracknoir/plugin-api.hpp" #endif #include "ftnoir_tracker_pt_settings.h" #include "frame_observer.h" diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp index 4ba981a5..ae84ce8c 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp @@ -13,7 +13,7 @@ #ifndef OPENTRACK_API # include #else -# include +# include #endif #include @@ -308,7 +308,7 @@ void TrackerDialog::unRegisterTracker() ui.reset_button->setEnabled(false); } -extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) +extern "C" OPENTRACK_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) { return new TrackerDialog; } diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h index 0325160d..5cb09130 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h @@ -9,7 +9,7 @@ #define FTNOIR_TRACKER_PT_DIALOG_H #ifdef OPENTRACK_API -#include "ftnoir_tracker_base/ftnoir_tracker_base.h" +# include "facetracknoir/plugin-api.hpp" #else #include "..\ftnoir_tracker_base\ftnoir_tracker_base.h" #endif diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp index 15e830a4..dd7b08d6 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp @@ -32,10 +32,10 @@ void TrackerDll::getIcon(QIcon *icon) #ifdef OPENTRACK_API # include "facetracknoir/plugin-support.h" -extern "C" FTNOIR_TRACKER_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() #else # pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0") -FTNOIR_TRACKER_BASE_EXPORT ITrackerDllPtr __stdcall GetTrackerDll() +OPENTRACK_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 22e1ff29..fce7aec2 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h @@ -6,8 +6,7 @@ */ #if defined(OPENTRACK_API) -# include "ftnoir_tracker_base/ftnoir_tracker_base.h" -# include "facetracknoir/plugin-support.h" +# include "facetracknoir/plugin-api.hpp" #else # include "../ftnoir_tracker_base/ftnoir_tracker_base.h" #endif diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp index 46e8c29f..1cca6075 100644 --- a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp +++ b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp @@ -46,6 +46,7 @@ void Rift_Tracker::GetHeadPoseData(double *data) Quatf quat = pose.Orientation; float yaw, pitch, roll; quat.GetEulerAngles(&yaw, &pitch, &roll); + // XXX TODO move to core if (s.useYawSpring) { yaw = old_yaw*s.persistence + (yaw-old_yaw); @@ -66,7 +67,7 @@ void Rift_Tracker::GetHeadPoseData(double *data) } } -extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT ITracker* CALLING_CONVENTION GetConstructor() { return new Rift_Tracker; } diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift.h b/ftnoir_tracker_rift/ftnoir_tracker_rift.h index de224ca5..4ca99932 100644 --- a/ftnoir_tracker_rift/ftnoir_tracker_rift.h +++ b/ftnoir_tracker_rift/ftnoir_tracker_rift.h @@ -1,10 +1,9 @@ #pragma once -#include "ftnoir_tracker_base/ftnoir_tracker_base.h" #include "ui_ftnoir_rift_clientcontrols.h" #include #include #include -#include "facetracknoir/plugin-support.h" +#include "facetracknoir/plugin-api.hpp" #include "OVR.h" #include #include "facetracknoir/options.h" diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp b/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp index 390eac0e..c95ce364 100644 --- a/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp +++ b/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp @@ -25,7 +25,7 @@ void TrackerControls::doCancel() { close(); } -extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog() +extern "C" OPENTRACK_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog() { return new TrackerControls; } diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift_dll.cpp b/ftnoir_tracker_rift/ftnoir_tracker_rift_dll.cpp index 3edee290..22eec9b9 100644 --- a/ftnoir_tracker_rift/ftnoir_tracker_rift_dll.cpp +++ b/ftnoir_tracker_rift/ftnoir_tracker_rift_dll.cpp @@ -35,7 +35,7 @@ void FTNoIR_TrackerDll::getIcon(QIcon *icon) *icon = QIcon(":/images/rift_tiny.png"); } -extern "C" FTNOIR_TRACKER_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() { return new FTNoIR_TrackerDll; } diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp index 335616d5..12699a58 100644 --- a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp +++ b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp @@ -66,7 +66,7 @@ void FTNoIR_Tracker::GetHeadPoseData(double *data) data[i] = last_recv_pose[i]; } -extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT ITracker* CALLING_CONVENTION GetConstructor() { return new FTNoIR_Tracker; } diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp.h b/ftnoir_tracker_udp/ftnoir_tracker_udp.h index 92d321b2..1d5de19b 100644 --- a/ftnoir_tracker_udp/ftnoir_tracker_udp.h +++ b/ftnoir_tracker_udp/ftnoir_tracker_udp.h @@ -1,9 +1,9 @@ -#include "ftnoir_tracker_base/ftnoir_tracker_base.h" +#pragma once #include "ui_ftnoir_ftnclientcontrols.h" #include #include #include -#include "facetracknoir/plugin-support.h" +#include "facetracknoir/plugin-api.hpp" #include "facetracknoir/options.h" using namespace options; diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp b/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp index 16a59292..47166a24 100644 --- a/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp +++ b/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp @@ -46,7 +46,7 @@ void TrackerControls::doCancel() { this->close(); } -extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) +extern "C" OPENTRACK_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) { return new TrackerControls; } diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp_dll.cpp b/ftnoir_tracker_udp/ftnoir_tracker_udp_dll.cpp index 3d6fbc28..d5745849 100644 --- a/ftnoir_tracker_udp/ftnoir_tracker_udp_dll.cpp +++ b/ftnoir_tracker_udp/ftnoir_tracker_udp_dll.cpp @@ -46,7 +46,7 @@ void FTNoIR_TrackerDll::getIcon(QIcon *icon) *icon = QIcon(":/images/facetracknoir.png"); } -extern "C" FTNOIR_TRACKER_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() { return new FTNoIR_TrackerDll; } -- cgit v1.2.3 From dfee22e635811510c48d2eb87531397f068a72ec Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Mon, 22 Sep 2014 11:43:27 +0200 Subject: pt: remove verbose comment --- ftnoir_tracker_pt/camera.cpp | 5 ----- 1 file changed, 5 deletions(-) (limited to 'ftnoir_tracker_pt') diff --git a/ftnoir_tracker_pt/camera.cpp b/ftnoir_tracker_pt/camera.cpp index 754533c5..33e0ef2a 100644 --- a/ftnoir_tracker_pt/camera.cpp +++ b/ftnoir_tracker_pt/camera.cpp @@ -184,11 +184,6 @@ bool CVCamera::_get_frame(Mat* frame) if (cap && cap->isOpened()) { Mat img; - /* - * XXX some Windows webcams fail to decode first - * frames and then some every once in a while - * -sh - */ for (int i = 0; i < 100 && !cap->read(img); i++) ;; -- cgit v1.2.3 From e2b296165236cdb0952c429d91d357b92d9ee18e Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Mon, 22 Sep 2014 19:02:33 +0200 Subject: dos2unix only --- ftnoir_tracker_pt/FTNoIR_PT_Controls.ui | 3090 ++++++++++++------------ ftnoir_tracker_pt/Resources/Logo_IR.png | Bin 10386 -> 10385 bytes ftnoir_tracker_pt/Resources/cap_front.png | Bin 1164 -> 1163 bytes ftnoir_tracker_pt/Resources/cap_side.png | Bin 1733 -> 1732 bytes ftnoir_tracker_pt/Resources/clip_front.png | Bin 571 -> 570 bytes ftnoir_tracker_pt/Resources/clip_side.png | Bin 2677 -> 2676 bytes ftnoir_tracker_pt/camera.cpp | 692 +++--- ftnoir_tracker_pt/camera.h | 288 +-- ftnoir_tracker_pt/doc/logo.png | Bin 10386 -> 10385 bytes ftnoir_tracker_pt/doc/settings1.png | Bin 25013 -> 25012 bytes ftnoir_tracker_pt/doc/settings2.png | Bin 26841 -> 26840 bytes ftnoir_tracker_pt/doc/settings3.png | Bin 29547 -> 29546 bytes ftnoir_tracker_pt/doc/style.css | 262 +- ftnoir_tracker_pt/frame_observer.cpp | 36 +- ftnoir_tracker_pt/frame_observer.h | 150 +- ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 528 ++-- ftnoir_tracker_pt/ftnoir_tracker_pt.h | 186 +- ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp | 628 ++--- ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h | 140 +- ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp | 84 +- ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h | 52 +- ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h | 162 +- ftnoir_tracker_pt/point_extractor.cpp | 326 +-- ftnoir_tracker_pt/point_extractor.h | 70 +- ftnoir_tracker_pt/point_tracker.cpp | 750 +++--- ftnoir_tracker_pt/point_tracker.h | 256 +- ftnoir_tracker_pt/pt_video_widget.cpp | 128 +- ftnoir_tracker_pt/pt_video_widget.h | 140 +- ftnoir_tracker_pt/trans_calib.cpp | 86 +- ftnoir_tracker_pt/trans_calib.h | 76 +- 30 files changed, 4065 insertions(+), 4065 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 44dfc060..a2d5c47c 100644 --- a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui +++ b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui @@ -1,1545 +1,1545 @@ - - - UICPTClientControls - - - Qt::NonModal - - - - 0 - 0 - 459 - 621 - - - - - 0 - 0 - - - - PointTracker Settings - - - - :/Resources/Logo_IR.png:/Resources/Logo_IR.png - - - Qt::LeftToRight - - - false - - - - QLayout::SetFixedSize - - - - - - 0 - 0 - - - - - 0 - 0 - - - - - - - 0 - - - - General - - - - - - Tracker Thread - - - - - - Auto-reset 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Qt::Horizontal - - - - 40 - 20 - - - - - - - - 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 - - - - - - - - - - - Hysteresis - - - threshold_secondary_slider - - - - - - - Per pixel hysteresis width 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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 - - - - - - - - - - - - - - - - - - Save - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - - - - Ok - - - - - - - - - - Cancel - - - - - - - - - tabWidget - reset_spin - 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() - - + + + UICPTClientControls + + + Qt::NonModal + + + + 0 + 0 + 459 + 621 + + + + + 0 + 0 + + + + PointTracker Settings + + + + :/Resources/Logo_IR.png:/Resources/Logo_IR.png + + + Qt::LeftToRight + + + false + + + + QLayout::SetFixedSize + + + + + + 0 + 0 + + + + + 0 + 0 + + + + + + + 0 + + + + General + + + + + + Tracker Thread + + + + + + Auto-reset time + + + reset_spin + + + + + + + + 0 + 0 + + + + Time until automatic reset of tracker's internal state 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<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 + + + + + + + + + + + + + + + + + + Save + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + + + + Ok + + + + + + + + + + Cancel + + + + + + + + + tabWidget + reset_spin + 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/Resources/Logo_IR.png b/ftnoir_tracker_pt/Resources/Logo_IR.png index 95032a25..85590691 100644 Binary files a/ftnoir_tracker_pt/Resources/Logo_IR.png 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 index 14207a67..cbee28c9 100644 Binary files a/ftnoir_tracker_pt/Resources/cap_front.png 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 index 5ad4ee65..27c28341 100644 Binary files a/ftnoir_tracker_pt/Resources/cap_side.png 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 index 04880138..63fd70eb 100644 Binary files a/ftnoir_tracker_pt/Resources/clip_front.png 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 index 72667ac7..1c295506 100644 Binary files a/ftnoir_tracker_pt/Resources/clip_side.png and b/ftnoir_tracker_pt/Resources/clip_side.png differ diff --git a/ftnoir_tracker_pt/camera.cpp b/ftnoir_tracker_pt/camera.cpp index 33e0ef2a..686e1b9b 100644 --- a/ftnoir_tracker_pt/camera.cpp +++ b/ftnoir_tracker_pt/camera.cpp @@ -1,346 +1,346 @@ -/* 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. - */ - - #if defined(OPENTRACK_API) && defined(_WIN32) -#include -#include -#endif - -#include "camera.h" -#include -#include - -using namespace cv; - -#if defined(OPENTRACK_API) && (defined(__unix) || defined(__linux) || defined(__APPLE__)) -#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; - } - // 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)) - { - auto wstr = std::wstring(varName.bstrVal); - auto str = std::string(wstr.begin(), wstr.end()); - device_names.push_back(str); - } - 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)); - } - } -# endif -} -#else -// ---------------------------------------------------------------------------- -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); - } -} -#endif - -// ---------------------------------------------------------------------------- -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(); - _set_fps(); - } -} - -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; -} - -// ---------------------------------------------------------------------------- -#ifdef OPENTRACK_API -void CVCamera::start() -{ - cap = new VideoCapture(desired_index); - // extract camera info - if (cap->isOpened()) - { - active = true; - 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() -{ - if (cap) - { - cap->release(); - delete cap; - } - active = false; -} - -bool CVCamera::_get_frame(Mat* frame) -{ - if (cap && cap->isOpened()) - { - Mat img; - for (int i = 0; i < 100 && !cap->read(img); i++) - ;; - - if (img.empty()) - return false; - - *frame = img; - 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) cap->set(CV_CAP_PROP_FPS, cam_desired.fps); -} - -void CVCamera::_set_res() -{ - if (cap) - { - 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) -{ - 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(); -} -#endif - -// ---------------------------------------------------------------------------- -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; - } -} +/* 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. + */ + + #if defined(OPENTRACK_API) && defined(_WIN32) +#include +#include +#endif + +#include "camera.h" +#include +#include + +using namespace cv; + +#if defined(OPENTRACK_API) && (defined(__unix) || defined(__linux) || defined(__APPLE__)) +#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; + } + // 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)) + { + auto wstr = std::wstring(varName.bstrVal); + auto str = std::string(wstr.begin(), wstr.end()); + device_names.push_back(str); + } + 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)); + } + } +# endif +} +#else +// ---------------------------------------------------------------------------- +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); + } +} +#endif + +// ---------------------------------------------------------------------------- +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(); + _set_fps(); + } +} + +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; +} + +// ---------------------------------------------------------------------------- +#ifdef OPENTRACK_API +void CVCamera::start() +{ + cap = new VideoCapture(desired_index); + // extract camera info + if (cap->isOpened()) + { + active = true; + 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() +{ + if (cap) + { + cap->release(); + delete cap; + } + active = false; +} + +bool CVCamera::_get_frame(Mat* frame) +{ + if (cap && cap->isOpened()) + { + Mat img; + for (int i = 0; i < 100 && !cap->read(img); i++) + ;; + + if (img.empty()) + return false; + + *frame = img; + 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) cap->set(CV_CAP_PROP_FPS, cam_desired.fps); +} + +void CVCamera::_set_res() +{ + if (cap) + { + 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) +{ + 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(); +} +#endif + +// ---------------------------------------------------------------------------- +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; + } +} diff --git a/ftnoir_tracker_pt/camera.h b/ftnoir_tracker_pt/camera.h index a9f60841..733cc61f 100644 --- a/ftnoir_tracker_pt/camera.h +++ b/ftnoir_tracker_pt/camera.h @@ -1,145 +1,145 @@ -/* 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 -#ifndef OPENTRACK_API -# include -#else +/* 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 +#ifndef OPENTRACK_API +# include +#else # include -# include -# include -#endif -#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; - - float dt_valid; - float dt_mean; - int desired_index; - int active_index; - bool active; - CamInfo cam_info; - CamInfo cam_desired; -}; - - -// ---------------------------------------------------------------------------- -// camera based on OpenCV's videoCapture -#ifdef OPENTRACK_API -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(); - virtual void _set_device_index(); - - cv::VideoCapture* cap; -}; -#else -// ---------------------------------------------------------------------------- -// 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; -}; -#endif - -enum RotationType -{ - CLOCKWISE = 0, - ZERO = 1, - COUNTER_CLOCKWISE = 2 -}; - -// ---------------------------------------------------------------------------- -class FrameRotation -{ -public: - RotationType rotation; - - cv::Mat rotate_frame(cv::Mat frame); -}; - -#endif //CAMERA_H +# include +# include +#endif +#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; + + float dt_valid; + float dt_mean; + int desired_index; + int active_index; + bool active; + CamInfo cam_info; + CamInfo cam_desired; +}; + + +// ---------------------------------------------------------------------------- +// camera based on OpenCV's videoCapture +#ifdef OPENTRACK_API +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(); + virtual void _set_device_index(); + + cv::VideoCapture* cap; +}; +#else +// ---------------------------------------------------------------------------- +// 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; +}; +#endif + +enum RotationType +{ + CLOCKWISE = 0, + ZERO = 1, + COUNTER_CLOCKWISE = 2 +}; + +// ---------------------------------------------------------------------------- +class FrameRotation +{ +public: + RotationType rotation; + + cv::Mat rotate_frame(cv::Mat frame); +}; + +#endif //CAMERA_H diff --git a/ftnoir_tracker_pt/doc/logo.png b/ftnoir_tracker_pt/doc/logo.png index 95032a25..85590691 100644 Binary files a/ftnoir_tracker_pt/doc/logo.png and b/ftnoir_tracker_pt/doc/logo.png differ diff --git a/ftnoir_tracker_pt/doc/settings1.png b/ftnoir_tracker_pt/doc/settings1.png index 35b84c5c..0725f5f4 100644 Binary files a/ftnoir_tracker_pt/doc/settings1.png 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 index c6cfd1f3..382ed13a 100644 Binary files a/ftnoir_tracker_pt/doc/settings2.png 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 index 5922403d..821453d1 100644 Binary files a/ftnoir_tracker_pt/doc/settings3.png 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 index a8d3e333..0c3d29a6 100644 --- a/ftnoir_tracker_pt/doc/style.css +++ b/ftnoir_tracker_pt/doc/style.css @@ -1,131 +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; -} +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 index 281f3d57..76dee351 100644 --- a/ftnoir_tracker_pt/frame_observer.cpp +++ b/ftnoir_tracker_pt/frame_observer.cpp @@ -1,18 +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 (std::set::iterator iter=frame_observers.begin(); iter!=frame_observers.end(); ++iter) - { - (*iter)->on_frame_provider_destroy(); - } -} +/* 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 (std::set::iterator iter=frame_observers.begin(); iter!=frame_observers.end(); ++iter) + { + (*iter)->on_frame_provider_destroy(); + } +} diff --git a/ftnoir_tracker_pt/frame_observer.h b/ftnoir_tracker_pt/frame_observer.h index c3c20259..ca8ffb46 100644 --- a/ftnoir_tracker_pt/frame_observer.h +++ b/ftnoir_tracker_pt/frame_observer.h @@ -1,76 +1,76 @@ -/* 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 -#ifndef OPENTRACK_API -# include -#else +/* 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 +#ifndef OPENTRACK_API +# include +#else # include -#endif -#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, std::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, std::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 +#endif +#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, std::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, std::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 diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index 219c8990..3fa6910d 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -1,264 +1,264 @@ -/* 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; - -//#define PT_PERF_LOG //log performance - -const float rad2deg = 180.0/3.14159265; -const float deg2rad = 1.0/rad2deg; - -//----------------------------------------------------------------------------- -Tracker::Tracker() - : mutex(QMutex::Recursive), - commands(0), - video_widget(NULL), - video_frame(NULL), - tracking_valid(false), - new_settings(nullptr) - -{ - qDebug()<<"Tracker::Tracker"; -} - -Tracker::~Tracker() -{ - qDebug()<<"Tracker::~Tracker"; - // terminate tracker thread - set_command(ABORT); - wait(); - s.video_widget = false; - delete video_widget; - video_widget = NULL; - if (video_frame->layout()) delete video_frame->layout(); -} - -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(); - double dt; - bool new_frame; - forever - { - if (commands & ABORT) break; - if (commands & PAUSE) continue; - commands = 0; - apply_inner(); - dt = time.start() / 1000000000.; - - 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) - { - 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); - } -#ifdef PT_PERF_LOG - log_stream<<"dt: "<(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 = std::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*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; - - 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, std::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 = std::shared_ptr< vector >(new vector(point_extractor.get_points())); - return true; -} - -void Tracker::refreshVideo() -{ - if (video_widget) video_widget->update_frame_and_points(); -} - -void Tracker::StartTracker(QFrame *parent_window) -{ - this->video_frame = parent_window; - video_frame->setAttribute(Qt::WA_NativeWindow); - video_frame->show(); - 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()); - camera.start(); - apply(s); - start(); - reset_command(PAUSE); -} - -#ifndef OPENTRACK_API -void Tracker::StopTracker(bool exit) -{ - set_command(PAUSE); -} -#endif - -#ifdef OPENTRACK_API -#define THeadPoseData double -#endif - -void Tracker::GetHeadPoseData(THeadPoseData *data) -{ - { - QMutexLocker lock(&mutex); - - 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; - Matx33f R = X_GH.R * X_GH_0.R.t(); - Vec3f t = X_GH.t - X_GH_0.t; - - // get translation(s) - data[TX] = t[0] / 10.0; // convert to cm - data[TY] = t[1] / 10.0; - 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, - 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)); - - data[Yaw] = rad2deg * alpha; - data[Pitch] = - rad2deg * beta; // FTNoIR expects a minus here - data[Roll] = rad2deg * gamma; - } -} - -//----------------------------------------------------------------------------- -#ifdef OPENTRACK_API -extern "C" OPENTRACK_EXPORT ITracker* CALLING_CONVENTION GetConstructor() -#else -#pragma comment(linker, "/export:GetTracker=_GetTracker@0") -OPENTRACK_EXPORT ITrackerPtr __stdcall GetTracker() -#endif -{ - return new Tracker; -} +/* 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; + +//#define PT_PERF_LOG //log performance + +const float rad2deg = 180.0/3.14159265; +const float deg2rad = 1.0/rad2deg; + +//----------------------------------------------------------------------------- +Tracker::Tracker() + : mutex(QMutex::Recursive), + commands(0), + video_widget(NULL), + video_frame(NULL), + tracking_valid(false), + new_settings(nullptr) + +{ + qDebug()<<"Tracker::Tracker"; +} + +Tracker::~Tracker() +{ + qDebug()<<"Tracker::~Tracker"; + // terminate tracker thread + set_command(ABORT); + wait(); + s.video_widget = false; + delete video_widget; + video_widget = NULL; + if (video_frame->layout()) delete video_frame->layout(); +} + +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(); + double dt; + bool new_frame; + forever + { + if (commands & ABORT) break; + if (commands & PAUSE) continue; + commands = 0; + apply_inner(); + dt = time.start() / 1000000000.; + + 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) + { + 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); + } +#ifdef PT_PERF_LOG + log_stream<<"dt: "<(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 = std::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*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; + + 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, std::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 = std::shared_ptr< vector >(new vector(point_extractor.get_points())); + return true; +} + +void Tracker::refreshVideo() +{ + if (video_widget) video_widget->update_frame_and_points(); +} + +void Tracker::StartTracker(QFrame *parent_window) +{ + this->video_frame = parent_window; + video_frame->setAttribute(Qt::WA_NativeWindow); + video_frame->show(); + 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()); + camera.start(); + apply(s); + start(); + reset_command(PAUSE); +} + +#ifndef OPENTRACK_API +void Tracker::StopTracker(bool exit) +{ + set_command(PAUSE); +} +#endif + +#ifdef OPENTRACK_API +#define THeadPoseData double +#endif + +void Tracker::GetHeadPoseData(THeadPoseData *data) +{ + { + QMutexLocker lock(&mutex); + + 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; + Matx33f R = X_GH.R * X_GH_0.R.t(); + Vec3f t = X_GH.t - X_GH_0.t; + + // get translation(s) + data[TX] = t[0] / 10.0; // convert to cm + data[TY] = t[1] / 10.0; + 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, + 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)); + + data[Yaw] = rad2deg * alpha; + data[Pitch] = - rad2deg * beta; // FTNoIR expects a minus here + data[Roll] = rad2deg * gamma; + } +} + +//----------------------------------------------------------------------------- +#ifdef OPENTRACK_API +extern "C" OPENTRACK_EXPORT ITracker* CALLING_CONVENTION GetConstructor() +#else +#pragma comment(linker, "/export:GetTracker=_GetTracker@0") +OPENTRACK_EXPORT ITrackerPtr __stdcall GetTracker() +#endif +{ + return new Tracker; +} diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h index 63b8353e..3d9a83fd 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h @@ -1,94 +1,94 @@ -/* 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 - -#ifdef OPENTRACK_API -# include "facetracknoir/plugin-api.hpp" -#endif -#include "ftnoir_tracker_pt_settings.h" -#include "frame_observer.h" -#include "camera.h" -#include "point_extractor.h" -#include "point_tracker.h" -#include "pt_video_widget.h" -#include "facetracknoir/timer.hpp" - -#include -#include -#include -#include -#include -#include -#ifndef OPENTRACK_API -# include -#else +/* 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 + +#ifdef OPENTRACK_API +# include "facetracknoir/plugin-api.hpp" +#endif +#include "ftnoir_tracker_pt_settings.h" +#include "frame_observer.h" +#include "camera.h" +#include "point_extractor.h" +#include "point_tracker.h" +#include "pt_video_widget.h" +#include "facetracknoir/timer.hpp" + +#include +#include +#include +#include +#include +#include +#ifndef OPENTRACK_API +# include +#else # include -#endif -#include - -//----------------------------------------------------------------------------- -// Constantly processes the tracking chain in a separate thread -class Tracker : public ITracker, QThread, public FrameProvider -{ -public: - Tracker(); - virtual ~Tracker(); - virtual void StartTracker(QFrame* parent_window); - virtual void GetHeadPoseData(double* data); - virtual void refreshVideo(); - - void apply(settings& s); - void apply_inner(); - 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, std::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); - volatile int commands; - - CVCamera camera; - FrameRotation frame_rotation; - PointExtractor point_extractor; - PointTracker point_tracker; - - 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 - - PTVideoWidget* video_widget; - QFrame* video_frame; - bool tracking_valid; - - settings s; - std::atomic new_settings; - Timer time; -}; - -#undef VideoWidget - -#endif // FTNOIR_TRACKER_PT_H +#endif +#include + +//----------------------------------------------------------------------------- +// Constantly processes the tracking chain in a separate thread +class Tracker : public ITracker, QThread, public FrameProvider +{ +public: + Tracker(); + virtual ~Tracker(); + virtual void StartTracker(QFrame* parent_window); + virtual void GetHeadPoseData(double* data); + virtual void refreshVideo(); + + void apply(settings& s); + void apply_inner(); + 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, std::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); + volatile int commands; + + CVCamera camera; + FrameRotation frame_rotation; + PointExtractor point_extractor; + PointTracker point_tracker; + + 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 + + PTVideoWidget* video_widget; + QFrame* video_frame; + bool tracking_valid; + + settings s; + std::atomic new_settings; + 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 ae84ce8c..e037a099 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp @@ -1,314 +1,314 @@ -/* 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 -#ifndef OPENTRACK_API -# include -#else -# include -#endif -#include - -using namespace std; - -//----------------------------------------------------------------------------- -TrackerDialog::TrackerDialog() - : tracker(NULL), - video_widget_dialog(NULL), - timer(this), - trans_calib_running(false) -{ - qDebug()<<"TrackerDialog::TrackerDialog"; - setAttribute(Qt::WA_DeleteOnClose, false); - - ui.setupUi( this ); - - 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.camroll_combo->addItem("-90"); - ui.camroll_combo->addItem("0"); - ui.camroll_combo->addItem("90"); - - tie_setting(s.dyn_pose_res, ui.dynpose_check); - 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.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() -{ - 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() -{ - 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_changed(); -} - -void TrackerDialog::set_model(int val) -{ - s.active_model_panel = val; -} - -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; - { - 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(); - } -} - -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(); - 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() -{ - if (tracker) tracker->apply(s); -} - -void TrackerDialog::doCenter() -{ - if (tracker) tracker->center(); -} - -void TrackerDialog::doReset() -{ - if (tracker) tracker->reset(); -} - -void TrackerDialog::save() -{ - do_apply_without_saving(); - s.b->save(); -} - -void TrackerDialog::doOK() -{ - 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() -{ - s.b->revert(); - 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(); -} - -void TrackerDialog::destroy_video_widget(bool do_delete /*= true*/) -{ - if (video_widget_dialog) { - if (do_delete) delete video_widget_dialog; - video_widget_dialog = NULL; - } -} - -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); - } -} - -void TrackerDialog::registerTracker(ITracker *t) -{ - qDebug()<<"TrackerDialog:: Tracker registered"; - tracker = static_cast(t); - if (isVisible() & s.b->modifiedp()) - tracker->apply(s); - 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.tcalib_button->setEnabled(false); - //ui.center_button->setEnabled(false); - ui.reset_button->setEnabled(false); -} - -extern "C" OPENTRACK_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) -{ - return new TrackerDialog; -} +/* 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 +#ifndef OPENTRACK_API +# include +#else +# include +#endif +#include + +using namespace std; + +//----------------------------------------------------------------------------- +TrackerDialog::TrackerDialog() + : tracker(NULL), + video_widget_dialog(NULL), + timer(this), + trans_calib_running(false) +{ + qDebug()<<"TrackerDialog::TrackerDialog"; + setAttribute(Qt::WA_DeleteOnClose, false); + + ui.setupUi( this ); + + 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.camroll_combo->addItem("-90"); + ui.camroll_combo->addItem("0"); + ui.camroll_combo->addItem("90"); + + tie_setting(s.dyn_pose_res, ui.dynpose_check); + 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.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() +{ + 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() +{ + 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_changed(); +} + +void TrackerDialog::set_model(int val) +{ + s.active_model_panel = val; +} + +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; + { + 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(); + } +} + +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(); + 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() +{ + if (tracker) tracker->apply(s); +} + +void TrackerDialog::doCenter() +{ + if (tracker) tracker->center(); +} + +void TrackerDialog::doReset() +{ + if (tracker) tracker->reset(); +} + +void TrackerDialog::save() +{ + do_apply_without_saving(); + s.b->save(); +} + +void TrackerDialog::doOK() +{ + 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() +{ + s.b->revert(); + 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(); +} + +void TrackerDialog::destroy_video_widget(bool do_delete /*= true*/) +{ + if (video_widget_dialog) { + if (do_delete) delete video_widget_dialog; + video_widget_dialog = NULL; + } +} + +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); + } +} + +void TrackerDialog::registerTracker(ITracker *t) +{ + qDebug()<<"TrackerDialog:: Tracker registered"; + tracker = static_cast(t); + if (isVisible() & s.b->modifiedp()) + tracker->apply(s); + 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.tcalib_button->setEnabled(false); + //ui.center_button->setEnabled(false); + ui.reset_button->setEnabled(false); +} + +extern "C" OPENTRACK_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) +{ + return new TrackerDialog; +} diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h index 5cb09130..a4d9c4b5 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h @@ -1,70 +1,70 @@ -/* 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 - -#ifdef OPENTRACK_API -# include "facetracknoir/plugin-api.hpp" -#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" -#include "pt_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(); - void registerTracker(ITracker *tracker); - void unRegisterTracker(); - void save(); - void trans_calib_step(); - -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); - - void set_model_clip(); - void set_model_cap(); - void set_model_custom(); - - void settings_changed(); - - settings s; - Tracker* tracker; - VideoWidgetDialog* video_widget_dialog; - QTimer timer; - - TranslationCalibrator trans_calib; - bool trans_calib_running; - - Ui::UICPTClientControls ui; -}; - -#endif //FTNOIR_TRACKER_PT_DIALOG_H +/* 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 + +#ifdef OPENTRACK_API +# include "facetracknoir/plugin-api.hpp" +#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" +#include "pt_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(); + void registerTracker(ITracker *tracker); + void unRegisterTracker(); + void save(); + void trans_calib_step(); + +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); + + void set_model_clip(); + void set_model_cap(); + void set_model_custom(); + + void settings_changed(); + + settings s; + Tracker* tracker; + VideoWidgetDialog* video_widget_dialog; + QTimer timer; + + TranslationCalibrator trans_calib; + bool trans_calib_running; + + Ui::UICPTClientControls ui; +}; + +#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 dd7b08d6..07e1d9e7 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp @@ -1,42 +1,42 @@ -/* 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/Logo_IR.png"); -} - - -#ifdef OPENTRACK_API -# include "facetracknoir/plugin-support.h" -extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() -#else -# pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0") -OPENTRACK_EXPORT ITrackerDllPtr __stdcall GetTrackerDll() -#endif -{ - return new TrackerDll; -} +/* 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/Logo_IR.png"); +} + + +#ifdef OPENTRACK_API +# include "facetracknoir/plugin-support.h" +extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +#else +# pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0") +OPENTRACK_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 fce7aec2..50f66a35 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.h @@ -1,26 +1,26 @@ -/* 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. - */ - -#if defined(OPENTRACK_API) -# include "facetracknoir/plugin-api.hpp" -#else -# include "../ftnoir_tracker_base/ftnoir_tracker_base.h" -#endif - -//----------------------------------------------------------------------------- -class TrackerDll : -#if defined(OPENTRACK_API) - public Metadata -#else - public ITrackerDll -#endif -{ - void getFullName(QString *strToBeFilled); - void getShortName(QString *strToBeFilled); - void getDescription(QString *strToBeFilled); - void getIcon(QIcon *icon); -}; +/* 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. + */ + +#if defined(OPENTRACK_API) +# include "facetracknoir/plugin-api.hpp" +#else +# include "../ftnoir_tracker_base/ftnoir_tracker_base.h" +#endif + +//----------------------------------------------------------------------------- +class TrackerDll : +#if defined(OPENTRACK_API) + public Metadata +#else + public ITrackerDll +#endif +{ + void getFullName(QString *strToBeFilled); + void getShortName(QString *strToBeFilled); + void getDescription(QString *strToBeFilled); + void getIcon(QIcon *icon); +}; diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h index 1eca1e35..e4cb9ad3 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h @@ -1,81 +1,81 @@ -/* 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" - -#include "facetracknoir/options.h" -using namespace options; - -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; - - value m01_x, m01_y, m01_z; - value m02_x, m02_y, m02_z; - value dyn_pose_res, video_widget; - - value t_MH_x, t_MH_y, t_MH_z; - - value reset_time; - - value clip_ty, clip_tz, clip_by, clip_bz; - value active_model_panel, cap_x, cap_y, cap_z; - - 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), - reset_time(b, "reset-time", 2000), - 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 +/* 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" + +#include "facetracknoir/options.h" +using namespace options; + +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; + + value m01_x, m01_y, m01_z; + value m02_x, m02_y, m02_z; + value dyn_pose_res, video_widget; + + value t_MH_x, t_MH_y, t_MH_z; + + value reset_time; + + value clip_ty, clip_tz, clip_by, clip_bz; + value active_model_panel, cap_x, cap_y, cap_z; + + 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), + reset_time(b, "reset-time", 2000), + 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 diff --git a/ftnoir_tracker_pt/point_extractor.cpp b/ftnoir_tracker_pt/point_extractor.cpp index 968fe23e..b0e29270 100644 --- a/ftnoir_tracker_pt/point_extractor.cpp +++ b/ftnoir_tracker_pt/point_extractor.cpp @@ -1,163 +1,163 @@ -/* 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; - - -PointExtractor::PointExtractor(){ - //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; - - if (frame_last.cols != W || frame_last.rows != H) - { - frame_last = cv::Mat(); - } - - // clear old points - points.clear(); - - // convert to grayscale - Mat frame_gray; - cvtColor(frame, frame_gray, CV_RGB2GRAY); - - int secondary = threshold_secondary_val; - - // mask for everything that passes the threshold (or: the upper threshold of the hysteresis) - Mat frame_bin; - // 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(frame_last.empty()){ - frame_bin.copyTo(frame_last); - }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; - - 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; - - 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; - } - } - - // 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; - //qDebug()< "< channels; - 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); - } - - return points; -} +/* 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; + + +PointExtractor::PointExtractor(){ + //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; + + if (frame_last.cols != W || frame_last.rows != H) + { + frame_last = cv::Mat(); + } + + // clear old points + points.clear(); + + // convert to grayscale + Mat frame_gray; + cvtColor(frame, frame_gray, CV_RGB2GRAY); + + int secondary = threshold_secondary_val; + + // mask for everything that passes the threshold (or: the upper threshold of the hysteresis) + Mat frame_bin; + // 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(frame_last.empty()){ + frame_bin.copyTo(frame_last); + }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; + + 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; + + 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; + } + } + + // 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; + //qDebug()< "< channels; + 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); + } + + return points; +} diff --git a/ftnoir_tracker_pt/point_extractor.h b/ftnoir_tracker_pt/point_extractor.h index ff36f3ce..8a76747b 100644 --- a/ftnoir_tracker_pt/point_extractor.h +++ b/ftnoir_tracker_pt/point_extractor.h @@ -1,35 +1,35 @@ -/* 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 -#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; } - PointExtractor(); - - int threshold_val; - int threshold_secondary_val; - int min_size, max_size; - -protected: - std::vector points; - cv::Mat frame_last; -}; - -#endif //POINTEXTRACTOR_H +/* 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 +#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; } + PointExtractor(); + + int threshold_val; + int threshold_secondary_val; + int min_size, max_size; + +protected: + std::vector points; + cv::Mat frame_last; +}; + +#endif //POINTEXTRACTOR_H diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp index f83ff437..e9892d67 100644 --- a/ftnoir_tracker_pt/point_tracker.cpp +++ b/ftnoir_tracker_pt/point_tracker.cpp @@ -1,375 +1,375 @@ -/* 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 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); -} - -#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 - vector< pair > d_vals; - for (unsigned i = 0; i(d.dot(points[i]), i)); - - std::sort(d_vals.begin(), - d_vals.end(), -#ifdef OPENTRACK_API - d_vals_sort -#else - comp -#endif - ); - - for (unsigned 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 + +#include + +using namespace cv; +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); +} + +#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 + vector< pair > d_vals; + for (unsigned i = 0; i(d.dot(points[i]), i)); + + std::sort(d_vals.begin(), + d_vals.end(), +#ifdef OPENTRACK_API + d_vals_sort +#else + comp +#endif + ); + + for (unsigned 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: "< -#ifndef OPENTRACK_API -# include -#else +/* 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 POINTTRACKER_H +#define POINTTRACKER_H + +#include +#ifndef OPENTRACK_API +# include +#else # include -#endif -#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); - std::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 +#endif +#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); + std::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/pt_video_widget.cpp b/ftnoir_tracker_pt/pt_video_widget.cpp index 02817cbf..cb3dc48e 100644 --- a/ftnoir_tracker_pt/pt_video_widget.cpp +++ b/ftnoir_tracker_pt/pt_video_widget.cpp @@ -1,64 +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. - * - * 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); - _frame = frame.clone(); - freshp = true; -} - -// ---------------------------------------------------------------------------- -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); -} - -void PTVideoWidget::update_and_repaint() -{ - QMutexLocker foo(&mtx); - 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(); - for (int y = 0; y < _frame.rows; y++) - for (int x = 0; x < _frame.cols; x++) - { - const auto& elt = _frame.at(y, x); - 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]; - } - qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation); - texture = qframe; - update(); -} +/* 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); + _frame = frame.clone(); + freshp = true; +} + +// ---------------------------------------------------------------------------- +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); +} + +void PTVideoWidget::update_and_repaint() +{ + QMutexLocker foo(&mtx); + 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(); + for (int y = 0; y < _frame.rows; y++) + for (int x = 0; x < _frame.cols; x++) + { + const auto& elt = _frame.at(y, x); + 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]; + } + qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation); + texture = qframe; + update(); +} diff --git a/ftnoir_tracker_pt/pt_video_widget.h b/ftnoir_tracker_pt/pt_video_widget.h index f7de4db8..1be5f5f2 100644 --- a/ftnoir_tracker_pt/pt_video_widget.h +++ b/ftnoir_tracker_pt/pt_video_widget.h @@ -1,71 +1,71 @@ -/* 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 +/* 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 -# 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), - freshp(false) - { - connect(&timer, SIGNAL(timeout()), this, SLOT(update_and_repaint())); - timer.start(40); - } - 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.drawImage(e->rect(), texture); - } - void update_and_repaint(); -private: - QMutex mtx; - QImage texture; - QTimer timer; - cv::Mat _frame; - bool freshp; -}; - -// ---------------------------------------------------------------------------- -// 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; -}; +# 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), + freshp(false) + { + connect(&timer, SIGNAL(timeout()), this, SLOT(update_and_repaint())); + timer.start(40); + } + 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.drawImage(e->rect(), texture); + } + void update_and_repaint(); +private: + QMutex mtx; + QImage texture; + QTimer timer; + cv::Mat _frame; + bool freshp; +}; + +// ---------------------------------------------------------------------------- +// 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/trans_calib.cpp b/ftnoir_tracker_pt/trans_calib.cpp index 9b75a1b6..729a0b7f 100644 --- a/ftnoir_tracker_pt/trans_calib.cpp +++ b/ftnoir_tracker_pt/trans_calib.cpp @@ -1,44 +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]); +/* 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 index f2521690..609c9af1 100644 --- a/ftnoir_tracker_pt/trans_calib.h +++ b/ftnoir_tracker_pt/trans_calib.h @@ -1,39 +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) -}; - +/* 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 -- cgit v1.2.3 From 33de6458080fa9dc9bf6a9d355e89f23f9ee1f02 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Mon, 22 Sep 2014 22:37:07 +0200 Subject: PT tracker feature removal Some PT features got under the knife: - dynamic pose resolution velocity prediction model - tracker dialog's tracker tab - focal length coefficient --- ftnoir_tracker_pt/FTNoIR_PT_Controls.ui | 2206 ++++++++++-------------- ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 21 +- ftnoir_tracker_pt/ftnoir_tracker_pt.h | 4 +- ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp | 28 +- ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h | 6 +- ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h | 10 +- ftnoir_tracker_pt/point_tracker.cpp | 179 +- ftnoir_tracker_pt/point_tracker.h | 26 +- 8 files changed, 998 insertions(+), 1482 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 a2d5c47c..73b1f767 100644 --- a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui +++ b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui @@ -9,7 +9,7 @@ 0 0 - 459 + 453 621 @@ -32,11 +32,83 @@ false - + QLayout::SetFixedSize - + + + + Status + + + + + + QDialogButtonBox::Cancel|QDialogButtonBox::Ok + + + + + + + Extracted Points: + + + + + + + Camera Info: + + + + + + + QDialogButtonBox::Apply + + + true + + + + + + + + 0 + 0 + + + + + 120 + 0 + + + + + + + + + + + + 50 + 0 + + + + + + + + + + + @@ -56,73 +128,261 @@ 0 - + - General + Camera - + - + - Tracker Thread + Camera settings - + - + + + + 0 + 0 + + - Auto-reset time + Device - reset_spin + camdevice_combo - + + + + 0 + 0 + + + + 10 + + + + + + + + 0 + 0 + + + + Width + + + + + + + + 0 + 0 + + + + Desired capture width + + + px + + + 2000 + + + 10 + + + + + - + + 0 + 0 + + + + Height + + + + + + + + 0 + 0 + + + + Desired capture height + + + px + + + 2000 + + + 10 + + + + + + + + 0 + 0 + + + + FPS + + + fps_spin + + + + + + + 0 0 - Time until automatic reset of tracker's internal state when no valid tracking result is found + Desired capture framerate - ms + Hz - 9999 + 2000 + + + + + + + + + + Camera orientation + + + + + + Roll + + + camroll_combo + + + + + + + + 0 + 0 + + + + + 0 + 0 + + + + Rotation of the camera image - + - Dynamic Pose Resolution + Pitch + + + campitch_spin - + + + Qt::DefaultContextMenu + - + The angle the camera is facing upwards + + deg + + + -180 + + + 180 + + + + + - + positive = upwards + + + + + + + Yaw + + + camyaw_spin - - - false + + + Qt::DefaultContextMenu - Reset the tracker's internal state + The angle the camera is facing leftwards + + deg + + + + + + -180 + + + 180 + + + + + - Reset + positve = left @@ -130,1071 +390,657 @@ - - - Qt::Vertical - - - - 20 - 20 - + + + Point extraction - + + + + + Minimum point diameter + + + px + + + 1024 + + + + + + + Intensity threshold for point extraction + + + 255 + + + 1 + + + 127 + + + Qt::Horizontal + + + QSlider::TicksBothSides + + + 25 + + + + + + + Maximum point diameter + + + px + + + 1024 + + + + + + + Max size + + + maxdiam_spin + + + + + + + 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 + + + 1 + + + 100 + + + Qt::Horizontal + + + QSlider::TicksBothSides + + + 25 + + + + + + + Threshold + + + threshold_slider + + + + + + + Hysteresis + + + threshold_secondary_slider + + + + + + + Min size + + + mindiam_spin + + + + + - + - Camera + Model - + - - - The camera device used as input + + + QTabWidget::Rounded - - Camera Settings + + 1 + + + false + + + false + + + false - - - - - - - - 55 - 0 - + + + Clip + + + + + + Model Dimensions + + + + + 70 + 35 + 100 + 22 + - - Device + + units - - camdevice_combo + + -65535 + + + 65535 - - - - - - 0 - 0 - + + + + 110 + 115 + 100 + 22 + - - Camera device used as input + + units + + + -65535 + + + 65535 - - - - - - - - - - - - 55 - 0 - + + + + 40 + 55 + 71 + 111 + + + + + + + :/Resources/clip_side.png + + + + + + 10 + 35 + 46 + 13 + + + + Side + + + + + + 50 + 165 + 100 + 22 + + + + units + + + -65535 + + + 65535 + + + + + + 110 + 75 + 100 + 22 + + + + units + + + -65535 + + + 65535 + + + + + + 255 + 40 + 46 + 13 + + + + Front + + + + + + 265 + 60 + 21 + 111 + + + + + + + :/Resources/clip_front.png + + + + + + + + + Cap + + + + + + Model Dimensions + + + + + 30 + 90 + 111 + 81 + + + + + + + :/Resources/cap_side.png + + + + + + 20 + 35 + 46 + 13 + + + + Side + + + + + + 20 + 70 + 101 + 22 + + + + units + + + -65535 + + + 65535 + + + + + + 140 + 90 + 16 + 16 + + + + R + + + + + + 290 + 85 + 16 + 16 + + + + R + + + + + + 270 + 85 + 81 + 81 + + + + + + + :/Resources/cap_front.png + + + + + + 255 + 55 + 100 + 22 + + + + units + + + -65535 + + + 65535 + + + + + + 290 + 35 + 46 + 13 + + + + Front + + + + + + 60 + 120 + 116 + 22 + + + + units + + + -65535 + + + 65535 + + + + + + + + + Custom + + + + + + Model Dimensions + + + + + + + 0 + 0 + - Resolution + z: - - - - FPS + + + + units - - fps_spin + + -65535 + + + 65535 - - + + - + 0 0 - - Desired capture framerate - - - 999 - - - - - - x + x: - - - - - 0 - 0 - + + + + units - - Desired capture width + + -65535 - 2000 - - - 10 + 65535 - - - - Desired capture height - - - 2000 - - - 10 + + + + units - - - - - - F/W + + -65535 - - f_dspin + + 65535 - - - - The camera's focal length devided by its sensor width + + + + units - - 2 + + -65535 - - 0.100000000000000 + + 65535 - - - - Qt::Horizontal - - - - 40 - 20 - + + + + units - - - - - - Qt::Horizontal + + -65535 - - - 0 - 20 - + + 65535 - + - - - - - - - - - - - - - - Camera Orientation - - - - - - - - + + - Pitch - - - campitch_spin + <html><head/><body><p>Location of the two remaining model points<br/>with respect to the reference point in default pose</p><p>Use any units you want, e.g. millimeters, inches, parsecs...</p></body></html> - - - - Qt::DefaultContextMenu - - - The angle the camera is facing upwards + + + + units - -99 - - - - - - - Yaw + -65535 - - camyaw_spin + + 65535 - - - - Qt::DefaultContextMenu - - - The angle the camera is facing leftwards - - - -99 + + + + + 0 + 0 + - - - - - deg (positve = leftwards) + y: - - + + - + 0 0 - - - 0 - 0 - - - - Rotation of the camera image - - - - - - deg (positive = upwards) + x: - - - - deg + + + + + 0 + 0 + - - - - - Roll - - - camroll_combo + <html><head/><body><p><span style=" font-size:16pt;">P</span><span style=" font-size:16pt; vertical-align:sub;">3</span></p></body></html> - - - - - - Qt::Horizontal - - - - 0 - 20 - - - - - - - - - - - - - Qt::Vertical - - - - 20 - 0 - - - - - - - - Point Extraction - - - - - - - - Threshold - - - threshold_slider - - - - - - - Intensity threshold for point extraction - - - 255 - - - 127 - - - 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 - - - 1 - - - 100 - - - 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 - + + <html><head/><body><p><span style=" font-size:16pt;">P</span><span style=" font-size:16pt; vertical-align:sub;">3</span></p></body></html> - - - - 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 - + + z: - - - - 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> + y: - - - - 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 - - - - @@ -1205,129 +1051,88 @@ - Model Position (mm) + Model position - - + + + + + units + + + -65535 + + + 65536 + + + + <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 - - - - - + + + + units + + + -65535 + + + 65536 + + + + + + + y: + + + + + + + z: + + + + + + + x: + + + + + + + units + + + -65535 + + + 65536 + + + + + + + false + + + Calibrate + + + true + + @@ -1338,171 +1143,48 @@ 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 - - + + + + + <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> + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop + + + true + + + + + + + + + + :/Resources/Logo_IR.png + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop + + + + - - - - Status - - - - - - QFormLayout::AllNonFixedFieldsGrow - - - - - Camera Info: - - - - - - - - 0 - 0 - - - - - 120 - 0 - - - - - - - - - - - Extracted Points: - - - - - - - - 50 - 0 - - - - - - - - - - - - - - - - - - Save - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - - - - Ok - - - - - - - - - - Cancel - - - - - tabWidget - reset_spin 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 @@ -1512,31 +1194,11 @@ 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() diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index 3fa6910d..768a3a71 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -26,7 +26,6 @@ Tracker::Tracker() commands(0), video_widget(NULL), video_frame(NULL), - tracking_valid(false), new_settings(nullptr) { @@ -68,16 +67,13 @@ void Tracker::run() #endif time.start(); - double dt; bool new_frame; forever { if (commands & ABORT) break; - if (commands & PAUSE) continue; commands = 0; - apply_inner(); - dt = time.start() / 1000000000.; - + apply_inner(); + const double dt = time.start() * 1e-9; new_frame = camera.get_frame(dt, &frame); if (new_frame && !frame.empty()) @@ -101,7 +97,7 @@ void Tracker::run() color, 4); } - tracking_valid = point_tracker.track(points, camera.get_info().f, dt); + point_tracker.track(points, camera.get_info().f); video_widget->update_image(frame); } #ifdef PT_PERF_LOG @@ -124,12 +120,13 @@ void Tracker::apply_inner() settings* tmp = new_settings.exchange(nullptr); if (tmp == nullptr) return; + reset(); auto& s = *tmp; qDebug()<<"Tracker:: Applying settings"; 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_f(1); frame_rotation.rotation = static_cast(static_cast(s.cam_roll)); point_extractor.threshold_val = s.threshold; point_extractor.threshold_secondary_val = s.threshold_secondary; @@ -140,8 +137,6 @@ void Tracker::apply_inner() cv::Vec3f M02(s.m02_x, s.m02_y, s.m02_z); point_tracker.point_model = std::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, @@ -152,7 +147,6 @@ void Tracker::apply_inner() FrameTrafo X_MH(Matx33f::eye(), t_MH); X_GH_0 = R_GC * X_MH; - qDebug()<<"Tracker::apply ends"; } @@ -201,7 +195,6 @@ void Tracker::StartTracker(QFrame *parent_window) camera.start(); apply(s); start(); - reset_command(PAUSE); } #ifndef OPENTRACK_API @@ -220,9 +213,7 @@ void Tracker::GetHeadPoseData(THeadPoseData *data) { QMutexLocker lock(&mutex); - if (!tracking_valid) return; - - FrameTrafo X_CM = point_tracker.get_pose(); + 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(); diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h index 3d9a83fd..238dcd8f 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h @@ -61,8 +61,7 @@ protected: QMutex mutex; // thread commands enum Command { - ABORT = 1<<0, - PAUSE = 1<<1 + ABORT = 1<<0 }; void set_command(Command command); void reset_command(Command command); @@ -82,7 +81,6 @@ protected: PTVideoWidget* video_widget; QFrame* video_frame; - bool tracking_valid; settings s; std::atomic new_settings; diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp index e037a099..0e58a2e4 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp @@ -42,11 +42,7 @@ TrackerDialog::TrackerDialog() ui.camroll_combo->addItem("0"); ui.camroll_combo->addItem("90"); - tie_setting(s.dyn_pose_res, ui.dynpose_check); - 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); @@ -82,11 +78,9 @@ TrackerDialog::TrackerDialog() 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())); + connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK())); + connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel())); ui.model_tabs->setCurrentIndex(s.active_model_panel); @@ -94,7 +88,7 @@ TrackerDialog::TrackerDialog() connect(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info())); timer.start(100); - connect(s.b.get(), SIGNAL(bundleChanged()), this, SLOT(do_apply_without_saving())); + connect(ui.buttonBox_2, SIGNAL(clicked(QAbstractButton*)), this, SLOT(do_apply_without_saving(QAbstractButton*))); } void TrackerDialog::set_model_clip() @@ -172,19 +166,9 @@ void TrackerDialog::settings_changed() if (tracker) tracker->apply(s); } -void TrackerDialog::doCenter() -{ - if (tracker) tracker->center(); -} - -void TrackerDialog::doReset() -{ - if (tracker) tracker->reset(); -} - void TrackerDialog::save() { - do_apply_without_saving(); + do_apply_without_saving(nullptr); s.b->save(); } @@ -194,7 +178,7 @@ void TrackerDialog::doOK() close(); } -void TrackerDialog::do_apply_without_saving() +void TrackerDialog::do_apply_without_saving(QAbstractButton*) { switch (s.active_model_panel) { default: @@ -295,7 +279,6 @@ void TrackerDialog::registerTracker(ITracker *t) tracker->apply(s); ui.tcalib_button->setEnabled(true); //ui.center_button->setEnabled(true); - ui.reset_button->setEnabled(true); } void TrackerDialog::unRegisterTracker() @@ -305,7 +288,6 @@ void TrackerDialog::unRegisterTracker() destroy_video_widget(); ui.tcalib_button->setEnabled(false); //ui.center_button->setEnabled(false); - ui.reset_button->setEnabled(false); } extern "C" OPENTRACK_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h index a4d9c4b5..dbb93f30 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h @@ -34,12 +34,10 @@ public: void trans_calib_step(); public slots: - void doCenter(); - void doReset(); void doOK(); - void doApply(); void doCancel(); - void do_apply_without_saving(); + void doApply(); + void do_apply_without_saving(QAbstractButton *); void startstop_trans_calib(bool start); void widget_destroyed(QObject* obj); diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h index e4cb9ad3..7faad9ed 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h @@ -28,18 +28,17 @@ struct settings threshold_secondary, min_point_size, max_point_size; - value cam_f; value m01_x, m01_y, m01_z; value m02_x, m02_y, m02_z; - value dyn_pose_res, video_widget; + value video_widget; value t_MH_x, t_MH_y, t_MH_z; - value reset_time; - value clip_ty, clip_tz, clip_by, clip_bz; value active_model_panel, cap_x, cap_y, cap_z; + + // XXX todo red channel only, good for crapola CCD sensors -sh 20140922 settings() : b(bundle("tracker-pt")), @@ -54,19 +53,16 @@ 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), 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), - reset_time(b, "reset-time", 2000), clip_ty(b, "clip-ty", 0), clip_tz(b, "clip-tz", 0), clip_by(b, "clip-by", 0), diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp index e9892d67..5f57baf5 100644 --- a/ftnoir_tracker_pt/point_tracker.cpp +++ b/ftnoir_tracker_pt/point_tracker.cpp @@ -37,7 +37,7 @@ static void set_row(Matx33f& m, int i, const Vec3f& v) PointModel::PointModel(Vec3f M01, Vec3f M02) : M01(M01), M02(M02) -{ +{ // calculate u u = M01.cross(M02); u /= norm(u); @@ -48,7 +48,6 @@ PointModel::PointModel(Vec3f M01, Vec3f 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)); @@ -97,151 +96,58 @@ void PointModel::get_d_order(const std::vector& points, int d_order[] // ---------------------------------------------------------------------------- -PointTracker::PointTracker() : - dynamic_pose_resolution(true), - dt_reset(1), - init_phase(true), - dt_valid(0), - v_t(0,0,0), - v_r(0,0,0) +PointTracker::PointTracker() { X_CM.t[2] = 1000; // default position: 1 m away from cam; } void PointTracker::reset() { - // enter init phase and reset velocities - init_phase = true; - dt_valid = 0; - reset_velocities(); -} - -void PointTracker::reset_velocities() -{ - v_t = Vec3f(0,0,0); - v_r = Vec3f(0,0,0); + // enter init phase + X_CM = FrameTrafo(); } - -bool PointTracker::track(const vector& points, float f, float dt) +void PointTracker::track(const vector& points, float f) { - 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) +void PointTracker::find_correspondences(const std::vector& 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, 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; i& points, float f, float dt); + void track(const std::vector& points, float f); std::shared_ptr point_model; - bool dynamic_pose_resolution; - float dt_reset; - FrameTrafo get_pose() const { return X_CM; } void reset(); @@ -106,24 +103,13 @@ protected: 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); + void 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 -- cgit v1.2.3 From 29d11bc97afb5932aa1d394a6df295a364d983a9 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Mon, 22 Sep 2014 22:48:45 +0200 Subject: get rid of evil CALLING_CONVENTION macro --- facetracknoir/plugin-api.hpp | 6 - facetracknoir/plugin-support.cpp | 11 +- facetracknoir/plugin-support.h | 20 +-- ftnoir_filter_accela/ftnoir_filter_accela.cpp | 134 ++++++++++----------- .../ftnoir_filter_accela_dialog.cpp | 2 +- ftnoir_filter_accela/ftnoir_filter_accela_dll.cpp | 2 +- ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp | 2 +- ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp | 2 +- ftnoir_filter_ewma2/ftnoir_filter_ewma_dll.cpp | 2 +- ftnoir_filter_kalman/kalman.cpp | 6 +- ftnoir_protocol_fg/ftnoir_protocol_fg.cpp | 2 +- ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp | 2 +- ftnoir_protocol_fg/ftnoir_protocol_fg_dll.cpp | 2 +- ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.cpp | 2 +- .../ftnoir_protocol_fsuipc_dialog.cpp | 2 +- .../ftnoir_protocol_fsuipc_dll.cpp | 2 +- ftnoir_protocol_ft/ftnoir_protocol_ft.cpp | 2 +- ftnoir_protocol_ft/ftnoir_protocol_ft_dialog.cpp | 2 +- ftnoir_protocol_ft/ftnoir_protocol_ft_dll.cpp | 2 +- ftnoir_protocol_ftn/ftnoir_protocol_ftn.cpp | 2 +- ftnoir_protocol_ftn/ftnoir_protocol_ftn_dialog.cpp | 2 +- ftnoir_protocol_ftn/ftnoir_protocol_ftn_dll.cpp | 2 +- .../ftnoir_protocol_libevdev.cpp | 2 +- .../ftnoir_protocol_libevdev_dialog.cpp | 2 +- .../ftnoir_protocol_libevdev_dll.cpp | 2 +- ftnoir_protocol_mouse/ftnoir_protocol_mouse.cpp | 2 +- .../ftnoir_protocol_mouse_dialog.cpp | 2 +- .../ftnoir_protocol_mouse_dll.cpp | 2 +- ftnoir_protocol_sc/ftnoir_protocol_sc.cpp | 2 +- ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp | 2 +- ftnoir_protocol_sc/ftnoir_protocol_sc_dll.cpp | 2 +- ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.cpp | 2 +- .../ftnoir_protocol_vjoy_dialog.cpp | 2 +- ftnoir_protocol_vjoy/ftnoir_protocol_vjoy_dll.cpp | 2 +- ftnoir_protocol_wine/ftnoir_protocol_wine.cpp | 2 +- .../ftnoir_protocol_wine_dialog.cpp | 2 +- ftnoir_protocol_wine/ftnoir_protocol_wine_dll.cpp | 2 +- ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 6 +- .../ftnoir_tracker_freepie-udp.cpp | 2 +- .../ftnoir_tracker_freepie-udp_dialog.cpp | 2 +- .../ftnoir_tracker_freepie-udp_dll.cpp | 2 +- ftnoir_tracker_ht/ftnoir_tracker_ht.cpp | 6 +- ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp | 2 +- .../ftnoir_tracker_hydra_dialog.cpp | 2 +- ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp | 2 +- .../ftnoir_tracker_joystick.cpp | 2 +- .../ftnoir_tracker_joystick_dialog.cpp | 2 +- .../ftnoir_tracker_joystick_dll.cpp | 2 +- ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 2 +- ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp | 2 +- ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp | 2 +- ftnoir_tracker_rift/ftnoir_tracker_rift.cpp | 2 +- ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp | 2 +- ftnoir_tracker_rift/ftnoir_tracker_rift_dll.cpp | 2 +- ftnoir_tracker_udp/ftnoir_tracker_udp.cpp | 2 +- ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp | 2 +- ftnoir_tracker_udp/ftnoir_tracker_udp_dll.cpp | 2 +- 57 files changed, 133 insertions(+), 156 deletions(-) (limited to 'ftnoir_tracker_pt') diff --git a/facetracknoir/plugin-api.hpp b/facetracknoir/plugin-api.hpp index d458d25c..f352a6a9 100644 --- a/facetracknoir/plugin-api.hpp +++ b/facetracknoir/plugin-api.hpp @@ -2,12 +2,6 @@ #include "facetracknoir/export.hpp" -#if defined(_WIN32) -# define CALLING_CONVENTION __stdcall -#else -# define CALLING_CONVENTION -#endif - enum Axis { TX = 0, TY, TZ, Yaw, Pitch, Roll }; diff --git a/facetracknoir/plugin-support.cpp b/facetracknoir/plugin-support.cpp index c6622fe0..35cf8f29 100644 --- a/facetracknoir/plugin-support.cpp +++ b/facetracknoir/plugin-support.cpp @@ -1,11 +1,8 @@ +#include #include "plugin-support.h" #include #include -#if !(defined(_WIN32)) -# include -#endif - SelectedLibraries* Libraries = NULL; SelectedLibraries::~SelectedLibraries() @@ -88,15 +85,15 @@ DynamicLibrary::DynamicLibrary(const QString& filename) : if (_foo::die(handle, !handle->load())) return; - Dialog = (DIALOG_FUNPTR) handle->resolve(MAYBE_STDCALL_UNDERSCORE "GetDialog" CALLING_CONVENTION_SUFFIX_VOID_FUNCTION); + Dialog = (DIALOG_FUNPTR) handle->resolve("GetDialog"); if (_foo::die(handle, !Dialog)) return; - Constructor = (CTOR_FUNPTR) handle->resolve(MAYBE_STDCALL_UNDERSCORE "GetConstructor" CALLING_CONVENTION_SUFFIX_VOID_FUNCTION); + Constructor = (CTOR_FUNPTR) handle->resolve("GetConstructor"); if (_foo::die(handle, !Constructor)) return; - Metadata = (METADATA_FUNPTR) handle->resolve(MAYBE_STDCALL_UNDERSCORE "GetMetadata" CALLING_CONVENTION_SUFFIX_VOID_FUNCTION); + Metadata = (METADATA_FUNPTR) handle->resolve("GetMetadata"); if (_foo::die(handle, !Metadata)) return; #else diff --git a/facetracknoir/plugin-support.h b/facetracknoir/plugin-support.h index 1e02bd60..3924fc09 100644 --- a/facetracknoir/plugin-support.h +++ b/facetracknoir/plugin-support.h @@ -2,20 +2,6 @@ #include "facetracknoir/plugin-api.hpp" -#if defined(_WIN32) -# define CALLING_CONVENTION_SUFFIX_VOID_FUNCTION "@0" -# ifdef _MSC_VER -# error "No support for MSVC anymore" -#else -# define MAYBE_STDCALL_UNDERSCORE "" -# endif -#else -# define CALLING_CONVENTION_SUFFIX_VOID_FUNCTION "" -# define MAYBE_STDCALL_UNDERSCORE "" -#endif - -#include - #include #include #include @@ -38,9 +24,9 @@ extern SelectedLibraries* Libraries; struct Metadata; -extern "C" typedef void* (CALLING_CONVENTION * CTOR_FUNPTR)(void); -extern "C" typedef Metadata* (CALLING_CONVENTION* METADATA_FUNPTR)(void); -extern "C" typedef void* (CALLING_CONVENTION* DIALOG_FUNPTR)(void); +extern "C" typedef void* (*CTOR_FUNPTR)(void); +extern "C" typedef Metadata* (*METADATA_FUNPTR)(void); +extern "C" typedef void* (*DIALOG_FUNPTR)(void); class DynamicLibrary { public: diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.cpp b/ftnoir_filter_accela/ftnoir_filter_accela.cpp index b7aee77c..9b7b2cb2 100644 --- a/ftnoir_filter_accela/ftnoir_filter_accela.cpp +++ b/ftnoir_filter_accela/ftnoir_filter_accela.cpp @@ -1,67 +1,67 @@ -/* Copyright (c) 2012-2013 Stanislaw Halik - * - * 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_filter_accela/ftnoir_filter_accela.h" -#include -#include -#include -#include -#include "facetracknoir/plugin-support.h" -using namespace std; - -FTNoIR_Filter::FTNoIR_Filter() : first_run(true) -{ -} - -static inline double parabola(const double a, const double x, const double dz, const double expt) -{ - const double sign = x > 0 ? 1 : -1; - const double a1 = 1./a; - return a1 * pow(std::max(fabs(x) - dz, 0), expt) * sign; -} - -void FTNoIR_Filter::FilterHeadPoseData(const double* target_camera_position, - double *new_camera_position) -{ - if (first_run) - { - for (int i = 0; i < 6; i++) - { - new_camera_position[i] = target_camera_position[i]; - for (int j = 0; j < 3; j++) - last_output[j][i] = target_camera_position[i]; - } - - first_run = false; - return; - } - - for (int i=0;i<6;i++) - { - const double vec = target_camera_position[i] - last_output[0][i]; - const double vec2 = target_camera_position[i] - last_output[1][i]; - const double vec3 = target_camera_position[i] - last_output[2][i]; - const int sign = vec < 0 ? -1 : 1; - const double a = i >= 3 ? s.rotation_alpha : s.translation_alpha; - const double a2 = a * s.second_order_alpha; - const double a3 = a * s.third_order_alpha; - const double deadzone = i >= 3 ? s.rot_deadzone : s.trans_deadzone; - const double velocity = - parabola(a, vec, deadzone, s.expt) + - parabola(a2, vec2, deadzone, s.expt) + - parabola(a3, vec3, deadzone, s.expt); - const double result = last_output[0][i] + velocity; - const bool done = sign > 0 ? result >= target_camera_position[i] : result <= target_camera_position[i]; - last_output[2][i] = last_output[1][i]; - last_output[1][i] = last_output[0][i]; - last_output[0][i] = new_camera_position[i] = done ? target_camera_position[i] : result; - } -} - -extern "C" OPENTRACK_EXPORT IFilter* CALLING_CONVENTION GetConstructor() -{ - return new FTNoIR_Filter; -} +/* Copyright (c) 2012-2013 Stanislaw Halik + * + * 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_filter_accela/ftnoir_filter_accela.h" +#include +#include +#include +#include +#include "facetracknoir/plugin-support.h" +using namespace std; + +FTNoIR_Filter::FTNoIR_Filter() : first_run(true) +{ +} + +static inline double parabola(const double a, const double x, const double dz, const double expt) +{ + const double sign = x > 0 ? 1 : -1; + const double a1 = 1./a; + return a1 * pow(std::max(fabs(x) - dz, 0), expt) * sign; +} + +void FTNoIR_Filter::FilterHeadPoseData(const double* target_camera_position, + double *new_camera_position) +{ + if (first_run) + { + for (int i = 0; i < 6; i++) + { + new_camera_position[i] = target_camera_position[i]; + for (int j = 0; j < 3; j++) + last_output[j][i] = target_camera_position[i]; + } + + first_run = false; + return; + } + + for (int i=0;i<6;i++) + { + const double vec = target_camera_position[i] - last_output[0][i]; + const double vec2 = target_camera_position[i] - last_output[1][i]; + const double vec3 = target_camera_position[i] - last_output[2][i]; + const int sign = vec < 0 ? -1 : 1; + const double a = i >= 3 ? s.rotation_alpha : s.translation_alpha; + const double a2 = a * s.second_order_alpha; + const double a3 = a * s.third_order_alpha; + const double deadzone = i >= 3 ? s.rot_deadzone : s.trans_deadzone; + const double velocity = + parabola(a, vec, deadzone, s.expt) + + parabola(a2, vec2, deadzone, s.expt) + + parabola(a3, vec3, deadzone, s.expt); + const double result = last_output[0][i] + velocity; + const bool done = sign > 0 ? result >= target_camera_position[i] : result <= target_camera_position[i]; + last_output[2][i] = last_output[1][i]; + last_output[1][i] = last_output[0][i]; + last_output[0][i] = new_camera_position[i] = done ? target_camera_position[i] : result; + } +} + +extern "C" OPENTRACK_EXPORT IFilter* GetConstructor() +{ + return new FTNoIR_Filter; +} diff --git a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp index 7afcd014..965cb3ea 100644 --- a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp +++ b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp @@ -52,7 +52,7 @@ void FilterControls::save() { accela_filter->receiveSettings(); } -extern "C" OPENTRACK_EXPORT IFilterDialog* CALLING_CONVENTION GetDialog() +extern "C" OPENTRACK_EXPORT IFilterDialog* GetDialog() { return new FilterControls; } diff --git a/ftnoir_filter_accela/ftnoir_filter_accela_dll.cpp b/ftnoir_filter_accela/ftnoir_filter_accela_dll.cpp index e908b873..65bee314 100644 --- a/ftnoir_filter_accela/ftnoir_filter_accela_dll.cpp +++ b/ftnoir_filter_accela/ftnoir_filter_accela_dll.cpp @@ -1,7 +1,7 @@ #include "ftnoir_filter_accela.h" #include "facetracknoir/plugin-support.h" -extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* GetMetadata() { return new FTNoIR_FilterDll; } diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp index 810cfef9..c7169faa 100644 --- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp +++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp @@ -91,7 +91,7 @@ void FTNoIR_Filter::FilterHeadPoseData(const double *target_camera_position, } } -extern "C" OPENTRACK_EXPORT IFilter* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT IFilter* GetConstructor() { return new FTNoIR_Filter; } diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp b/ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp index 9e89bdb7..a32875b9 100644 --- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp +++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp @@ -43,7 +43,7 @@ void FilterControls::save() { pFilter->receiveSettings(); } -extern "C" OPENTRACK_EXPORT IFilterDialog* CALLING_CONVENTION GetDialog( ) +extern "C" OPENTRACK_EXPORT IFilterDialog* GetDialog( ) { return new FilterControls; } diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma_dll.cpp b/ftnoir_filter_ewma2/ftnoir_filter_ewma_dll.cpp index 9a5a9148..5ec6138a 100644 --- a/ftnoir_filter_ewma2/ftnoir_filter_ewma_dll.cpp +++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma_dll.cpp @@ -1,7 +1,7 @@ #include "ftnoir_filter_ewma2.h" #include "facetracknoir/plugin-support.h" -extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* GetMetadata() { return new FTNoIR_FilterDll; } diff --git a/ftnoir_filter_kalman/kalman.cpp b/ftnoir_filter_kalman/kalman.cpp index cb622d79..70bbba8d 100644 --- a/ftnoir_filter_kalman/kalman.cpp +++ b/ftnoir_filter_kalman/kalman.cpp @@ -121,16 +121,16 @@ void FilterControls::doCancel() { close(); } -extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* GetMetadata() { return new FTNoIR_FilterDll; } -extern "C" OPENTRACK_EXPORT IFilter* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT IFilter* GetConstructor() { return new FTNoIR_Filter; } -extern "C" OPENTRACK_EXPORT IFilterDialog* CALLING_CONVENTION GetDialog() { +extern "C" OPENTRACK_EXPORT IFilterDialog* GetDialog() { return new FilterControls; } diff --git a/ftnoir_protocol_fg/ftnoir_protocol_fg.cpp b/ftnoir_protocol_fg/ftnoir_protocol_fg.cpp index 45293796..b2d29118 100644 --- a/ftnoir_protocol_fg/ftnoir_protocol_fg.cpp +++ b/ftnoir_protocol_fg/ftnoir_protocol_fg.cpp @@ -57,7 +57,7 @@ bool FTNoIR_Protocol::checkServerInstallationOK() return outSocket.bind(QHostAddress::Any, 0, QUdpSocket::ShareAddress | QUdpSocket::ReuseAddressHint); } -extern "C" OPENTRACK_EXPORT IProtocol* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT IProtocol* GetConstructor() { return new FTNoIR_Protocol; } diff --git a/ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp b/ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp index eb8b9a81..1aa67b43 100644 --- a/ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp +++ b/ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp @@ -63,7 +63,7 @@ void FGControls::doCancel() { this->close(); } -extern "C" OPENTRACK_EXPORT IProtocolDialog* CALLING_CONVENTION GetDialog( ) +extern "C" OPENTRACK_EXPORT IProtocolDialog* GetDialog( ) { return new FGControls; } diff --git a/ftnoir_protocol_fg/ftnoir_protocol_fg_dll.cpp b/ftnoir_protocol_fg/ftnoir_protocol_fg_dll.cpp index a1f065c7..f830f8f7 100644 --- a/ftnoir_protocol_fg/ftnoir_protocol_fg_dll.cpp +++ b/ftnoir_protocol_fg/ftnoir_protocol_fg_dll.cpp @@ -26,7 +26,7 @@ #include #include "facetracknoir/plugin-support.h" -extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* GetMetadata() { return new FTNoIR_ProtocolDll; } diff --git a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.cpp b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.cpp index f5e6d5ea..822cdb4d 100644 --- a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.cpp +++ b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.cpp @@ -158,7 +158,7 @@ bool FTNoIR_Protocol::checkServerInstallationOK() return true; } -extern "C" OPENTRACK_EXPORT FTNoIR_Protocol* CALLING_CONVENTION GetConstructor(void) +extern "C" OPENTRACK_EXPORT FTNoIR_Protocol* GetConstructor(void) { return new FTNoIR_Protocol; } diff --git a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dialog.cpp b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dialog.cpp index e8c04dfe..d2af714f 100644 --- a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dialog.cpp +++ b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dialog.cpp @@ -56,7 +56,7 @@ void FSUIPCControls::getLocationOfDLL() } } -extern "C" OPENTRACK_EXPORT IProtocolDialog* CALLING_CONVENTION GetDialog(void) +extern "C" OPENTRACK_EXPORT IProtocolDialog* GetDialog(void) { return new FSUIPCControls; } diff --git a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dll.cpp b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dll.cpp index b2cd6e02..dbea2c46 100644 --- a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dll.cpp +++ b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dll.cpp @@ -25,7 +25,7 @@ #include "ftnoir_protocol_fsuipc.h" #include "facetracknoir/plugin-support.h" -extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata(void) +extern "C" OPENTRACK_EXPORT Metadata* GetMetadata(void) { return new FTNoIR_ProtocolDll; } diff --git a/ftnoir_protocol_ft/ftnoir_protocol_ft.cpp b/ftnoir_protocol_ft/ftnoir_protocol_ft.cpp index 8b8be63d..5c365697 100644 --- a/ftnoir_protocol_ft/ftnoir_protocol_ft.cpp +++ b/ftnoir_protocol_ft/ftnoir_protocol_ft.cpp @@ -171,7 +171,7 @@ bool FTNoIR_Protocol::checkServerInstallationOK() return true; } -extern "C" OPENTRACK_EXPORT IProtocol* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT IProtocol* GetConstructor() { return new FTNoIR_Protocol; } diff --git a/ftnoir_protocol_ft/ftnoir_protocol_ft_dialog.cpp b/ftnoir_protocol_ft/ftnoir_protocol_ft_dialog.cpp index 626d5358..654f6c18 100644 --- a/ftnoir_protocol_ft/ftnoir_protocol_ft_dialog.cpp +++ b/ftnoir_protocol_ft/ftnoir_protocol_ft_dialog.cpp @@ -73,7 +73,7 @@ void FTControls::selectDLL() { } } -extern "C" OPENTRACK_EXPORT IProtocolDialog* CALLING_CONVENTION GetDialog() +extern "C" OPENTRACK_EXPORT IProtocolDialog* GetDialog() { return new FTControls; } diff --git a/ftnoir_protocol_ft/ftnoir_protocol_ft_dll.cpp b/ftnoir_protocol_ft/ftnoir_protocol_ft_dll.cpp index d6f05bad..d7a13fa5 100644 --- a/ftnoir_protocol_ft/ftnoir_protocol_ft_dll.cpp +++ b/ftnoir_protocol_ft/ftnoir_protocol_ft_dll.cpp @@ -1,7 +1,7 @@ #include "facetracknoir/plugin-support.h" #include "ftnoir_protocol_ft/ftnoir_protocol_ft.h" -extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* GetMetadata() { return new FTNoIR_ProtocolDll; } diff --git a/ftnoir_protocol_ftn/ftnoir_protocol_ftn.cpp b/ftnoir_protocol_ftn/ftnoir_protocol_ftn.cpp index 4ee7362b..ccff1ba5 100644 --- a/ftnoir_protocol_ftn/ftnoir_protocol_ftn.cpp +++ b/ftnoir_protocol_ftn/ftnoir_protocol_ftn.cpp @@ -48,7 +48,7 @@ bool FTNoIR_Protocol::checkServerInstallationOK() return outSocket.bind(QHostAddress::Any, 0, QUdpSocket::ShareAddress | QUdpSocket::ReuseAddressHint); } -extern "C" OPENTRACK_EXPORT IProtocol* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT IProtocol* GetConstructor() { return new FTNoIR_Protocol; } diff --git a/ftnoir_protocol_ftn/ftnoir_protocol_ftn_dialog.cpp b/ftnoir_protocol_ftn/ftnoir_protocol_ftn_dialog.cpp index b4a92b39..cab5b4ba 100644 --- a/ftnoir_protocol_ftn/ftnoir_protocol_ftn_dialog.cpp +++ b/ftnoir_protocol_ftn/ftnoir_protocol_ftn_dialog.cpp @@ -56,7 +56,7 @@ void FTNControls::doCancel() { this->close(); } -extern "C" OPENTRACK_EXPORT IProtocolDialog* CALLING_CONVENTION GetDialog( ) +extern "C" OPENTRACK_EXPORT IProtocolDialog* GetDialog( ) { return new FTNControls; } diff --git a/ftnoir_protocol_ftn/ftnoir_protocol_ftn_dll.cpp b/ftnoir_protocol_ftn/ftnoir_protocol_ftn_dll.cpp index da89a9ca..0d24ccf8 100644 --- a/ftnoir_protocol_ftn/ftnoir_protocol_ftn_dll.cpp +++ b/ftnoir_protocol_ftn/ftnoir_protocol_ftn_dll.cpp @@ -25,7 +25,7 @@ #include "ftnoir_protocol_ftn.h" #include "facetracknoir/plugin-support.h" -extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* GetMetadata() { return new FTNoIR_ProtocolDll; } diff --git a/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev.cpp b/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev.cpp index ca395b34..1840fa03 100644 --- a/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev.cpp +++ b/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev.cpp @@ -94,7 +94,7 @@ void FTNoIR_Protocol::sendHeadposeToGame(const double* headpose) { (void) libevdev_uinput_write_event(uidev, EV_SYN, SYN_REPORT, 0); } -extern "C" OPENTRACK_EXPORT IProtocol* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT IProtocol* GetConstructor() { return new FTNoIR_Protocol; } diff --git a/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev_dialog.cpp b/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev_dialog.cpp index 152095d4..d522610b 100644 --- a/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev_dialog.cpp +++ b/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev_dialog.cpp @@ -20,7 +20,7 @@ void LibevdevControls::doCancel() { void LibevdevControls::save() { } -extern "C" OPENTRACK_EXPORT IProtocolDialog* CALLING_CONVENTION GetDialog( ) +extern "C" OPENTRACK_EXPORT IProtocolDialog* GetDialog( ) { return new LibevdevControls; } diff --git a/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev_dll.cpp b/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev_dll.cpp index 01f7ff5f..e258b077 100644 --- a/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev_dll.cpp +++ b/ftnoir_protocol_libevdev/ftnoir_protocol_libevdev_dll.cpp @@ -10,7 +10,7 @@ FTNoIR_ProtocolDll::~FTNoIR_ProtocolDll() } -extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* GetMetadata() { return new FTNoIR_ProtocolDll; } diff --git a/ftnoir_protocol_mouse/ftnoir_protocol_mouse.cpp b/ftnoir_protocol_mouse/ftnoir_protocol_mouse.cpp index f78eb16d..47f7a67e 100644 --- a/ftnoir_protocol_mouse/ftnoir_protocol_mouse.cpp +++ b/ftnoir_protocol_mouse/ftnoir_protocol_mouse.cpp @@ -63,7 +63,7 @@ bool FTNoIR_Protocol::checkServerInstallationOK() return true; } -extern "C" OPENTRACK_EXPORT IProtocol* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT IProtocol* GetConstructor() { return new FTNoIR_Protocol; } diff --git a/ftnoir_protocol_mouse/ftnoir_protocol_mouse_dialog.cpp b/ftnoir_protocol_mouse/ftnoir_protocol_mouse_dialog.cpp index 50ea8f2e..4b12a4f0 100644 --- a/ftnoir_protocol_mouse/ftnoir_protocol_mouse_dialog.cpp +++ b/ftnoir_protocol_mouse/ftnoir_protocol_mouse_dialog.cpp @@ -63,7 +63,7 @@ void MOUSEControls::doCancel() { this->close(); } -extern "C" OPENTRACK_EXPORT IProtocolDialog* CALLING_CONVENTION GetDialog( ) +extern "C" OPENTRACK_EXPORT IProtocolDialog* GetDialog( ) { return new MOUSEControls; } diff --git a/ftnoir_protocol_mouse/ftnoir_protocol_mouse_dll.cpp b/ftnoir_protocol_mouse/ftnoir_protocol_mouse_dll.cpp index 50f889db..39bdf6e5 100644 --- a/ftnoir_protocol_mouse/ftnoir_protocol_mouse_dll.cpp +++ b/ftnoir_protocol_mouse/ftnoir_protocol_mouse_dll.cpp @@ -25,7 +25,7 @@ #include "ftnoir_protocol_mouse.h" #include "facetracknoir/plugin-support.h" -extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* GetMetadata() { return new FTNoIR_ProtocolDll; } diff --git a/ftnoir_protocol_sc/ftnoir_protocol_sc.cpp b/ftnoir_protocol_sc/ftnoir_protocol_sc.cpp index 0901546a..72b800d2 100644 --- a/ftnoir_protocol_sc/ftnoir_protocol_sc.cpp +++ b/ftnoir_protocol_sc/ftnoir_protocol_sc.cpp @@ -246,7 +246,7 @@ void CALLBACK FTNoIR_Protocol::processNextSimconnectEvent(SIMCONNECT_RECV* pData } } -extern "C" OPENTRACK_EXPORT IProtocol* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT IProtocol* GetConstructor() { return new FTNoIR_Protocol; } diff --git a/ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp b/ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp index 8845bec6..cd8c21f9 100644 --- a/ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp +++ b/ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp @@ -48,7 +48,7 @@ void SCControls::doCancel() { close(); } -extern "C" OPENTRACK_EXPORT IProtocolDialog* CALLING_CONVENTION GetDialog( ) +extern "C" OPENTRACK_EXPORT IProtocolDialog* GetDialog( ) { return new SCControls; } diff --git a/ftnoir_protocol_sc/ftnoir_protocol_sc_dll.cpp b/ftnoir_protocol_sc/ftnoir_protocol_sc_dll.cpp index 6effb6d5..9bdbef09 100644 --- a/ftnoir_protocol_sc/ftnoir_protocol_sc_dll.cpp +++ b/ftnoir_protocol_sc/ftnoir_protocol_sc_dll.cpp @@ -26,7 +26,7 @@ #include #include "facetracknoir/plugin-support.h" -extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* GetMetadata() { return new FTNoIR_ProtocolDll; } diff --git a/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.cpp b/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.cpp index 2b8aa017..58fa2ab1 100644 --- a/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.cpp +++ b/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy.cpp @@ -28,7 +28,7 @@ void FTNoIR_Protocol::sendHeadposeToGame( const double *headpose ) { VJoy_UpdateJoyState(0, state); } -extern "C" OPENTRACK_EXPORT IProtocol* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT IProtocol* GetConstructor() { return new FTNoIR_Protocol; } diff --git a/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy_dialog.cpp b/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy_dialog.cpp index 440b12dc..6bd82d9a 100644 --- a/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy_dialog.cpp +++ b/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy_dialog.cpp @@ -20,7 +20,7 @@ void VJoyControls::doCancel() { void VJoyControls::save() { } -extern "C" OPENTRACK_EXPORT IProtocolDialog* CALLING_CONVENTION GetDialog( ) +extern "C" OPENTRACK_EXPORT IProtocolDialog* GetDialog( ) { return new VJoyControls; } diff --git a/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy_dll.cpp b/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy_dll.cpp index 812a2af9..367a0df6 100644 --- a/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy_dll.cpp +++ b/ftnoir_protocol_vjoy/ftnoir_protocol_vjoy_dll.cpp @@ -10,7 +10,7 @@ FTNoIR_ProtocolDll::~FTNoIR_ProtocolDll() } -extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* GetMetadata() { return new FTNoIR_ProtocolDll; } diff --git a/ftnoir_protocol_wine/ftnoir_protocol_wine.cpp b/ftnoir_protocol_wine/ftnoir_protocol_wine.cpp index 8ebc394d..29a2a70c 100644 --- a/ftnoir_protocol_wine/ftnoir_protocol_wine.cpp +++ b/ftnoir_protocol_wine/ftnoir_protocol_wine.cpp @@ -56,7 +56,7 @@ bool FTNoIR_Protocol::checkServerInstallationOK() return lck_shm.success(); } -extern "C" OPENTRACK_EXPORT void* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT void* GetConstructor() { return (IProtocol*) new FTNoIR_Protocol; } diff --git a/ftnoir_protocol_wine/ftnoir_protocol_wine_dialog.cpp b/ftnoir_protocol_wine/ftnoir_protocol_wine_dialog.cpp index bcd3df45..c092de42 100644 --- a/ftnoir_protocol_wine/ftnoir_protocol_wine_dialog.cpp +++ b/ftnoir_protocol_wine/ftnoir_protocol_wine_dialog.cpp @@ -17,7 +17,7 @@ void FTControls::doCancel() { this->close(); } -extern "C" OPENTRACK_EXPORT void* CALLING_CONVENTION GetDialog( ) +extern "C" OPENTRACK_EXPORT void* GetDialog( ) { return (IProtocolDialog*) new FTControls; } diff --git a/ftnoir_protocol_wine/ftnoir_protocol_wine_dll.cpp b/ftnoir_protocol_wine/ftnoir_protocol_wine_dll.cpp index 16e3e7c7..c6e3d433 100644 --- a/ftnoir_protocol_wine/ftnoir_protocol_wine_dll.cpp +++ b/ftnoir_protocol_wine/ftnoir_protocol_wine_dll.cpp @@ -9,7 +9,7 @@ FTNoIR_ProtocolDll::~FTNoIR_ProtocolDll() { } -extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* GetMetadata() { return new FTNoIR_ProtocolDll; } diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index b27b96b8..97830c9a 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -421,19 +421,19 @@ void TrackerDll::getIcon(QIcon *icon) //----------------------------------------------------------------------------- //#pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0") -extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* GetMetadata() { return new TrackerDll; } //#pragma comment(linker, "/export:GetTracker=_GetTracker@0") -extern "C" OPENTRACK_EXPORT ITracker* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT ITracker* GetConstructor() { return new Tracker; } -extern "C" OPENTRACK_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) +extern "C" OPENTRACK_EXPORT ITrackerDialog* GetDialog( ) { return new TrackerControls; } diff --git a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.cpp b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.cpp index c1faebeb..39b1f4a2 100644 --- a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.cpp +++ b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp.cpp @@ -97,7 +97,7 @@ void TrackerImpl::GetHeadPoseData(double *data) data[Roll] = pose[Roll]; } -extern "C" OPENTRACK_EXPORT ITracker* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT ITracker* GetConstructor() { return new TrackerImpl; } diff --git a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dialog.cpp b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dialog.cpp index ee6c4284..5a0cade4 100644 --- a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dialog.cpp +++ b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dialog.cpp @@ -21,7 +21,7 @@ void TrackerDialog::doCancel() { this->close(); } -extern "C" OPENTRACK_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog() +extern "C" OPENTRACK_EXPORT ITrackerDialog* GetDialog() { return new TrackerDialog; } diff --git a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dll.cpp b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dll.cpp index 7578150f..afcc8c6e 100644 --- a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dll.cpp +++ b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dll.cpp @@ -21,7 +21,7 @@ void TrackerMeta::getIcon(QIcon *icon) *icon = QIcon(":/glovepie.png"); } -extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* GetMetadata() { return new TrackerMeta; } diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp index 15bf3a76..05eb116c 100644 --- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp @@ -229,17 +229,17 @@ void TrackerDll::getIcon(QIcon *icon) *icon = QIcon(":/images/ht.png"); } -extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* GetMetadata() { return new TrackerDll; } -extern "C" OPENTRACK_EXPORT ITracker* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT ITracker* GetConstructor() { return new Tracker; } -extern "C" OPENTRACK_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) +extern "C" OPENTRACK_EXPORT ITrackerDialog* GetDialog( ) { return new TrackerControls; } diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp index 03c756f9..42de16c1 100644 --- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp @@ -45,7 +45,7 @@ void Hydra_Tracker::GetHeadPoseData(double *data) data[Roll] = ypr[2] * r2d; } -extern "C" OPENTRACK_EXPORT ITracker* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT ITracker* GetConstructor() { return new Hydra_Tracker; } diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp index 80b5fb22..dbd9981f 100644 --- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp @@ -21,7 +21,7 @@ void TrackerControls::doCancel() { close(); } -extern "C" OPENTRACK_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) +extern "C" OPENTRACK_EXPORT ITrackerDialog* GetDialog( ) { return new TrackerControls; } diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp index 8388ddfe..18efea05 100644 --- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp @@ -23,7 +23,7 @@ void FTNoIR_TrackerDll::getIcon(QIcon *icon) *icon = QIcon(":/images/facetracknoir.png"); } -extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* GetMetadata() { return new FTNoIR_TrackerDll; } diff --git a/ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp b/ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp index 9b98d4be..bb1076dd 100644 --- a/ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp +++ b/ftnoir_tracker_joystick/ftnoir_tracker_joystick.cpp @@ -200,7 +200,7 @@ void FTNoIR_Tracker::GetHeadPoseData(double *data) data[i] = values[i] * limits[i] / AXIS_MAX; } -extern "C" OPENTRACK_EXPORT ITracker* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT ITracker* GetConstructor() { return new FTNoIR_Tracker; } diff --git a/ftnoir_tracker_joystick/ftnoir_tracker_joystick_dialog.cpp b/ftnoir_tracker_joystick/ftnoir_tracker_joystick_dialog.cpp index 67e480a3..4ddbcb0c 100644 --- a/ftnoir_tracker_joystick/ftnoir_tracker_joystick_dialog.cpp +++ b/ftnoir_tracker_joystick/ftnoir_tracker_joystick_dialog.cpp @@ -53,7 +53,7 @@ void TrackerControls::doCancel() { this->close(); } -extern "C" OPENTRACK_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) +extern "C" OPENTRACK_EXPORT ITrackerDialog* GetDialog( ) { return new TrackerControls; } diff --git a/ftnoir_tracker_joystick/ftnoir_tracker_joystick_dll.cpp b/ftnoir_tracker_joystick/ftnoir_tracker_joystick_dll.cpp index 075ed555..af1a9679 100644 --- a/ftnoir_tracker_joystick/ftnoir_tracker_joystick_dll.cpp +++ b/ftnoir_tracker_joystick/ftnoir_tracker_joystick_dll.cpp @@ -22,7 +22,7 @@ void FTNoIR_TrackerDll::getIcon(QIcon *icon) *icon = QIcon(":/images/facetracknoir.png"); } -extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* GetMetadata() { return new FTNoIR_TrackerDll; } diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index 768a3a71..7e5ccc6c 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -245,7 +245,7 @@ void Tracker::GetHeadPoseData(THeadPoseData *data) //----------------------------------------------------------------------------- #ifdef OPENTRACK_API -extern "C" OPENTRACK_EXPORT ITracker* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT ITracker* GetConstructor() #else #pragma comment(linker, "/export:GetTracker=_GetTracker@0") OPENTRACK_EXPORT ITrackerPtr __stdcall GetTracker() diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp index 0e58a2e4..9529e268 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp @@ -290,7 +290,7 @@ void TrackerDialog::unRegisterTracker() //ui.center_button->setEnabled(false); } -extern "C" OPENTRACK_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) +extern "C" OPENTRACK_EXPORT ITrackerDialog* GetDialog( ) { return new TrackerDialog; } diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp index 07e1d9e7..fb756a86 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dll.cpp @@ -32,7 +32,7 @@ void TrackerDll::getIcon(QIcon *icon) #ifdef OPENTRACK_API # include "facetracknoir/plugin-support.h" -extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* GetMetadata() #else # pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0") OPENTRACK_EXPORT ITrackerDllPtr __stdcall GetTrackerDll() diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp index 1cca6075..4198a4b8 100644 --- a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp +++ b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp @@ -67,7 +67,7 @@ void Rift_Tracker::GetHeadPoseData(double *data) } } -extern "C" OPENTRACK_EXPORT ITracker* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT ITracker* GetConstructor() { return new Rift_Tracker; } diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp b/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp index c95ce364..a66eb83b 100644 --- a/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp +++ b/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp @@ -25,7 +25,7 @@ void TrackerControls::doCancel() { close(); } -extern "C" OPENTRACK_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog() +extern "C" OPENTRACK_EXPORT ITrackerDialog* GetDialog() { return new TrackerControls; } diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift_dll.cpp b/ftnoir_tracker_rift/ftnoir_tracker_rift_dll.cpp index 22eec9b9..902c8051 100644 --- a/ftnoir_tracker_rift/ftnoir_tracker_rift_dll.cpp +++ b/ftnoir_tracker_rift/ftnoir_tracker_rift_dll.cpp @@ -35,7 +35,7 @@ void FTNoIR_TrackerDll::getIcon(QIcon *icon) *icon = QIcon(":/images/rift_tiny.png"); } -extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* GetMetadata() { return new FTNoIR_TrackerDll; } diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp index 6253529d..136e075d 100644 --- a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp +++ b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp @@ -36,7 +36,7 @@ void FTNoIR_Tracker::GetHeadPoseData(double *data) data[i] = last_recv_pose[i]; } -extern "C" OPENTRACK_EXPORT ITracker* CALLING_CONVENTION GetConstructor() +extern "C" OPENTRACK_EXPORT ITracker* GetConstructor() { return new FTNoIR_Tracker; } diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp b/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp index 59683ddc..b0f40ee9 100644 --- a/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp +++ b/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp @@ -22,7 +22,7 @@ void TrackerControls::doCancel() { this->close(); } -extern "C" OPENTRACK_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( ) +extern "C" OPENTRACK_EXPORT ITrackerDialog* GetDialog( ) { return new TrackerControls; } diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp_dll.cpp b/ftnoir_tracker_udp/ftnoir_tracker_udp_dll.cpp index 525a618f..7cd23552 100644 --- a/ftnoir_tracker_udp/ftnoir_tracker_udp_dll.cpp +++ b/ftnoir_tracker_udp/ftnoir_tracker_udp_dll.cpp @@ -21,7 +21,7 @@ void FTNoIR_TrackerDll::getIcon(QIcon *icon) *icon = QIcon(":/images/facetracknoir.png"); } -extern "C" OPENTRACK_EXPORT Metadata* CALLING_CONVENTION GetMetadata() +extern "C" OPENTRACK_EXPORT Metadata* GetMetadata() { return new FTNoIR_TrackerDll; } -- cgit v1.2.3 From 12a1067416caaa51e614197d585cc876109259d6 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Mon, 22 Sep 2014 23:11:23 +0200 Subject: nix stderr spam --- ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 3 --- 1 file changed, 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 7e5ccc6c..49cefed2 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -29,13 +29,10 @@ Tracker::Tracker() new_settings(nullptr) { - qDebug()<<"Tracker::Tracker"; } Tracker::~Tracker() { - qDebug()<<"Tracker::~Tracker"; - // terminate tracker thread set_command(ABORT); wait(); s.video_widget = false; -- cgit v1.2.3 From 25d9ab287523961df97355da9728c9d3adf946bc Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Mon, 22 Sep 2014 23:36:52 +0200 Subject: fixup! PT tracker feature removal Some PT features got under the knife: - dynamic pose resolution velocity prediction model - tracker dialog's tracker tab - focal length coefficient --- ftnoir_tracker_pt/camera.h | 3 --- ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 1 - ftnoir_tracker_pt/ftnoir_tracker_pt.h | 2 +- ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h | 2 -- ftnoir_tracker_pt/point_tracker.h | 10 ++++------ 5 files changed, 5 insertions(+), 13 deletions(-) (limited to 'ftnoir_tracker_pt') diff --git a/ftnoir_tracker_pt/camera.h b/ftnoir_tracker_pt/camera.h index 733cc61f..9836435c 100644 --- a/ftnoir_tracker_pt/camera.h +++ b/ftnoir_tracker_pt/camera.h @@ -65,7 +65,6 @@ protected: // 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; @@ -94,7 +93,6 @@ public: protected: virtual bool _get_frame(cv::Mat* frame); virtual void _set_index(); - virtual void _set_f(); virtual void _set_fps(); virtual void _set_res(); virtual void _set_device_index(); @@ -116,7 +114,6 @@ public: 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(); diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index 49cefed2..82408ec6 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -35,7 +35,6 @@ Tracker::~Tracker() { set_command(ABORT); wait(); - s.video_widget = false; delete video_widget; video_widget = NULL; if (video_frame->layout()) delete video_frame->layout(); diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h index 238dcd8f..6ddfbe5d 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h @@ -53,7 +53,7 @@ public: 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: +private: // --- MutexedFrameProvider interface --- virtual bool get_frame_and_points(cv::Mat& frame, std::shared_ptr< std::vector >& points); diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h index 7faad9ed..365776e4 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h @@ -31,7 +31,6 @@ struct settings value m01_x, m01_y, m01_z; value m02_x, m02_y, m02_z; - value video_widget; value t_MH_x, t_MH_y, t_MH_z; @@ -59,7 +58,6 @@ struct settings m02_x(b, "m_02-x", 0), m02_y(b, "m_02-y", 0), m02_z(b, "m_02-z", 0), - 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), diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h index 44bad28e..a1f6f041 100644 --- a/ftnoir_tracker_pt/point_tracker.h +++ b/ftnoir_tracker_pt/point_tracker.h @@ -96,19 +96,17 @@ public: FrameTrafo get_pose() const { return X_CM; } void reset(); -protected: +private: 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]); } - void find_correspondences(const std::vector& points, float f); - + void find_correspondences(const std::vector& points, float f); + int POSIT(float f); // The POSIT algorithm, returns the number of iterations + cv::Vec2f p[PointModel::N_POINTS]; // the points in model order - - int POSIT(float f); // The POSIT algorithm, returns the number of iterations - FrameTrafo X_CM; // trafo from model to camera }; -- cgit v1.2.3 From fbf579e102af6eb178d9b4b07f0e1e3956985e56 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Mon, 22 Sep 2014 23:37:08 +0200 Subject: fixup! fixup! PT tracker feature removal Some PT features got under the knife: - dynamic pose resolution velocity prediction model - tracker dialog's tracker tab - focal length coefficient --- ftnoir_tracker_pt/camera.cpp | 13 ------------- ftnoir_tracker_pt/camera.h | 1 - ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 1 - 3 files changed, 15 deletions(-) (limited to 'ftnoir_tracker_pt') diff --git a/ftnoir_tracker_pt/camera.cpp b/ftnoir_tracker_pt/camera.cpp index 686e1b9b..74b24093 100644 --- a/ftnoir_tracker_pt/camera.cpp +++ b/ftnoir_tracker_pt/camera.cpp @@ -108,14 +108,6 @@ void Camera::set_device_index(int 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) @@ -201,11 +193,6 @@ void CVCamera::_set_index() if (active) restart(); } -void CVCamera::_set_f() -{ - cam_info.f = cam_desired.f; -} - void CVCamera::_set_fps() { if (cap) cap->set(CV_CAP_PROP_FPS, cam_desired.fps); diff --git a/ftnoir_tracker_pt/camera.h b/ftnoir_tracker_pt/camera.h index 9836435c..e2ba56c4 100644 --- a/ftnoir_tracker_pt/camera.h +++ b/ftnoir_tracker_pt/camera.h @@ -48,7 +48,6 @@ public: // 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); diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index 82408ec6..23da97ca 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -122,7 +122,6 @@ void Tracker::apply_inner() 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(1); frame_rotation.rotation = static_cast(static_cast(s.cam_roll)); point_extractor.threshold_val = s.threshold; point_extractor.threshold_secondary_val = s.threshold_secondary; -- cgit v1.2.3 From d74b99391bbdfb25f9559834082ae7ee6d30720d Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Tue, 23 Sep 2014 02:12:20 +0200 Subject: decruft PT more, so it doesn't crash finally --- ftnoir_tracker_pt/camera.cpp | 5 -- ftnoir_tracker_pt/camera.h | 20 +++-- ftnoir_tracker_pt/frame_observer.cpp | 18 ----- ftnoir_tracker_pt/frame_observer.h | 76 ----------------- ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 44 +++------- ftnoir_tracker_pt/ftnoir_tracker_pt.h | 23 +++--- ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp | 108 ++++++++----------------- ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h | 14 +--- ftnoir_tracker_pt/point_extractor.cpp | 36 ++++----- ftnoir_tracker_pt/point_extractor.h | 2 +- ftnoir_tracker_pt/point_tracker.cpp | 75 +++++++++-------- ftnoir_tracker_pt/point_tracker.h | 25 +++--- ftnoir_tracker_pt/pt_video_widget.cpp | 18 ----- ftnoir_tracker_pt/pt_video_widget.h | 25 ++---- 14 files changed, 150 insertions(+), 339 deletions(-) delete mode 100644 ftnoir_tracker_pt/frame_observer.cpp delete mode 100644 ftnoir_tracker_pt/frame_observer.h (limited to 'ftnoir_tracker_pt') diff --git a/ftnoir_tracker_pt/camera.cpp b/ftnoir_tracker_pt/camera.cpp index 74b24093..861c83cc 100644 --- a/ftnoir_tracker_pt/camera.cpp +++ b/ftnoir_tracker_pt/camera.cpp @@ -188,11 +188,6 @@ bool CVCamera::_get_frame(Mat* frame) return false; } -void CVCamera::_set_index() -{ - if (active) restart(); -} - void CVCamera::_set_fps() { if (cap) cap->set(CV_CAP_PROP_FPS, cam_desired.fps); diff --git a/ftnoir_tracker_pt/camera.h b/ftnoir_tracker_pt/camera.h index e2ba56c4..86cafd42 100644 --- a/ftnoir_tracker_pt/camera.h +++ b/ftnoir_tracker_pt/camera.h @@ -25,12 +25,11 @@ 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) {} int res_x; int res_y; int fps; - float f; // (focal length) / (sensor width) }; // ---------------------------------------------------------------------------- @@ -39,7 +38,7 @@ class Camera { public: Camera() : dt_valid(0), dt_mean(0), desired_index(0), active_index(-1), active(false) {} - virtual ~Camera() {} + virtual ~Camera() = 0; // start/stop capturing virtual void start() = 0; @@ -75,7 +74,7 @@ protected: CamInfo cam_info; CamInfo cam_desired; }; - +inline Camera::~Camera() {} // ---------------------------------------------------------------------------- // camera based on OpenCV's videoCapture @@ -86,15 +85,14 @@ public: CVCamera() : cap(NULL) {} ~CVCamera() { stop(); } - virtual void start(); - virtual void stop(); + void start() override; + void stop() override; protected: - virtual bool _get_frame(cv::Mat* frame); - virtual void _set_index(); - virtual void _set_fps(); - virtual void _set_res(); - virtual void _set_device_index(); + bool _get_frame(cv::Mat* frame) override; + void _set_fps() override; + void _set_res() override; + void _set_device_index() override; cv::VideoCapture* cap; }; diff --git a/ftnoir_tracker_pt/frame_observer.cpp b/ftnoir_tracker_pt/frame_observer.cpp deleted file mode 100644 index 76dee351..00000000 --- a/ftnoir_tracker_pt/frame_observer.cpp +++ /dev/null @@ -1,18 +0,0 @@ -/* 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 (std::set::iterator iter=frame_observers.begin(); iter!=frame_observers.end(); ++iter) - { - (*iter)->on_frame_provider_destroy(); - } -} diff --git a/ftnoir_tracker_pt/frame_observer.h b/ftnoir_tracker_pt/frame_observer.h deleted file mode 100644 index ca8ffb46..00000000 --- a/ftnoir_tracker_pt/frame_observer.h +++ /dev/null @@ -1,76 +0,0 @@ -/* 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 -#ifndef OPENTRACK_API -# include -#else -# include -#endif -#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, std::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, std::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 diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index 23da97ca..1136ad4a 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -17,9 +17,6 @@ using namespace cv; //#define PT_PERF_LOG //log performance -const float rad2deg = 180.0/3.14159265; -const float deg2rad = 1.0/rad2deg; - //----------------------------------------------------------------------------- Tracker::Tracker() : mutex(QMutex::Recursive), @@ -27,7 +24,6 @@ Tracker::Tracker() video_widget(NULL), video_frame(NULL), new_settings(nullptr) - { } @@ -54,30 +50,28 @@ void Tracker::reset_command(Command command) void Tracker::run() { - qDebug()<<"Tracker:: Thread started"; + qDebug()<< "pt: 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(); - bool new_frame; forever { if (commands & ABORT) break; commands = 0; apply_inner(); const double dt = time.start() * 1e-9; - new_frame = camera.get_frame(dt, &frame); + const bool 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); + const std::vector& points = point_extractor.extract_points(frame); for (auto p : points) { auto p2 = cv::Point(p[0] * frame.cols + frame.cols/2, -p[1] * frame.cols + frame.rows/2); @@ -93,7 +87,8 @@ void Tracker::run() color, 4); } - point_tracker.track(points, camera.get_info().f); + if (points.size() == PointModel::N_POINTS) + point_tracker.track(points, model); video_widget->update_image(frame); } #ifdef PT_PERF_LOG @@ -119,6 +114,12 @@ void Tracker::apply_inner() reset(); auto& s = *tmp; qDebug()<<"Tracker:: Applying settings"; + + { + cv::Vec3f M01(s.m01_x, s.m01_y, s.m01_z); + cv::Vec3f M02(s.m02_x, s.m02_y, s.m02_z); + model = PointModel(M01, M02); + } camera.set_device_index(s.cam_index); camera.set_res(s.cam_res_x, s.cam_res_y); camera.set_fps(s.cam_fps); @@ -127,11 +128,6 @@ void Tracker::apply_inner() 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 = std::shared_ptr(new PointModel(M01, M02)); - } 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, @@ -160,28 +156,12 @@ void Tracker::center() X_GH_0 = R_GC * X_CM_0 * X_MH; } -bool Tracker::get_frame_and_points(cv::Mat& frame_copy, std::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 = std::shared_ptr< vector >(new vector(point_extractor.get_points())); - return true; -} - -void Tracker::refreshVideo() -{ - if (video_widget) video_widget->update_frame_and_points(); -} - void Tracker::StartTracker(QFrame *parent_window) { this->video_frame = parent_window; video_frame->setAttribute(Qt::WA_NativeWindow); video_frame->show(); - video_widget = new PTVideoWidget(video_frame, this); + video_widget = new PTVideoWidget(video_frame); QHBoxLayout* video_layout = new QHBoxLayout(parent_window); 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 6ddfbe5d..5bcfd37d 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h @@ -12,7 +12,6 @@ # include "facetracknoir/plugin-api.hpp" #endif #include "ftnoir_tracker_pt_settings.h" -#include "frame_observer.h" #include "camera.h" #include "point_extractor.h" #include "point_tracker.h" @@ -34,30 +33,25 @@ //----------------------------------------------------------------------------- // Constantly processes the tracking chain in a separate thread -class Tracker : public ITracker, QThread, public FrameProvider +class Tracker : public ITracker, protected QThread { public: Tracker(); - virtual ~Tracker(); - virtual void StartTracker(QFrame* parent_window); - virtual void GetHeadPoseData(double* data); - virtual void refreshVideo(); + ~Tracker() override; + void StartTracker(QFrame* parent_window) override; + void GetHeadPoseData(double* data) override; void apply(settings& s); void apply_inner(); 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: + void run() override; private: - // --- MutexedFrameProvider interface --- - virtual bool get_frame_and_points(cv::Mat& frame, std::shared_ptr< std::vector >& points); - - // --- thread --- QMutex mutex; // thread commands enum Command { @@ -85,6 +79,11 @@ private: settings s; std::atomic new_settings; Timer time; + + static constexpr double rad2deg = 180.0/3.14159265; + static constexpr double deg2rad = 3.14159265/180.0; + + PointModel model; }; #undef VideoWidget diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp index 9529e268..6cd6135c 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp @@ -22,13 +22,9 @@ using namespace std; //----------------------------------------------------------------------------- TrackerDialog::TrackerDialog() : tracker(NULL), - video_widget_dialog(NULL), - timer(this), - trans_calib_running(false) + timer(this), + trans_calib_running(false) { - qDebug()<<"TrackerDialog::TrackerDialog"; - setAttribute(Qt::WA_DeleteOnClose, false); - ui.setupUi( this ); vector device_names; @@ -147,6 +143,38 @@ void TrackerDialog::startstop_trans_calib(bool start) } } +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(); + } + else + { + QString to_print = "Tracker offline"; + ui.caminfo_label->setText(to_print); + ui.pointinfo_label->setText(to_print); + } +} + void TrackerDialog::trans_calib_step() { if (tracker) @@ -197,7 +225,7 @@ void TrackerDialog::do_apply_without_saving(QAbstractButton*) void TrackerDialog::doApply() { - save(); + save(); } void TrackerDialog::doCancel() @@ -206,71 +234,6 @@ void TrackerDialog::doCancel() 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(); -} - -void TrackerDialog::destroy_video_widget(bool do_delete /*= true*/) -{ - if (video_widget_dialog) { - if (do_delete) delete video_widget_dialog; - video_widget_dialog = NULL; - } -} - -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); - } -} - void TrackerDialog::registerTracker(ITracker *t) { qDebug()<<"TrackerDialog:: Tracker registered"; @@ -285,7 +248,6 @@ void TrackerDialog::unRegisterTracker() { qDebug()<<"TrackerDialog:: Tracker un-registered"; tracker = NULL; - destroy_video_widget(); ui.tcalib_button->setEnabled(false); //ui.center_button->setEnabled(false); } diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h index dbb93f30..bff12dd0 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h @@ -23,13 +23,13 @@ //----------------------------------------------------------------------------- // The dialog that shows up when the user presses "Settings" -class TrackerDialog : public QWidget, Ui::UICPTClientControls, public ITrackerDialog +class TrackerDialog : public QWidget, public ITrackerDialog { Q_OBJECT public: TrackerDialog(); - void registerTracker(ITracker *tracker); - void unRegisterTracker(); + void registerTracker(ITracker *tracker) override; + void unRegisterTracker() override; void save(); void trans_calib_step(); @@ -40,14 +40,9 @@ public slots: void do_apply_without_saving(QAbstractButton *); 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); - +private: void set_model_clip(); void set_model_cap(); void set_model_custom(); @@ -56,7 +51,6 @@ protected: settings s; Tracker* tracker; - VideoWidgetDialog* video_widget_dialog; QTimer timer; TranslationCalibrator trans_calib; diff --git a/ftnoir_tracker_pt/point_extractor.cpp b/ftnoir_tracker_pt/point_extractor.cpp index b0e29270..819bf5e8 100644 --- a/ftnoir_tracker_pt/point_extractor.cpp +++ b/ftnoir_tracker_pt/point_extractor.cpp @@ -20,7 +20,7 @@ PointExtractor::PointExtractor(){ //freopen("CON", "w", stderr); } // ---------------------------------------------------------------------------- -const vector& PointExtractor::extract_points(Mat frame, float /*dt*/, bool draw_output) +const vector& PointExtractor::extract_points(Mat& frame) { const int W = frame.cols; const int H = frame.rows; @@ -60,7 +60,7 @@ const vector& PointExtractor::extract_points(Mat frame, float /*dt*/, boo 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); + frame_bin.copyTo(frame_bin_copy); if(frame_last.empty()){ frame_bin.copyTo(frame_last); }else{ @@ -141,23 +141,21 @@ const vector& PointExtractor::extract_points(Mat frame, float /*dt*/, boo } // draw output image - if (draw_output) { - vector channels; - 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); - } + vector channels; + 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); return points; } diff --git a/ftnoir_tracker_pt/point_extractor.h b/ftnoir_tracker_pt/point_extractor.h index 8a76747b..21d548af 100644 --- a/ftnoir_tracker_pt/point_extractor.h +++ b/ftnoir_tracker_pt/point_extractor.h @@ -19,7 +19,7 @@ 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& extract_points(cv::Mat &frame); const std::vector& get_points() { return points; } PointExtractor(); diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp index 5f57baf5..8a633c5d 100644 --- a/ftnoir_tracker_pt/point_tracker.cpp +++ b/ftnoir_tracker_pt/point_tracker.cpp @@ -33,10 +33,14 @@ static void set_row(Matx33f& m, int i, const Vec3f& v) m(i,2) = v[2]; } -// ---------------------------------------------------------------------------- +PointModel::PointModel() : + M01 { 0, 0, 0 }, + M02 { 0, 0, 0 } +{ +} + PointModel::PointModel(Vec3f M01, Vec3f M02) - : M01(M01), - M02(M02) + : M01(M01), M02(M02) { // calculate u u = M01.cross(M02); @@ -107,27 +111,31 @@ void PointTracker::reset() X_CM = FrameTrafo(); } -void PointTracker::track(const vector& points, float f) +void PointTracker::track(const vector& projected_points, const PointModel& model) { - find_correspondences(points, f); - (void) POSIT(f); - //qDebug()<<"Number of POSIT iterations: "<& points, float f) +PointTracker::PointOrder PointTracker::find_correspondences(const std::vector& projected_points, const PointModel& model) { // ... otherwise we look at the distance to the projection of the expected model points // project model points under current pose Vec2f p_exp[3]; - 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(model.get_M01()); + p_exp[2] = project(model.get_M02()); // set correspondences by minimum distance to projected model point bool point_taken[PointModel::N_POINTS]; for (int i=0; i& points, fl // find closest point to projected model point i for (int j=0; j& points, fl } } // if one point is closest to more than one model point, abort - if (point_taken[min_idx]) return; + if (point_taken[min_idx]) return p; point_taken[min_idx] = true; - p[i] = points[min_idx]; + p.points[i] = projected_points[min_idx]; } + return p; } -int PointTracker::POSIT(float f) +int PointTracker::POSIT(const PointModel& model, const PointOrder& order_) { // POSIT algorithm for coplanar points as presented in // [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"] @@ -182,24 +191,26 @@ int PointTracker::POSIT(float f) const int MAX_ITER = 100; const float EPS_THRESHOLD = 1e-4; + + const cv::Vec2f* order = order_.points; int i=1; for (; iM01)/Z0; - epsilon_2 = k.dot(point_model->M02)/Z0; + epsilon_1 = k.dot(model.M01)/Z0; + epsilon_2 = k.dot(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]); + Vec2f I0_M0i(order[1][0]*(1.0 + epsilon_1) - order[0][0], + order[2][0]*(1.0 + epsilon_2) - order[0][0]); + Vec2f J0_M0i(order[1][1]*(1.0 + epsilon_1) - order[0][1], + order[2][1]*(1.0 + epsilon_2) - order[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; + I0_coeff = model.P * I0_M0i; + J0_coeff = model.P * J0_M0i; + I0 = I0_coeff[0]*model.M01 + I0_coeff[1]*model.M02; + J0 = J0_coeff[0]*model.M01 + J0_coeff[1]*model.M02; // calculate u component of I, J float II0 = I0.dot(I0); @@ -219,11 +230,11 @@ int PointTracker::POSIT(float f) } // construct the two solutions - I_1 = I0 + rho*cos(theta)*point_model->u; - I_2 = I0 - rho*cos(theta)*point_model->u; + I_1 = I0 + rho*cos(theta)*model.u; + I_2 = I0 - rho*cos(theta)*model.u; - J_1 = J0 + rho*sin(theta)*point_model->u; - J_2 = J0 - rho*sin(theta)*point_model->u; + J_1 = J0 + rho*sin(theta)*model.u; + J_2 = J0 - rho*sin(theta)*model.u; float norm_const = 1.0/norm(I_1); // all have the same norm @@ -240,7 +251,7 @@ int PointTracker::POSIT(float f) set_row(R_2, 2, I_2.cross(J_2)); // the single translation solution - Z0 = norm_const * f; + Z0 = norm_const * focal_length; // pick the rotation solution closer to the expected one // in simple metric d(A,B) = || I - A * B^T || @@ -263,8 +274,8 @@ int PointTracker::POSIT(float f) // 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[0] = order[0][0] * Z0/focal_length; + X_CM.t[1] = order[0][1] * Z0/focal_length; X_CM.t[2] = Z0; return i; diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h index a1f6f041..0339f392 100644 --- a/ftnoir_tracker_pt/point_tracker.h +++ b/ftnoir_tracker_pt/point_tracker.h @@ -14,7 +14,7 @@ #else # include #endif -#include +#include // ---------------------------------------------------------------------------- // Affine frame trafo @@ -60,9 +60,10 @@ public: static constexpr int N_POINTS = 3; PointModel(cv::Vec3f M01, cv::Vec3f M02); + PointModel(); - const cv::Vec3f& get_M01() const { return M01; } - const cv::Vec3f& get_M02() const { return M02; } + inline const cv::Vec3f& get_M01() const { return M01; } + inline const cv::Vec3f& get_M02() const { return M02; } private: cv::Vec3f M01; // M01 in model frame @@ -86,27 +87,27 @@ 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 - void track(const std::vector& points, float f); - std::shared_ptr point_model; - + void track(const std::vector& projected_points, const PointModel& model); FrameTrafo get_pose() const { return X_CM; } void reset(); private: - inline cv::Vec2f project(const cv::Vec3f& v_M, float f) + // the points in model order + typedef struct { cv::Vec2f points[PointModel::N_POINTS]; } PointOrder; + static constexpr float focal_length = 1.0f; + + inline 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]); + return cv::Vec2f(focal_length*v_C[0]/v_C[2], focal_length*v_C[1]/v_C[2]); } - void find_correspondences(const std::vector& points, float f); - int POSIT(float f); // The POSIT algorithm, returns the number of iterations + PointOrder find_correspondences(const std::vector& projected_points, const PointModel &model); + int POSIT(const PointModel& point_model, const PointOrder& order); // The POSIT algorithm, returns the number of iterations - cv::Vec2f p[PointModel::N_POINTS]; // the points in model order FrameTrafo X_CM; // trafo from model to camera }; diff --git a/ftnoir_tracker_pt/pt_video_widget.cpp b/ftnoir_tracker_pt/pt_video_widget.cpp index cb3dc48e..aefb8199 100644 --- a/ftnoir_tracker_pt/pt_video_widget.cpp +++ b/ftnoir_tracker_pt/pt_video_widget.cpp @@ -22,24 +22,6 @@ void PTVideoWidget::update_image(const cv::Mat& frame) freshp = true; } -// ---------------------------------------------------------------------------- -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); -} - void PTVideoWidget::update_and_repaint() { QMutexLocker foo(&mtx); diff --git a/ftnoir_tracker_pt/pt_video_widget.h b/ftnoir_tracker_pt/pt_video_widget.h index 1be5f5f2..de2c7efb 100644 --- a/ftnoir_tracker_pt/pt_video_widget.h +++ b/ftnoir_tracker_pt/pt_video_widget.h @@ -7,7 +7,6 @@ #pragma once -#include "frame_observer.h" #include #include #include @@ -24,15 +23,16 @@ #include #include #include +#include +#include -class PTVideoWidget : public QWidget, public FrameObserver +class PTVideoWidget : public QWidget { Q_OBJECT public: - PTVideoWidget(QWidget *parent, FrameProvider* provider) : + PTVideoWidget(QWidget *parent) : QWidget(parent), - /* to avoid linker errors */ FrameObserver(provider), freshp(false) { connect(&timer, SIGNAL(timeout()), this, SLOT(update_and_repaint())); @@ -52,20 +52,5 @@ private: QImage texture; QTimer timer; cv::Mat _frame; - bool freshp; -}; - -// ---------------------------------------------------------------------------- -// 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; + volatile bool freshp; }; -- cgit v1.2.3 From 1f2e498d8e7ceeb5594696819ccebb4383845022 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Tue, 23 Sep 2014 19:42:19 +0200 Subject: fix comment Likely as per meant det --- ftnoir_tracker_pt/point_tracker.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'ftnoir_tracker_pt') diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h index 0339f392..c8212538 100644 --- a/ftnoir_tracker_pt/point_tracker.h +++ b/ftnoir_tracker_pt/point_tracker.h @@ -73,7 +73,7 @@ private: cv::Matx22f P; - cv::Vec2f d; // discriminant vector for point correspondence + cv::Vec2f d; // determinant 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; -- cgit v1.2.3 From 25c431af2607923eebaa8f6b6c8f4754594f1254 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Tue, 23 Sep 2014 19:44:26 +0200 Subject: qt macro nonsense --- ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 2 +- 1 file changed, 1 insertion(+), 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 1136ad4a..e64c4ca7 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -58,7 +58,7 @@ void Tracker::run() QTextStream log_stream(&log_file); #endif time.start(); - forever + while(1) { if (commands & ABORT) break; commands = 0; -- cgit v1.2.3 From a12fe2ca53136a6c9f978ae82fc203f8557f2a59 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Tue, 23 Sep 2014 23:30:36 +0200 Subject: fix dos2unix fiasco --- ftnoir_tracker_pt/Resources/Logo_IR.png | Bin 10385 -> 10386 bytes ftnoir_tracker_pt/Resources/cap_front.png | Bin 1163 -> 1164 bytes ftnoir_tracker_pt/Resources/cap_side.png | Bin 1732 -> 1733 bytes ftnoir_tracker_pt/Resources/clip_front.png | Bin 570 -> 571 bytes ftnoir_tracker_pt/Resources/clip_side.png | Bin 2676 -> 2677 bytes ftnoir_tracker_pt/doc/logo.png | Bin 10385 -> 10386 bytes ftnoir_tracker_pt/doc/settings1.png | Bin 25012 -> 25013 bytes ftnoir_tracker_pt/doc/settings2.png | Bin 26840 -> 26841 bytes ftnoir_tracker_pt/doc/settings3.png | Bin 29546 -> 29547 bytes 9 files changed, 0 insertions(+), 0 deletions(-) (limited to 'ftnoir_tracker_pt') diff --git a/ftnoir_tracker_pt/Resources/Logo_IR.png b/ftnoir_tracker_pt/Resources/Logo_IR.png index 85590691..95032a25 100644 Binary files a/ftnoir_tracker_pt/Resources/Logo_IR.png 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 index cbee28c9..14207a67 100644 Binary files a/ftnoir_tracker_pt/Resources/cap_front.png 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 index 27c28341..5ad4ee65 100644 Binary files a/ftnoir_tracker_pt/Resources/cap_side.png 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 index 63fd70eb..04880138 100644 Binary files a/ftnoir_tracker_pt/Resources/clip_front.png 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 index 1c295506..72667ac7 100644 Binary files a/ftnoir_tracker_pt/Resources/clip_side.png and b/ftnoir_tracker_pt/Resources/clip_side.png differ diff --git a/ftnoir_tracker_pt/doc/logo.png b/ftnoir_tracker_pt/doc/logo.png index 85590691..95032a25 100644 Binary files a/ftnoir_tracker_pt/doc/logo.png and b/ftnoir_tracker_pt/doc/logo.png differ diff --git a/ftnoir_tracker_pt/doc/settings1.png b/ftnoir_tracker_pt/doc/settings1.png index 0725f5f4..35b84c5c 100644 Binary files a/ftnoir_tracker_pt/doc/settings1.png 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 index 382ed13a..c6cfd1f3 100644 Binary files a/ftnoir_tracker_pt/doc/settings2.png 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 index 821453d1..5922403d 100644 Binary files a/ftnoir_tracker_pt/doc/settings3.png and b/ftnoir_tracker_pt/doc/settings3.png differ -- cgit v1.2.3 From 01f1a5f2b9ed1846423eee0336450f32b836536b Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 27 Sep 2014 20:04:47 +0200 Subject: make stuff private, not protected clang generates warnings for unused private stuff, so use that. --- facetracknoir/rotation.h | 60 ++++++++++++++++++------------------- ftnoir_tracker_aruco/trans_calib.h | 22 +++++++------- ftnoir_tracker_pt/camera.h | 53 ++++++++++++++++---------------- ftnoir_tracker_pt/point_extractor.h | 26 ++++++++-------- ftnoir_tracker_pt/trans_calib.h | 22 +++++++------- 5 files changed, 92 insertions(+), 91 deletions(-) (limited to 'ftnoir_tracker_pt') diff --git a/facetracknoir/rotation.h b/facetracknoir/rotation.h index d40fb6cf..5ff5ce61 100644 --- a/facetracknoir/rotation.h +++ b/facetracknoir/rotation.h @@ -11,40 +11,40 @@ class RotationType { public: - 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) {} - - RotationType inv(){ - return RotationType(a,-b,-c, -d); - } - - - // conversions - // see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles - void fromEuler(double yaw, double pitch, double roll) - { - - double sin_phi = sin(roll/2.0); - double cos_phi = cos(roll/2.0); - double sin_the = sin(pitch/2.0); - double cos_the = cos(pitch/2.0); - double sin_psi = sin(yaw/2.0); - double cos_psi = cos(yaw/2.0); - - a = cos_phi*cos_the*cos_psi + sin_phi*sin_the*sin_psi; - b = sin_phi*cos_the*cos_psi - cos_phi*sin_the*sin_psi; - c = cos_phi*sin_the*cos_psi + sin_phi*cos_the*sin_psi; - d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi; - } - + 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) {} + + RotationType inv(){ + return RotationType(a,-b,-c, -d); + } + + + // conversions + // see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles + void fromEuler(double yaw, double pitch, double roll) + { + + double sin_phi = sin(roll/2.0); + double cos_phi = cos(roll/2.0); + double sin_the = sin(pitch/2.0); + double cos_the = cos(pitch/2.0); + double sin_psi = sin(yaw/2.0); + double cos_psi = cos(yaw/2.0); + + a = cos_phi*cos_the*cos_psi + sin_phi*sin_the*sin_psi; + b = sin_phi*cos_the*cos_psi - cos_phi*sin_the*sin_psi; + c = cos_phi*sin_the*cos_psi + sin_phi*cos_the*sin_psi; + d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi; + } + void toEuler(double& yaw, double& pitch, double& roll) const { roll = atan2(2.0*(a*b + c*d), 1.0 - 2.0*(b*b + c*c)); pitch = asin(2.0*(a*c - b*d)); yaw = atan2(2.0*(a*d + b*c), 1.0 - 2.0*(c*c + d*d)); } - + const RotationType operator*(const RotationType& B) const { const RotationType& A = *this; @@ -54,6 +54,6 @@ public: A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a); } -protected: - double a,b,c,d; // quaternion coefficients +private: + double a,b,c,d; // quaternion coefficients }; diff --git a/ftnoir_tracker_aruco/trans_calib.h b/ftnoir_tracker_aruco/trans_calib.h index 609c9af1..5c321b2c 100644 --- a/ftnoir_tracker_aruco/trans_calib.h +++ b/ftnoir_tracker_aruco/trans_calib.h @@ -20,20 +20,20 @@ class TranslationCalibrator { public: - TranslationCalibrator(); + TranslationCalibrator(); - // reset the calibration process - void reset(); + // reset the calibration process + void reset(); - // update the current estimate - void update(const cv::Matx33f& R_CM_k, const cv::Vec3f& t_CM_k); + // 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(); + // 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) +private: + 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 +#endif //TRANSCALIB_H diff --git a/ftnoir_tracker_pt/camera.h b/ftnoir_tracker_pt/camera.h index 86cafd42..2bca88a1 100644 --- a/ftnoir_tracker_pt/camera.h +++ b/ftnoir_tracker_pt/camera.h @@ -25,11 +25,11 @@ void get_camera_device_names(std::vector& device_names); // ---------------------------------------------------------------------------- struct CamInfo { - CamInfo() : res_x(0), res_y(0), fps(0) {} + CamInfo() : res_x(0), res_y(0), fps(0) {} - int res_x; - int res_y; - int fps; + int res_x; + int res_y; + int fps; }; // ---------------------------------------------------------------------------- @@ -65,7 +65,7 @@ protected: virtual void _set_device_index() = 0; virtual void _set_fps() = 0; virtual void _set_res() = 0; - +private: float dt_valid; float dt_mean; int desired_index; @@ -82,18 +82,19 @@ inline Camera::~Camera() {} class CVCamera : public Camera { public: - CVCamera() : cap(NULL) {} - ~CVCamera() { stop(); } + CVCamera() : cap(NULL) {} + ~CVCamera() { stop(); } - void start() override; - void stop() override; + void start() override; + void stop() override; protected: - bool _get_frame(cv::Mat* frame) override; - void _set_fps() override; - void _set_res() override; + bool _get_frame(cv::Mat* frame) override; + void _set_fps() override; + void _set_res() override; void _set_device_index() override; +private: cv::VideoCapture* cap; }; #else @@ -102,21 +103,21 @@ protected: class VICamera : public Camera { public: - VICamera(); - ~VICamera() { stop(); } + VICamera(); + ~VICamera() { stop(); } - virtual void start(); - virtual void stop(); + virtual void start(); + virtual void stop(); protected: - virtual bool _get_frame(cv::Mat* frame); - virtual void _set_device_index(); - virtual void _set_fps(); - virtual void _set_res(); - - videoInput VI; - cv::Mat new_frame; - unsigned char* frame_buffer; + virtual bool _get_frame(cv::Mat* frame); + virtual void _set_device_index(); + virtual void _set_fps(); + virtual void _set_res(); + + videoInput VI; + cv::Mat new_frame; + unsigned char* frame_buffer; }; #endif @@ -128,12 +129,12 @@ enum RotationType }; // ---------------------------------------------------------------------------- -class FrameRotation +class FrameRotation { public: RotationType rotation; - cv::Mat rotate_frame(cv::Mat frame); + cv::Mat rotate_frame(cv::Mat frame); }; #endif //CAMERA_H diff --git a/ftnoir_tracker_pt/point_extractor.h b/ftnoir_tracker_pt/point_extractor.h index 21d548af..3ef82900 100644 --- a/ftnoir_tracker_pt/point_extractor.h +++ b/ftnoir_tracker_pt/point_extractor.h @@ -15,21 +15,21 @@ // 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); - const std::vector& get_points() { return points; } - 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); + const std::vector& get_points() { return points; } + PointExtractor(); - int threshold_val; - int threshold_secondary_val; - int min_size, max_size; + int threshold_val; + int threshold_secondary_val; + int min_size, max_size; -protected: - std::vector points; - cv::Mat frame_last; +private: + std::vector points; + cv::Mat frame_last; }; #endif //POINTEXTRACTOR_H diff --git a/ftnoir_tracker_pt/trans_calib.h b/ftnoir_tracker_pt/trans_calib.h index 609c9af1..5c321b2c 100644 --- a/ftnoir_tracker_pt/trans_calib.h +++ b/ftnoir_tracker_pt/trans_calib.h @@ -20,20 +20,20 @@ class TranslationCalibrator { public: - TranslationCalibrator(); + TranslationCalibrator(); - // reset the calibration process - void reset(); + // reset the calibration process + void reset(); - // update the current estimate - void update(const cv::Matx33f& R_CM_k, const cv::Vec3f& t_CM_k); + // 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(); + // 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) +private: + 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 +#endif //TRANSCALIB_H -- cgit v1.2.3 From 70ee3ec9e12f70c581911882b14aa1e31c8a4033 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 27 Sep 2014 20:58:59 +0200 Subject: unbreak build, needs access from subclass --- ftnoir_tracker_pt/camera.h | 1 + 1 file changed, 1 insertion(+) (limited to 'ftnoir_tracker_pt') diff --git a/ftnoir_tracker_pt/camera.h b/ftnoir_tracker_pt/camera.h index 2bca88a1..7ebbcb67 100644 --- a/ftnoir_tracker_pt/camera.h +++ b/ftnoir_tracker_pt/camera.h @@ -68,6 +68,7 @@ protected: private: float dt_valid; float dt_mean; +protected: int desired_index; int active_index; bool active; -- cgit v1.2.3 From cfffa29e29db6b2234c7f534b1ebcd612b7f4914 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 5 Oct 2014 01:22:11 +0200 Subject: flush --- CMakeLists.txt | 3 +- facetracknoir/quat.hpp | 66 ++++++++++ facetracknoir/rotation.h | 58 -------- facetracknoir/tracker.h | 2 - facetracknoir/tracker_types.h | 14 +- ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 148 ++++++++++----------- ftnoir_tracker_aruco/ftnoir_tracker_aruco.h | 13 +- ftnoir_tracker_aruco/include/aruco.h | 29 ++-- ftnoir_tracker_aruco/include/arucofidmarkers.h | 15 +-- ftnoir_tracker_aruco/include/board.h | 168 ------------------------ ftnoir_tracker_aruco/include/boarddetector.h | 139 -------------------- ftnoir_tracker_aruco/include/cameraparameters.h | 6 +- ftnoir_tracker_aruco/include/cvdrawingutils.h | 19 +-- ftnoir_tracker_aruco/include/exports.h | 6 +- ftnoir_tracker_aruco/include/marker.h | 16 +-- ftnoir_tracker_aruco/include/markerdetector.h | 56 ++++---- ftnoir_tracker_aruco/trans_calib.h | 2 +- ftnoir_tracker_pt/camera.h | 2 +- ftnoir_tracker_pt/ftnoir_tracker_pt.h | 54 ++++---- ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp | 88 ++++++------- ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h | 4 +- ftnoir_tracker_pt/point_extractor.h | 4 +- ftnoir_tracker_pt/point_tracker.h | 74 +++++------ ftnoir_tracker_pt/pt_video_widget.h | 2 +- ftnoir_tracker_pt/trans_calib.h | 2 +- 25 files changed, 338 insertions(+), 652 deletions(-) create mode 100644 facetracknoir/quat.hpp delete mode 100644 facetracknoir/rotation.h delete mode 100644 ftnoir_tracker_aruco/include/board.h delete mode 100644 ftnoir_tracker_aruco/include/boarddetector.h (limited to 'ftnoir_tracker_pt') diff --git a/CMakeLists.txt b/CMakeLists.txt index 655d70c3..2de8856d 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -344,7 +344,6 @@ opentrack_library(opentrack-tracker-ht) target_link_libraries(opentrack-tracker-ht opentrack-compat) if(SDK_ARUCO_LIBPATH) - include_directories(${CMAKE_SOURCE_DIR}/ftnoir_tracker_aruco/include) opentrack_library(opentrack-tracker-aruco) target_link_libraries(opentrack-tracker-aruco ${SDK_ARUCO_LIBPATH} ${OpenCV_LIBS}) endif() @@ -477,7 +476,7 @@ install(DIRECTORY "${CMAKE_SOURCE_DIR}/3rdparty-notices" DESTINATION .) install(FILES "${CMAKE_SOURCE_DIR}/bin/NPClient.dll" "${CMAKE_SOURCE_DIR}/bin/NPClient64.dll" "${CMAKE_SOURCE_DIR}/bin/TrackIR.exe" DESTINATION .) install(DIRECTORY "${CMAKE_SOURCE_DIR}/bin/settings" "${CMAKE_SOURCE_DIR}/facetracknoir/clientfiles" DESTINATION .) -if(NOT WIN32 AND SDK_WINE_PREFIX) +if(NOT WIN32 AND SDK_WINE_PREFIX AND NOT SDK_WINE_NO_WRAPPER) install(FILES "${CMAKE_BINARY_DIR}/opentrack-wrapper-wine.exe.so" DESTINATION .) endif() diff --git a/facetracknoir/quat.hpp b/facetracknoir/quat.hpp new file mode 100644 index 00000000..1e268963 --- /dev/null +++ b/facetracknoir/quat.hpp @@ -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. + */ + +#pragma once +#include + +class Quat { +private: + static constexpr double pi = 3.141592653; + static constexpr double r2d = 180./pi; + double a,b,c,d; // quaternion coefficients +public: + Quat() : a(1.0),b(0.0),c(0.0),d(0.0) {} + Quat(double yaw, double pitch, double roll) { from_euler_rads(yaw, pitch, roll); } + Quat(double a, double b, double c, double d) : a(a),b(b),c(c),d(d) {} + + Quat inv(){ + return Quat(a,-b,-c, -d); + } + + // conversions + // see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles + void from_euler_rads(double yaw, double pitch, double roll) + { + + double sin_phi = sin(roll/2.0); + double cos_phi = cos(roll/2.0); + double sin_the = sin(pitch/2.0); + double cos_the = cos(pitch/2.0); + double sin_psi = sin(yaw/2.0); + double cos_psi = cos(yaw/2.0); + + a = cos_phi*cos_the*cos_psi + sin_phi*sin_the*sin_psi; + b = sin_phi*cos_the*cos_psi - cos_phi*sin_the*sin_psi; + c = cos_phi*sin_the*cos_psi + sin_phi*cos_the*sin_psi; + d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi; + } + + void to_euler_rads(double& yaw, double& pitch, double& roll) const + { + roll = atan2(2.0*(a*b + c*d), 1.0 - 2.0*(b*b + c*c)); + pitch = asin(2.0*(a*c - b*d)); + yaw = atan2(2.0*(a*d + b*c), 1.0 - 2.0*(c*c + d*d)); + } + + void to_euler_degrees(double& yaw, double& pitch, double& roll) const + { + to_euler_rads(yaw, pitch, roll); + yaw *= r2d; + pitch *= r2d; + roll *= r2d; + } + + const Quat operator*(const Quat& B) const + { + const Quat& A = *this; + return Quat(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/rotation.h b/facetracknoir/rotation.h deleted file mode 100644 index b3bb891e..00000000 --- a/facetracknoir/rotation.h +++ /dev/null @@ -1,58 +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. - */ - -#pragma once -#include - -class Quat { - -public: - Quat() : a(1.0),b(0.0),c(0.0),d(0.0) {} - Quat(double yaw, double pitch, double roll) { fromEuler(yaw, pitch, roll); } - Quat(double a, double b, double c, double d) : a(a),b(b),c(c),d(d) {} - - Quat inv(){ - return Quat(a,-b,-c, -d); - } - - // conversions - // see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles - void fromEuler(double yaw, double pitch, double roll) - { - - double sin_phi = sin(roll/2.0); - double cos_phi = cos(roll/2.0); - double sin_the = sin(pitch/2.0); - double cos_the = cos(pitch/2.0); - double sin_psi = sin(yaw/2.0); - double cos_psi = cos(yaw/2.0); - - a = cos_phi*cos_the*cos_psi + sin_phi*sin_the*sin_psi; - b = sin_phi*cos_the*cos_psi - cos_phi*sin_the*sin_psi; - c = cos_phi*sin_the*cos_psi + sin_phi*cos_the*sin_psi; - d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi; - } - - void toEuler(double& yaw, double& pitch, double& roll) const - { - roll = atan2(2.0*(a*b + c*d), 1.0 - 2.0*(b*b + c*c)); - pitch = asin(2.0*(a*c - b*d)); - yaw = atan2(2.0*(a*d + b*c), 1.0 - 2.0*(c*c + d*d)); - } - - const Quat operator*(const Quat& B) const - { - const Quat& A = *this; - return Quat(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); - } - -private: - double a,b,c,d; // quaternion coefficients -}; diff --git a/facetracknoir/tracker.h b/facetracknoir/tracker.h index 05ae4180..3d9a3858 100644 --- a/facetracknoir/tracker.h +++ b/facetracknoir/tracker.h @@ -22,8 +22,6 @@ #include "facetracknoir/options.h" #include "facetracknoir/timer.hpp" - - class Tracker : protected QThread { Q_OBJECT private: diff --git a/facetracknoir/tracker_types.h b/facetracknoir/tracker_types.h index c667498e..02aacdcf 100644 --- a/facetracknoir/tracker_types.h +++ b/facetracknoir/tracker_types.h @@ -2,14 +2,14 @@ #include #include -#include "rotation.h" -#include "plugin-api.hpp" +#include "./quat.hpp" +#include "./plugin-api.hpp" struct T6DOF { private: - static constexpr double PI = 3.14159265358979323846264; - static constexpr double D2R = PI/180.0; - static constexpr double R2D = 180.0/PI; + static constexpr double pi = 3.141592653; + static constexpr double d2r = pi/180.0; + static constexpr double r2d = 180./pi; double axes[6]; public: @@ -23,13 +23,13 @@ public: Quat quat() const { - return Quat(axes[Yaw]*D2R, axes[Pitch]*D2R, axes[Roll]*D2R); + return Quat(axes[Yaw]*d2r, axes[Pitch]*d2r, axes[Roll]*d2r); } static T6DOF fromQuat(const Quat& q) { T6DOF ret; - q.toEuler(ret(Yaw), ret(Pitch), ret(Roll)); + q.to_euler_rads(ret(Yaw), ret(Pitch), ret(Roll)); return ret; } diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index e216d319..a1e15721 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -8,13 +8,13 @@ #include "ftnoir_tracker_aruco.h" #include "ui_aruco-trackercontrols.h" #include "facetracknoir/plugin-api.hpp" -#include #include -#include -#include -#include +#include "include/markerdetector.h" +#include +#include #include #include +#include #if defined(_WIN32) # undef NOMINMAX @@ -29,51 +29,51 @@ static QList get_camera_names(void) { QList ret; #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)) - { - // Display the name in your UI somehow. - QString str((QChar*)varName.bstrVal, wcslen(varName.bstrVal)); - ret.append(str); - } - 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(); + // 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)) + { + // Display the name in your UI somehow. + QString str((QChar*)varName.bstrVal, wcslen(varName.bstrVal)); + ret.append(str); + } + 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]; @@ -89,15 +89,15 @@ static QList get_camera_names(void) { } typedef struct { - int width; - int height; + int width; + int height; } resolution_tuple; static resolution_tuple resolution_choices[] = { - { 640, 480 }, - { 320, 240 }, - { 320, 200 }, - { 0, 0 } + { 640, 480 }, + { 320, 240 }, + { 320, 200 }, + { 0, 0 } }; Tracker::Tracker() : stop(false), layout(nullptr), videoWidget(nullptr) @@ -108,8 +108,8 @@ Tracker::~Tracker() { stop = true; wait(); - if (videoWidget) - delete videoWidget; + if (videoWidget) + delete videoWidget; if(layout) delete layout; qDebug() << "releasing camera, brace for impact"; @@ -178,7 +178,7 @@ void Tracker::run() } if (fps) camera.set(CV_CAP_PROP_FPS, fps); - + aruco::MarkerDetector detector; detector.setDesiredSpeed(3); @@ -187,7 +187,7 @@ void Tracker::run() cv::Mat color, color_, grayscale, rvec, tvec; const double stateful_coeff = 0.88; - + if (!camera.isOpened()) { fprintf(stderr, "aruco tracker: can't open camera\n"); @@ -214,7 +214,7 @@ void Tracker::run() grayscale = channel[2]; } else cv::cvtColor(color, grayscale, cv::COLOR_BGR2GRAY); - + gain.tick(camera, grayscale); const int scale = frame.cols > 480 ? 2 : 1; @@ -280,11 +280,11 @@ void Tracker::run() cv::putText(frame, buf, cv::Point(10, 32), cv::FONT_HERSHEY_PLAIN, scale, cv::Scalar(0, 255, 0), scale); ::sprintf(buf, "Jiffies: %ld", (long) (10000 * (time - tm) / freq)); cv::putText(frame, buf, cv::Point(10, 54), cv::FONT_HERSHEY_PLAIN, scale, cv::Scalar(80, 255, 0), scale); - + if (markers.size() == 1 && markers[0].size() == 4) { const auto& m = markers.at(0); const float size = 40; - + const double p = s.marker_pitch; const double sq = sin(p * HT_PI / 180); const double cq = cos(p * HT_PI / 180); @@ -380,7 +380,7 @@ void Tracker::run() void Tracker::GetHeadPoseData(double *data) { QMutexLocker lck(&mtx); - + data[Yaw] = pose[Yaw]; data[Pitch] = pose[Pitch]; data[Roll] = pose[Roll]; @@ -391,11 +391,11 @@ void Tracker::GetHeadPoseData(double *data) class TrackerDll : public Metadata { - // ITrackerDll interface - void getFullName(QString *strToBeFilled); - void getShortName(QString *strToBeFilled); - void getDescription(QString *strToBeFilled); - void getIcon(QIcon *icon); + // ITrackerDll interface + void getFullName(QString *strToBeFilled); + void getShortName(QString *strToBeFilled); + void getDescription(QString *strToBeFilled); + void getIcon(QIcon *icon); }; //----------------------------------------------------------------------------- @@ -406,12 +406,12 @@ void TrackerDll::getFullName(QString *strToBeFilled) void TrackerDll::getShortName(QString *strToBeFilled) { - *strToBeFilled = "aruco"; + *strToBeFilled = "aruco"; } void TrackerDll::getDescription(QString *strToBeFilled) { - *strToBeFilled = ""; + *strToBeFilled = ""; } void TrackerDll::getIcon(QIcon *icon) @@ -425,7 +425,7 @@ void TrackerDll::getIcon(QIcon *icon) extern "C" OPENTRACK_EXPORT Metadata* GetMetadata() { - return new TrackerDll; + return new TrackerDll; } //#pragma comment(linker, "/export:GetTracker=_GetTracker@0") @@ -444,11 +444,11 @@ TrackerControls::TrackerControls() { tracker = nullptr; calib_timer.setInterval(200); - ui.setupUi(this); + ui.setupUi(this); setAttribute(Qt::WA_NativeWindow, true); ui.cameraName->addItems(get_camera_names()); tie_setting(s.camera_index, ui.cameraName); - tie_setting(s.resolution, ui.resolution); + tie_setting(s.resolution, ui.resolution); tie_setting(s.force_fps, ui.cameraFPS); tie_setting(s.fov, ui.cameraFOV); tie_setting(s.headpos_x, ui.cx); @@ -500,7 +500,7 @@ void TrackerControls::doOK() s.b->save(); if (tracker) tracker->reload(); - this->close(); + this->close(); } void TrackerControls::doCancel() diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h index 5416bb52..9ac57417 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h @@ -16,12 +16,9 @@ #include #include #include -#include -#include #include "facetracknoir/options.h" #include "ftnoir_tracker_aruco/trans_calib.h" #include "facetracknoir/plugin-api.hpp" - #include "facetracknoir/gain-control.hpp" using namespace options; @@ -50,7 +47,7 @@ class Tracker : protected QThread, public ITracker { Q_OBJECT public: - Tracker(); + Tracker(); ~Tracker() override; void StartTracker(QFrame* frame); void GetHeadPoseData(double *data); @@ -61,7 +58,7 @@ private: QMutex mtx; volatile bool stop; QHBoxLayout* layout; - ArucoVideoWidget* videoWidget; + ArucoVideoWidget* videoWidget; settings s; double pose[6]; cv::Mat frame; @@ -83,14 +80,14 @@ public: tracker = nullptr; } private: - Ui::Form ui; + Ui::Form ui; Tracker* tracker; settings s; TranslationCalibrator calibrator; QTimer calib_timer; private slots: - void doOK(); - void doCancel(); + void doOK(); + void doCancel(); void toggleCalibrate(); void cleanupCalib(); void update_tracker_calibration(); diff --git a/ftnoir_tracker_aruco/include/aruco.h b/ftnoir_tracker_aruco/include/aruco.h index 569b95fb..8ea583a8 100644 --- a/ftnoir_tracker_aruco/include/aruco.h +++ b/ftnoir_tracker_aruco/include/aruco.h @@ -26,12 +26,12 @@ The views and conclusions contained in the software and documentation are those authors and should not be interpreted as representing official policies, either expressed or implied, of Rafael Muñoz Salinas. - - + + \mainpage ArUco: Augmented Reality library from the University of Cordoba -ArUco is a minimal C++ library for detection of Augmented Reality markers based on OpenCv exclusively. +ArUco is a minimal C++ library for detection of Augmented Reality markers based on OpenCv exclusively. It is an educational project to show student how to detect augmented reality markers and it is provided under BSD license. @@ -54,11 +54,11 @@ Aruco allows the possibility to employ board. Boards are markers composed by an The library comes with five applications that will help you to learn how to use the library: - aruco_create_marker: which creates marker and saves it in a jpg file you can print. - - aruco_simple : simple test aplication that detects the markers in a image + - aruco_simple : simple test aplication that detects the markers in a image - aruco_test: this is the main application for detection. It reads images either from the camera of from a video and detect markers. Additionally, if you provide the intrinsics of the camera(obtained by OpenCv calibration) and the size of the marker in meters, the library calculates the marker intrinsics so that you can easily create your AR applications. - aruco_test_gl: shows how to use the library AR applications using OpenGL for rendering - aruco_create_board: application that helps you to create a board - - aruco_simple_board: simple test aplication that detects a board of markers in a image + - aruco_simple_board: simple test aplication that detects a board of markers in a image - aruco_test_board: application that detects boards - aruco_test_board_gl: application that detects boards and uses OpenGL to draw @@ -66,7 +66,7 @@ The library comes with five applications that will help you to learn how to use The ArUco library contents are divided in two main directories. The src directory, which contains the library itself. And the utils directory which contains the applications. -The library main classes are: +The library main classes are: - aruco::CameraParameters: represent the information of the camera that captures the images. Here you must set the calibration info. - aruco::Marker: which represent a marker detected in the image - aruco::MarkerDetector: that is in charge of deteting the markers in a image Detection is done by simple calling the member funcion ArMarkerDetector::detect(). Additionally, the classes contain members to create the required matrices for rendering using OpenGL. See aruco_test_gl for details @@ -101,34 +101,33 @@ The library has been compiled using MinGW and codeblocks. Below I describe the b -# Download the source code and compile it using cmake and codeblocks. Note: install the library in C:\ if you want it to be easily detected by cmake afterwards - step 4) aruco -# Download and decompress. - -# Open cmake gui application and set the path to the main library directory and also set a path where the project is going to be built. + -# Open cmake gui application and set the path to the main library directory and also set a path where the project is going to be built. -# Generate the codeblock project. -# Open the project with codeblock and compile then, install. The programs will be probably generated into the bin directory OpenGL: by default, the mingw version installed has not the glut library. So, the opengl programs are not compiled. If you want to compile with OpenGL support, you must install glut, or prefereably freeglut. -Thus, - - Download the library (http://www.martinpayne.me.uk/software/development/GLUT/freeglut-MinGW.zip) for mingw. - - Decompress in a directory X. +Thus, + - Download the library (http://www.martinpayne.me.uk/software/development/GLUT/freeglut-MinGW.zip) for mingw. + - Decompress in a directory X. - Then, rerun cmake setting the variable GLU_PATH to that directory (>cmake .. -DGLUT_PATH="C:\X") - Finally, recompile and test. Indeed, you should move the freeglut.dll to the directory with the binaries or to any other place in the PATH. CONCLUSION: Move to Linux, things are simpler :P - -\section Testing + +\section Testing For testing the applications, the library provides videos and the corresponding camera parameters of these videos. Into the directories you will find information on how to run the examples. - + \section Final Notes - REQUIREMENTS: OpenCv >= 2.1.0. and OpenGL for (aruco_test_gl and aruco_test_board_gl) - CONTACT: Rafael Munoz-Salinas: rmsalinas@uco.es - This libary is free software and come with no guaratee! - + */ #include "markerdetector.h" -#include "boarddetector.h" #include "cvdrawingutils.h" diff --git a/ftnoir_tracker_aruco/include/arucofidmarkers.h b/ftnoir_tracker_aruco/include/arucofidmarkers.h index 7dad4672..15eb8e4c 100644 --- a/ftnoir_tracker_aruco/include/arucofidmarkers.h +++ b/ftnoir_tracker_aruco/include/arucofidmarkers.h @@ -31,7 +31,6 @@ or implied, of Rafael Muñoz Salinas. #include #include "exports.h" #include "marker.h" -#include "board.h" namespace aruco { class ARUCO_EXPORTS FiducidalMarkers { @@ -80,7 +79,7 @@ public: * @param gridSize grid layout (numer of sqaures in x and Y) * @param MarkerSize size of markers sides in pixels * @param MarkerDistance distance between the markers - * @param TInfo output + * @param TInfo output * @param excludedIds set of ids excluded from the board */ static cv::Mat createBoardImage( cv::Size gridSize,int MarkerSize,int MarkerDistance, BoardConfiguration& TInfo ,vector *excludedIds=NULL ) throw (cv::Exception); @@ -89,24 +88,24 @@ public: /**Creates a printable image of a board in chessboard_like manner * @param gridSize grid layout (numer of sqaures in x and Y) * @param MarkerSize size of markers sides in pixels - * @param TInfo output + * @param TInfo output * @param setDataCentered indicates if the center is set at the center of the board. Otherwise it is the left-upper corner - * + * */ static cv::Mat createBoardImage_ChessBoard( cv::Size gridSize,int MarkerSize, BoardConfiguration& TInfo ,bool setDataCentered=true ,vector *excludedIds=NULL) throw (cv::Exception); - /**Creates a printable image of a board in a frame fashion + /**Creates a printable image of a board in a frame fashion * @param gridSize grid layout (numer of sqaures in x and Y) * @param MarkerSize size of markers sides in pixels * @param MarkerDistance distance between the markers - * @param TInfo output + * @param TInfo output * @param setDataCentered indicates if the center is set at the center of the board. Otherwise it is the left-upper corner - * + * */ static cv::Mat createBoardImage_Frame( cv::Size gridSize,int MarkerSize,int MarkerDistance, BoardConfiguration& TInfo ,bool setDataCentered=true,vector *excludedIds=NULL ) throw (cv::Exception); private: - + static vector getListOfValidMarkersIds_random(int nMarkers,vector *excluded) throw (cv::Exception); static cv::Mat rotate(const cv::Mat & in); static int hammDistMarker(cv::Mat bits); diff --git a/ftnoir_tracker_aruco/include/board.h b/ftnoir_tracker_aruco/include/board.h deleted file mode 100644 index c1d79292..00000000 --- a/ftnoir_tracker_aruco/include/board.h +++ /dev/null @@ -1,168 +0,0 @@ -/***************************** -Copyright 2011 Rafael Muñoz Salinas. All rights reserved. - -Redistribution and use in source and binary forms, with or without modification, are -permitted provided that the following conditions are met: - - 1. Redistributions of source code must retain the above copyright notice, this list of - conditions and the following disclaimer. - - 2. Redistributions in binary form must reproduce the above copyright notice, this list - of conditions and the following disclaimer in the documentation and/or other materials - provided with the distribution. - -THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED -WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND -FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR -CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON -ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF -ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -The views and conclusions contained in the software and documentation are those of the -authors and should not be interpreted as representing official policies, either expressed -or implied, of Rafael Muñoz Salinas. -********************************/ -#ifndef _Aruco_board_h -#define _Aruco_board_h -#include -#include -#include -#include "exports.h" -#include "marker.h" -using namespace std; -namespace aruco { -/** - * 3d representation of a marker - */ -struct ARUCO_EXPORTS MarkerInfo:public vector { - MarkerInfo() {} - MarkerInfo(int _id) {id=_id; } - MarkerInfo(const MarkerInfo&MI): vector(MI){id=MI.id; } - MarkerInfo & operator=(const MarkerInfo&MI){ - vector ::operator=(MI); - id=MI.id; - return *this; - } - int id;//maker id -}; - -/**\brief This class defines a board with several markers. - * A Board contains several markers so that they are more robustly detected. - * - * In general, a board is a set of markers. So BoardConfiguration is only a list - * of the id of the markers along with the position of their corners. - * - * The position of the corners can be specified either in pixels (in a non-specific size) or in meters. - * The first is the typical case in which you generate the image of board and the print it. Since you do not know in advance the real - * size of the markers, their corners are specified in pixels, and then, the translation to meters can be made once you know the real size. - * - * On the other hand, you may want to have the information of your boards in meters. The BoardConfiguration allows you to do so. - * - * The point is in the mInfoType variable. It can be either PIX or METERS according to your needs. - * -*/ - - -class ARUCO_EXPORTS BoardConfiguration: public vector -{ - friend class Board; -public: - enum MarkerInfoType {NONE=-1,PIX=0,METERS=1};//indicates if the data in MakersInfo is expressed in meters or in pixels so as to do conversion internally - //variable indicates if the data in MakersInfo is expressed in meters or in pixels so as to do conversion internally - int mInfoType; - /** - */ - BoardConfiguration(); - - /** - */ - BoardConfiguration(const BoardConfiguration &T); - - /** - */ - BoardConfiguration & operator=(const BoardConfiguration &T); - /**Saves the board info to a file - */ - void saveToFile(string sfile)throw (cv::Exception); - /**Reads board info from a file - */ - void readFromFile(string sfile)throw (cv::Exception); - /**Indicates if the corners are expressed in meters - */ - bool isExpressedInMeters()const { - return mInfoType==METERS; - } - /**Indicates if the corners are expressed in meters - */ - bool isExpressedInPixels()const { - return mInfoType==PIX; - } - /**Returns the index of the marker with id indicated, if is in the list - */ - int getIndexOfMarkerId(int id)const; - /**Returns the Info of the marker with id specified. If not in the set, throws exception - */ - const MarkerInfo& getMarkerInfo(int id)const throw (cv::Exception); - /**Set in the list passed the set of the ids - */ - void getIdList(vector &ids,bool append=true)const; -private: - /**Saves the board info to a file - */ - void saveToFile(cv::FileStorage &fs)throw (cv::Exception); - /**Reads board info from a file - */ - void readFromFile(cv::FileStorage &fs)throw (cv::Exception); -}; - -/** -*/ -class ARUCO_EXPORTS Board:public vector -{ - -public: - BoardConfiguration conf; - //matrices of rotation and translation respect to the camera - cv::Mat Rvec,Tvec; - /** - */ - Board() - { - Rvec.create(3,1,CV_32FC1); - Tvec.create(3,1,CV_32FC1); - for (int i=0;i<3;i++) - Tvec.at(i,0)=Rvec.at(i,0)=-999999; - } - - /**Given the extrinsic camera parameters returns the GL_MODELVIEW matrix for opengl. - * Setting this matrix, the reference corrdinate system will be set in this board - */ - void glGetModelViewMatrix(double modelview_matrix[16])throw(cv::Exception); - - /** - * Returns position vector and orientation quaternion for an Ogre scene node or entity. - * Use: - * ... - * Ogre::Vector3 ogrePos (position[0], position[1], position[2]); - * Ogre::Quaternion ogreOrient (orientation[0], orientation[1], orientation[2], orientation[3]); - * mySceneNode->setPosition( ogrePos ); - * mySceneNode->setOrientation( ogreOrient ); - * ... - */ - void OgreGetPoseParameters( double position[3], double orientation[4] )throw(cv::Exception); - - - /**Save this from a file - */ - void saveToFile(string filePath)throw(cv::Exception); - /**Read this from a file - */ - void readFromFile(string filePath)throw(cv::Exception); - -}; -} - -#endif diff --git a/ftnoir_tracker_aruco/include/boarddetector.h b/ftnoir_tracker_aruco/include/boarddetector.h deleted file mode 100644 index 4770b5c9..00000000 --- a/ftnoir_tracker_aruco/include/boarddetector.h +++ /dev/null @@ -1,139 +0,0 @@ -/***************************** -Copyright 2011 Rafael Muñoz Salinas. All rights reserved. - -Redistribution and use in source and binary forms, with or without modification, are -permitted provided that the following conditions are met: - - 1. Redistributions of source code must retain the above copyright notice, this list of - conditions and the following disclaimer. - - 2. Redistributions in binary form must reproduce the above copyright notice, this list - of conditions and the following disclaimer in the documentation and/or other materials - provided with the distribution. - -THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED -WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND -FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR -CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON -ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF -ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -The views and conclusions contained in the software and documentation are those of the -authors and should not be interpreted as representing official policies, either expressed -or implied, of Rafael Muñoz Salinas. -********************************/ -#ifndef _Aruco_BoardDetector_H -#define _Aruco_BoardDetector_H -#include -#include "exports.h" -#include "board.h" -#include "cameraparameters.h" -#include "markerdetector.h" -using namespace std; - -namespace aruco -{ - -/**\brief This class detects AR boards - * Version 1.2 - * There are two modes for board detection. - * First, the old way. (You first detect markers with MarkerDetector and then call to detect in this class. - * - * Second: New mode, marker detection is included in the class - * \code - - CameraParameters CP; - CP.readFromFile(path_cp) - BoardConfiguration BC; - BC.readFromFile(path_bc); - BoardDetector BD; - BD.setParams(BC,CP); //or only BD.setParams(BC) - //capture image - cv::Mat im; - capture_image(im); - - float prob=BD.detect(im); - if (prob>0.3) - CvDrawingUtils::draw3DAxis(im,BD.getDetectedBoard(),CP); - - \endcode - * -*/ -class ARUCO_EXPORTS BoardDetector -{ -public: - /** See discussion in @see enableRotateXAxis. - * Do not change unless you know what you are doing - */ - BoardDetector(bool setYPerperdicular=true); - - - /** - * Use if you plan to let this class to perform marker detection too - */ - void setParams(const BoardConfiguration &bc,const CameraParameters &cp, float markerSizeMeters=-1); - void setParams(const BoardConfiguration &bc); - /** - * Detect markers, and then, look for the board indicated in setParams() - * @return value indicating the likelihood of having found the marker - */ - float detect(const cv::Mat &im)throw (cv::Exception); - /**Returns a reference to the board detected - */ - Board & getDetectedBoard(){return _boardDetected;} - /**Returns a reference to the internal marker detector - */ - MarkerDetector &getMarkerDetector(){return _mdetector;} - /**Returns the vector of markers detected - */ - vector &getDetectedMarkers(){return _vmarkers;} - - - //ALTERNATIVE DETECTION METHOD, BASED ON MARKERS PREVIOUSLY DETECTED - - /** Given the markers detected, determines if there is the board passed - * @param detectedMarkers result provided by aruco::ArMarkerDetector - * @param BConf the board you want to see if is present - * @param Bdetected output information of the detected board - * @param camMatrix camera matrix with intrinsics - * @param distCoeff camera distorsion coeff - * @param camMatrix intrinsic camera information. - * @param distCoeff camera distorsion coefficient. If set Mat() if is assumed no camera distorion - * @param markerSizeMeters size of the marker sides expressed in meters - * @return value indicating the likelihood of having found the marker - */ - float detect(const vector &detectedMarkers,const BoardConfiguration &BConf, Board &Bdetected, cv::Mat camMatrix=cv::Mat(),cv::Mat distCoeff=cv::Mat(), float markerSizeMeters=-1 )throw (cv::Exception); - float detect(const vector &detectedMarkers,const BoardConfiguration &BConf, Board &Bdetected,const CameraParameters &cp, float markerSizeMeters=-1 )throw (cv::Exception); - - - /** - * By default, the Y axis is set to point up. However this is not the default - * operation mode of opencv, which produces the Z axis pointing up instead. - * So, to achieve this change, we have to rotate the X axis. - */ - void setYPerperdicular(bool enable){_setYPerperdicular=enable;} - - - - -private: - void rotateXAxis(cv::Mat &rotation); - bool _setYPerperdicular; - - //-- Functionality to detect markers inside - bool _areParamsSet; - BoardConfiguration _bconf; - Board _boardDetected; - float _markerSize; - CameraParameters _camParams; - MarkerDetector _mdetector;//internal markerdetector - vector _vmarkers;//markers detected in the call to : float detect(const cv::Mat &im); - -}; - -} -#endif - diff --git a/ftnoir_tracker_aruco/include/cameraparameters.h b/ftnoir_tracker_aruco/include/cameraparameters.h index c3381a74..a419afbe 100644 --- a/ftnoir_tracker_aruco/include/cameraparameters.h +++ b/ftnoir_tracker_aruco/include/cameraparameters.h @@ -28,7 +28,7 @@ or implied, of Rafael Muñoz Salinas. #ifndef _Aruco_CameraParameters_H #define _Aruco_CameraParameters_H #include "exports.h" -#include +#include #include using namespace std; namespace aruco @@ -105,7 +105,7 @@ public: * @param invert: indicates if the output projection matrix has to yield a horizontally inverted image because image data has not been stored in the order of glDrawPixels: bottom-to-top. */ void glGetProjectionMatrix( cv::Size orgImgSize, cv::Size size,double proj_matrix[16],double gnear,double gfar,bool invert=false )throw(cv::Exception); - + /** * setup camera for an Ogre project. * Use: @@ -117,7 +117,7 @@ public: * As in OpenGL, it assumes no camera distorsion */ void OgreGetProjectionMatrix( cv::Size orgImgSize, cv::Size size,double proj_matrix[16],double gnear,double gfar,bool invert=false )throw(cv::Exception); - + private: //GL routines diff --git a/ftnoir_tracker_aruco/include/cvdrawingutils.h b/ftnoir_tracker_aruco/include/cvdrawingutils.h index 38e9986e..24bfe630 100644 --- a/ftnoir_tracker_aruco/include/cvdrawingutils.h +++ b/ftnoir_tracker_aruco/include/cvdrawingutils.h @@ -33,19 +33,12 @@ namespace aruco { /**\brief A set of functions to draw in opencv images */ - class ARUCO_EXPORTS CvDrawingUtils - { - public: - - static void draw3dAxis(cv::Mat &Image,Marker &m,const CameraParameters &CP); - - static void draw3dCube(cv::Mat &Image,Marker &m,const CameraParameters &CP); - - static void draw3dAxis(cv::Mat &Image,Board &m,const CameraParameters &CP); - - static void draw3dCube(cv::Mat &Image,Board &m,const CameraParameters &CP); - - }; + class ARUCO_EXPORTS CvDrawingUtils + { + public: + static void draw3dAxis(cv::Mat &Image,Marker &m,const CameraParameters &CP); + static void draw3dCube(cv::Mat &Image,Marker &m,const CameraParameters &CP); + }; } #endif diff --git a/ftnoir_tracker_aruco/include/exports.h b/ftnoir_tracker_aruco/include/exports.h index 154605ec..044a1367 100644 --- a/ftnoir_tracker_aruco/include/exports.h +++ b/ftnoir_tracker_aruco/include/exports.h @@ -25,7 +25,7 @@ The views and conclusions contained in the software and documentation are those authors and should not be interpreted as representing official policies, either expressed or implied, of Rafael Muñoz Salinas. ********************************/ - + #ifndef __OPENARUCO_CORE_TYPES_H__ @@ -37,9 +37,9 @@ or implied, of Rafael Muñoz Salinas. #if (defined WIN32 || defined _WIN32 || defined WINCE) && defined DSO_EXPORTS - #define ARUCO_EXPORTS __declspec(dllexport) + #define ARUCO_EXPORTS __declspec(dllexport) __attribute__((visibility ("default"))) #else - #define ARUCO_EXPORTS + #define ARUCO_EXPORTS __attribute__((visibility ("default"))) #endif diff --git a/ftnoir_tracker_aruco/include/marker.h b/ftnoir_tracker_aruco/include/marker.h index dc6bb28c..89961002 100644 --- a/ftnoir_tracker_aruco/include/marker.h +++ b/ftnoir_tracker_aruco/include/marker.h @@ -29,7 +29,7 @@ or implied, of Rafael Muñoz Salinas. #define _Aruco_Marker_H #include #include -#include +#include #include "exports.h" #include "cameraparameters.h" using namespace std; @@ -81,12 +81,12 @@ public: * @param setYPerperdicular If set the Y axis will be perpendicular to the surface. Otherwise, it will be the Z axis */ void calculateExtrinsics(float markerSize,cv::Mat CameraMatrix,cv::Mat Distorsion=cv::Mat(),bool setYPerperdicular=true)throw(cv::Exception); - + /**Given the extrinsic camera parameters returns the GL_MODELVIEW matrix for opengl. * Setting this matrix, the reference coordinate system will be set in this marker */ void glGetModelViewMatrix( double modelview_matrix[16])throw(cv::Exception); - + /** * Returns position vector and orientation quaternion for an Ogre scene node or entity. * Use: @@ -97,8 +97,8 @@ public: * mySceneNode->setOrientation( ogreOrient ); * ... */ - void OgreGetPoseParameters( double position[3], double orientation[4] )throw(cv::Exception); - + void OgreGetPoseParameters( double position[3], double orientation[4] )throw(cv::Exception); + /**Returns the centroid of the marker */ cv::Point2f getCenter()const; @@ -132,11 +132,11 @@ public: return str; } - - + + private: void rotateXAxis(cv::Mat &rotation); - + }; } diff --git a/ftnoir_tracker_aruco/include/markerdetector.h b/ftnoir_tracker_aruco/include/markerdetector.h index 4d6e7b90..a4656527 100644 --- a/ftnoir_tracker_aruco/include/markerdetector.h +++ b/ftnoir_tracker_aruco/include/markerdetector.h @@ -27,7 +27,7 @@ or implied, of Rafael Muñoz Salinas. ********************************/ #ifndef _ARUCO_MarkerDetector_H #define _ARUCO_MarkerDetector_H -#include +#include #include #include #include "cameraparameters.h" @@ -47,7 +47,7 @@ class ARUCO_EXPORTS MarkerDetector class MarkerCandidate: public Marker{ public: MarkerCandidate(){} - MarkerCandidate(const Marker &M): Marker(M){} + MarkerCandidate(const Marker &M): Marker(M){} MarkerCandidate(const MarkerCandidate &M): Marker(M){ contour=M.contour; idx=M.idx; @@ -60,20 +60,20 @@ class ARUCO_EXPORTS MarkerDetector idx=M.idx; return M; } - + vector contour;//all the points of its contour int idx;//index position in the global contour list }; public: /** - * See + * See */ - MarkerDetector(); + MarkerDetector() {} /** */ - ~MarkerDetector(); + ~MarkerDetector() {} /**Detects the markers in the image passed * @@ -161,17 +161,17 @@ public: * of cols and rows. * @param min size of the contour to consider a possible marker as valid (0,1] * @param max size of the contour to consider a possible marker as valid [0,1) - * + * */ void setMinMaxSize(float min=0.03,float max=0.5)throw(cv::Exception); - + /**reads the min and max sizes employed * @param min output size of the contour to consider a possible marker as valid (0,1] * @param max output size of the contour to consider a possible marker as valid [0,1) - * + * */ void getMinMaxSize(float &min,float &max){min=_minSize;max=_maxSize;} - + /**Enables/Disables erosion process that is REQUIRED for chessboard like boards. * By default, this property is enabled */ @@ -210,10 +210,10 @@ public: markerIdDetector_ptrfunc=markerdetector_func; } - /** Use an smaller version of the input image for marker detection. + /** Use an smaller version of the input image for marker detection. * If your marker is small enough, you can employ an smaller image to perform the detection without noticeable reduction in the precision. * Internally, we are performing a pyrdown operation - * + * * @param level number of times the image size is divided by 2. Internally, we are performing a pyrdown. */ void pyrDown(unsigned int level){pyrdown_level=level;} @@ -247,17 +247,17 @@ public: * @return true if the operation succeed */ bool warp(cv::Mat &in,cv::Mat &out,cv::Size size, std::vector points)throw (cv::Exception); - - - + + + /** Refine MarkerCandidate Corner using LINES method * @param candidate candidate to refine corners */ - void refineCandidateLines(MarkerCandidate &candidate); - - + void refineCandidateLines(MarkerCandidate &candidate); + + /**DEPRECATED!!! Use the member function in CameraParameters - * + * * Given the intrinsic camera parameters returns the GL_PROJECTION matrix for opengl. * PLease NOTE that when using OpenGL, it is assumed no camera distorsion! So, if it is not true, you should have * undistor image @@ -308,26 +308,26 @@ private: */ int perimeter(std::vector &a); - + // //GL routines -// +// // static void argConvGLcpara2( double cparam[3][4], int width, int height, double gnear, double gfar, double m[16], bool invert )throw(cv::Exception); // static int arParamDecompMat( double source[3][4], double cpara[3][4], double trans[3][4] )throw(cv::Exception); // static double norm( double a, double b, double c ); // static double dot( double a1, double a2, double a3, // double b1, double b2, double b3 ); -// +// //detection of the void findBestCornerInRegion_harris(const cv::Mat & grey,vector & Corners,int blockSize); - - + + // auxiliar functions to perform LINES refinement void interpolate2Dline( const vector< cv::Point > &inPoints, cv::Point3f &outLine); - cv::Point2f getCrossPoint(const cv::Point3f& line1, const cv::Point3f& line2); - - - /**Given a vector vinout with elements and a boolean vector indicating the lements from it to remove, + cv::Point2f getCrossPoint(const cv::Point3f& line1, const cv::Point3f& line2); + + + /**Given a vector vinout with elements and a boolean vector indicating the lements from it to remove, * this function remove the elements * @param vinout * @param toRemove diff --git a/ftnoir_tracker_aruco/trans_calib.h b/ftnoir_tracker_aruco/trans_calib.h index 5c321b2c..c2c02b38 100644 --- a/ftnoir_tracker_aruco/trans_calib.h +++ b/ftnoir_tracker_aruco/trans_calib.h @@ -8,7 +8,7 @@ #ifndef TRANSCALIB_H #define TRANSCALIB_H -#include +#include //----------------------------------------------------------------------------- // Calibrates the translation from head to model = t_MH diff --git a/ftnoir_tracker_pt/camera.h b/ftnoir_tracker_pt/camera.h index 7ebbcb67..889bf2d3 100644 --- a/ftnoir_tracker_pt/camera.h +++ b/ftnoir_tracker_pt/camera.h @@ -8,7 +8,7 @@ #ifndef CAMERA_H #define CAMERA_H -#include +#include #ifndef OPENTRACK_API # include #else diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h index 5bcfd37d..fff8d4ab 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h @@ -22,7 +22,7 @@ #include #include #include -#include +#include #include #ifndef OPENTRACK_API # include @@ -36,53 +36,53 @@ class Tracker : public ITracker, protected QThread { public: - Tracker(); + Tracker(); ~Tracker() override; void StartTracker(QFrame* parent_window) override; void GetHeadPoseData(double* data) override; void apply(settings& s); - void apply_inner(); - void center(); - void reset(); // reset the trackers internal state variables + void apply_inner(); + void center(); + void reset(); // reset the trackers internal state variables - 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(); } + 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: void run() override; private: - QMutex mutex; - // thread commands - enum Command { - ABORT = 1<<0 - }; - void set_command(Command command); - void reset_command(Command command); + QMutex mutex; + // thread commands + enum Command { + ABORT = 1<<0 + }; + void set_command(Command command); + void reset_command(Command command); volatile int commands; CVCamera camera; - FrameRotation frame_rotation; - PointExtractor point_extractor; - PointTracker point_tracker; + FrameRotation frame_rotation; + PointExtractor point_extractor; + PointTracker point_tracker; - 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 + 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 + // --- ui --- + cv::Mat frame; // the output frame for display PTVideoWidget* video_widget; - QFrame* video_frame; - + QFrame* video_frame; + settings s; std::atomic new_settings; Timer time; - + static constexpr double rad2deg = 180.0/3.14159265; static constexpr double deg2rad = 3.14159265/180.0; - + PointModel model; }; diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp index 6cd6135c..3af7b560 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp @@ -9,7 +9,7 @@ #include #include -#include +#include #ifndef OPENTRACK_API # include #else @@ -25,14 +25,14 @@ TrackerDialog::TrackerDialog() timer(this), trans_calib_running(false) { - ui.setupUi( this ); + ui.setupUi( this ); vector device_names; - get_camera_device_names(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->addItem(iter->c_str()); + } ui.camroll_combo->addItem("-90"); ui.camroll_combo->addItem("0"); @@ -82,7 +82,7 @@ TrackerDialog::TrackerDialog() connect(ui.model_tabs, SIGNAL(currentChanged(int)), this, SLOT(set_model(int))); connect(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info())); - timer.start(100); + timer.start(100); connect(ui.buttonBox_2, SIGNAL(clicked(QAbstractButton*)), this, SLOT(do_apply_without_saving(QAbstractButton*))); } @@ -96,7 +96,7 @@ void TrackerDialog::set_model_clip() s.m02_y = -static_cast(s.clip_by); s.m02_z = -static_cast(s.clip_bz); - settings_changed(); + settings_changed(); } void TrackerDialog::set_model_cap() @@ -108,12 +108,12 @@ void TrackerDialog::set_model_cap() s.m02_y = -static_cast(s.cap_y); s.m02_z = -static_cast(s.cap_z); - settings_changed(); + settings_changed(); } void TrackerDialog::set_model_custom() { - settings_changed(); + settings_changed(); } void TrackerDialog::set_model(int val) @@ -123,38 +123,38 @@ void TrackerDialog::set_model(int val) 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; + if (start) + { + qDebug()<<"TrackerDialog:: Starting translation calibration"; + trans_calib.reset(); + trans_calib_running = true; + } + else + { + qDebug()<<"TrackerDialog:: Stoppping translation calibration"; + trans_calib_running = false; { auto tmp = trans_calib.get_estimate(); s.t_MH_x = tmp[0]; s.t_MH_y = tmp[1]; s.t_MH_z = tmp[2]; } - settings_changed(); - } + settings_changed(); + } } 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); @@ -163,7 +163,7 @@ void TrackerDialog::poll_tracker_info() else to_print += " BAD!"; ui.pointinfo_label->setText(to_print); - + // update calibration if (trans_calib_running) trans_calib_step(); } @@ -177,16 +177,16 @@ void TrackerDialog::poll_tracker_info() 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(); + 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(); 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() @@ -203,7 +203,7 @@ void TrackerDialog::save() void TrackerDialog::doOK() { save(); - close(); + close(); } void TrackerDialog::do_apply_without_saving(QAbstractButton*) @@ -225,7 +225,7 @@ void TrackerDialog::do_apply_without_saving(QAbstractButton*) void TrackerDialog::doApply() { - save(); + save(); } void TrackerDialog::doCancel() @@ -236,23 +236,23 @@ void TrackerDialog::doCancel() void TrackerDialog::registerTracker(ITracker *t) { - qDebug()<<"TrackerDialog:: Tracker registered"; - tracker = static_cast(t); + qDebug()<<"TrackerDialog:: Tracker registered"; + tracker = static_cast(t); if (isVisible() & s.b->modifiedp()) tracker->apply(s); - ui.tcalib_button->setEnabled(true); - //ui.center_button->setEnabled(true); + ui.tcalib_button->setEnabled(true); + //ui.center_button->setEnabled(true); } void TrackerDialog::unRegisterTracker() { - qDebug()<<"TrackerDialog:: Tracker un-registered"; - tracker = NULL; - ui.tcalib_button->setEnabled(false); - //ui.center_button->setEnabled(false); + qDebug()<<"TrackerDialog:: Tracker un-registered"; + tracker = NULL; + ui.tcalib_button->setEnabled(false); + //ui.center_button->setEnabled(false); } extern "C" OPENTRACK_EXPORT ITrackerDialog* GetDialog( ) { - return new TrackerDialog; + return new TrackerDialog; } diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h index 365776e4..e8cac679 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h @@ -8,7 +8,7 @@ #ifndef FTNOIR_TRACKER_PT_SETTINGS_H #define FTNOIR_TRACKER_PT_SETTINGS_H -#include +#include #include "point_tracker.h" #include "facetracknoir/options.h" @@ -36,7 +36,7 @@ struct settings value clip_ty, clip_tz, clip_by, clip_bz; value active_model_panel, cap_x, cap_y, cap_z; - + // XXX todo red channel only, good for crapola CCD sensors -sh 20140922 settings() : diff --git a/ftnoir_tracker_pt/point_extractor.h b/ftnoir_tracker_pt/point_extractor.h index 3ef82900..5252b68d 100644 --- a/ftnoir_tracker_pt/point_extractor.h +++ b/ftnoir_tracker_pt/point_extractor.h @@ -8,8 +8,8 @@ #ifndef POINTEXTRACTOR_H #define POINTEXTRACTOR_H -#include -#include +#include +#include // ---------------------------------------------------------------------------- // Extracts points from an opencv image diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h index c8212538..d65494a4 100644 --- a/ftnoir_tracker_pt/point_tracker.h +++ b/ftnoir_tracker_pt/point_tracker.h @@ -8,7 +8,7 @@ #ifndef POINTTRACKER_H #define POINTTRACKER_H -#include +#include #ifndef OPENTRACK_API # include #else @@ -21,31 +21,31 @@ 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::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; + 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); + 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); + 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); + return FrameTrafo(X.R*Y, X.t); } inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3f& v) { - return X.R*v + X.t; + return X.R*v + X.t; } @@ -55,28 +55,28 @@ inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3f& v) // [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"] class PointModel { - friend class PointTracker; + friend class PointTracker; public: - static constexpr int N_POINTS = 3; + static constexpr int N_POINTS = 3; - PointModel(cv::Vec3f M01, cv::Vec3f M02); + PointModel(cv::Vec3f M01, cv::Vec3f M02); PointModel(); - inline const cv::Vec3f& get_M01() const { return M01; } - inline const cv::Vec3f& get_M02() const { return M02; } + inline const cv::Vec3f& get_M01() const { return M01; } + inline const cv::Vec3f& get_M02() const { return M02; } private: - cv::Vec3f M01; // M01 in model frame - cv::Vec3f M02; // M02 in model frame + 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::Vec3f u; // unit vector perpendicular to M01,M02-plane - cv::Matx22f P; + cv::Matx22f P; - cv::Vec2f d; // determinant vector for point correspondence - int d_order[3]; // sorting of projected model points with respect to d scalar product + cv::Vec2f d; // determinant 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; + void get_d_order(const std::vector& points, int d_order[]) const; }; // ---------------------------------------------------------------------------- @@ -86,29 +86,29 @@ private: 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 - void track(const std::vector& projected_points, const PointModel& model); - FrameTrafo get_pose() const { return X_CM; } - void reset(); + 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 + void track(const std::vector& projected_points, const PointModel& model); + FrameTrafo get_pose() const { return X_CM; } + void reset(); private: // the points in model order typedef struct { cv::Vec2f points[PointModel::N_POINTS]; } PointOrder; - static constexpr float focal_length = 1.0f; - - inline cv::Vec2f project(const cv::Vec3f& v_M) - { - cv::Vec3f v_C = X_CM * v_M; - return cv::Vec2f(focal_length*v_C[0]/v_C[2], focal_length*v_C[1]/v_C[2]); - } + static constexpr float focal_length = 1.0f; + + inline cv::Vec2f project(const cv::Vec3f& v_M) + { + cv::Vec3f v_C = X_CM * v_M; + return cv::Vec2f(focal_length*v_C[0]/v_C[2], focal_length*v_C[1]/v_C[2]); + } PointOrder find_correspondences(const std::vector& projected_points, const PointModel &model); int POSIT(const PointModel& point_model, const PointOrder& order); // The POSIT algorithm, returns the number of iterations - - FrameTrafo X_CM; // trafo from model to camera + + FrameTrafo X_CM; // trafo from model to camera }; #endif //POINTTRACKER_H diff --git a/ftnoir_tracker_pt/pt_video_widget.h b/ftnoir_tracker_pt/pt_video_widget.h index de2c7efb..f2b41d63 100644 --- a/ftnoir_tracker_pt/pt_video_widget.h +++ b/ftnoir_tracker_pt/pt_video_widget.h @@ -10,7 +10,7 @@ #include #include #include -#include +#include #ifndef OPENTRACK_API # include # include diff --git a/ftnoir_tracker_pt/trans_calib.h b/ftnoir_tracker_pt/trans_calib.h index 5c321b2c..c2c02b38 100644 --- a/ftnoir_tracker_pt/trans_calib.h +++ b/ftnoir_tracker_pt/trans_calib.h @@ -8,7 +8,7 @@ #ifndef TRANSCALIB_H #define TRANSCALIB_H -#include +#include //----------------------------------------------------------------------------- // Calibrates the translation from head to model = t_MH -- cgit v1.2.3 From 8f0578cca48ab6757b0ddb6a876cbc90fa1d82b7 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 11 Oct 2014 20:38:12 +0200 Subject: Avoid floating point division by zero Maybe-fixes-issue: #79 --- 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 861c83cc..7c2c09ce 100644 --- a/ftnoir_tracker_pt/camera.cpp +++ b/ftnoir_tracker_pt/camera.cpp @@ -137,7 +137,7 @@ bool Camera::get_frame(float dt, cv::Mat* frame) if (new_frame) { dt_mean = dt_smoothing_const * dt_mean + (1.0 - dt_smoothing_const) * dt_valid; - cam_info.fps = 1.0 / dt_mean; + cam_info.fps = dt_mean > 1e-3 ? 1.0 / dt_mean : 0; dt_valid = 0; } return new_frame; -- cgit v1.2.3 From a7fe9ca724986de10e5391512cf9064f5516f940 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 11 Oct 2014 20:38:19 +0200 Subject: less crapola --- ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 6 +----- 1 file changed, 1 insertion(+), 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 e64c4ca7..8b77b681 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -50,18 +50,14 @@ void Tracker::reset_command(Command command) void Tracker::run() { - qDebug()<< "pt: 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(); - while(1) + while((commands & ABORT) == 0) { - if (commands & ABORT) break; - commands = 0; apply_inner(); const double dt = time.start() * 1e-9; const bool new_frame = camera.get_frame(dt, &frame); -- cgit v1.2.3 From 1fdd53b6f652419f0f63c6846660f80ec672853a Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Tue, 14 Oct 2014 14:06:14 +0200 Subject: update options api --- facetracknoir/shortcuts.cpp | 2 +- ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp | 2 +- ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp | 2 +- ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp | 2 +- ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dialog.cpp | 2 +- ftnoir_protocol_ft/ftnoir_protocol_ft_dialog.cpp | 2 +- ftnoir_protocol_ftn/ftnoir_protocol_ftn_dialog.cpp | 2 +- ftnoir_protocol_mouse/ftnoir_protocol_mouse_dialog.cpp | 2 +- ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp | 2 +- ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dialog.cpp | 2 +- ftnoir_tracker_ht/ftnoir_tracker_ht.cpp | 2 +- ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp | 2 +- ftnoir_tracker_joystick/ftnoir_tracker_joystick_dialog.cpp | 2 +- ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp | 2 +- ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp | 2 +- ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp | 2 +- 16 files changed, 16 insertions(+), 16 deletions(-) (limited to 'ftnoir_tracker_pt') diff --git a/facetracknoir/shortcuts.cpp b/facetracknoir/shortcuts.cpp index 758617ca..94c46376 100644 --- a/facetracknoir/shortcuts.cpp +++ b/facetracknoir/shortcuts.cpp @@ -40,7 +40,7 @@ void KeyboardShortcutDialog::doOK() { } void KeyboardShortcutDialog::doCancel() { - mainApp->b->revert(); + mainApp->s.b->reload(); close(); } diff --git a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp index 965cb3ea..1520ad6e 100644 --- a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp +++ b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp @@ -43,7 +43,7 @@ void FilterControls::doCancel() { void FilterControls::discard() { - s.b->revert(); + s.b->reload(); } void FilterControls::save() { diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp b/ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp index a32875b9..b6bde553 100644 --- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp +++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2_dialog.cpp @@ -33,7 +33,7 @@ void FilterControls::doOK() { } void FilterControls::doCancel() { - s.b->revert(); + s.b->reload(); this->close(); } diff --git a/ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp b/ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp index 1aa67b43..0074a64a 100644 --- a/ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp +++ b/ftnoir_protocol_fg/ftnoir_protocol_fg_dialog.cpp @@ -59,7 +59,7 @@ void FGControls::doOK() { } void FGControls::doCancel() { - s.b->revert(); + s.b->reload(); this->close(); } diff --git a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dialog.cpp b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dialog.cpp index d2af714f..ceabeabf 100644 --- a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dialog.cpp +++ b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc_dialog.cpp @@ -42,7 +42,7 @@ void FSUIPCControls::doOK() { } void FSUIPCControls::doCancel() { - s.b->revert(); + s.b->reload(); close(); } diff --git a/ftnoir_protocol_ft/ftnoir_protocol_ft_dialog.cpp b/ftnoir_protocol_ft/ftnoir_protocol_ft_dialog.cpp index 654f6c18..9db3211c 100644 --- a/ftnoir_protocol_ft/ftnoir_protocol_ft_dialog.cpp +++ b/ftnoir_protocol_ft/ftnoir_protocol_ft_dialog.cpp @@ -59,7 +59,7 @@ void FTControls::doOK() { } void FTControls::doCancel() { - s.b->revert(); + s.b->reload(); this->close(); } diff --git a/ftnoir_protocol_ftn/ftnoir_protocol_ftn_dialog.cpp b/ftnoir_protocol_ftn/ftnoir_protocol_ftn_dialog.cpp index cab5b4ba..8af12ad7 100644 --- a/ftnoir_protocol_ftn/ftnoir_protocol_ftn_dialog.cpp +++ b/ftnoir_protocol_ftn/ftnoir_protocol_ftn_dialog.cpp @@ -52,7 +52,7 @@ void FTNControls::doOK() { // Cancel clicked on server-dialog // void FTNControls::doCancel() { - s.b->revert(); + s.b->reload(); this->close(); } diff --git a/ftnoir_protocol_mouse/ftnoir_protocol_mouse_dialog.cpp b/ftnoir_protocol_mouse/ftnoir_protocol_mouse_dialog.cpp index 4b12a4f0..efac958c 100644 --- a/ftnoir_protocol_mouse/ftnoir_protocol_mouse_dialog.cpp +++ b/ftnoir_protocol_mouse/ftnoir_protocol_mouse_dialog.cpp @@ -59,7 +59,7 @@ void MOUSEControls::doOK() { } void MOUSEControls::doCancel() { - s.b->revert(); + s.b->reload(); this->close(); } diff --git a/ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp b/ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp index cd8c21f9..c3d64e9d 100644 --- a/ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp +++ b/ftnoir_protocol_sc/ftnoir_protocol_sc_dialog.cpp @@ -44,7 +44,7 @@ void SCControls::doOK() { } void SCControls::doCancel() { - s.b->revert(); + s.b->reload(); close(); } diff --git a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dialog.cpp b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dialog.cpp index 5a0cade4..6d6a951e 100644 --- a/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dialog.cpp +++ b/ftnoir_tracker_freepie-udp/ftnoir_tracker_freepie-udp_dialog.cpp @@ -17,7 +17,7 @@ void TrackerDialog::doOK() { } void TrackerDialog::doCancel() { - s.b->revert(); + s.b->reload(); this->close(); } diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp index 05eb116c..a1cb33a5 100644 --- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp +++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp @@ -267,6 +267,6 @@ void TrackerControls::doOK() void TrackerControls::doCancel() { - s.b->revert(); + s.b->reload(); this->close(); } diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp index dbd9981f..c81ddce7 100644 --- a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp +++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp @@ -17,7 +17,7 @@ void TrackerControls::doOK() { } void TrackerControls::doCancel() { - s.b->revert(); + s.b->reload(); close(); } diff --git a/ftnoir_tracker_joystick/ftnoir_tracker_joystick_dialog.cpp b/ftnoir_tracker_joystick/ftnoir_tracker_joystick_dialog.cpp index 4ddbcb0c..84e02fb0 100644 --- a/ftnoir_tracker_joystick/ftnoir_tracker_joystick_dialog.cpp +++ b/ftnoir_tracker_joystick/ftnoir_tracker_joystick_dialog.cpp @@ -49,7 +49,7 @@ void TrackerControls::doOK() { } void TrackerControls::doCancel() { - s.b->revert(); + s.b->reload(); this->close(); } diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp index 3af7b560..981cbea0 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp @@ -230,7 +230,7 @@ void TrackerDialog::doApply() void TrackerDialog::doCancel() { - s.b->revert(); + s.b->reload(); close(); } diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp b/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp index a66eb83b..38c7457e 100644 --- a/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp +++ b/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp @@ -21,7 +21,7 @@ void TrackerControls::doOK() { } void TrackerControls::doCancel() { - s.b->revert(); + s.b->reload(); close(); } diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp b/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp index b0f40ee9..062b1899 100644 --- a/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp +++ b/ftnoir_tracker_udp/ftnoir_tracker_udp_dialog.cpp @@ -18,7 +18,7 @@ void TrackerControls::doOK() { } void TrackerControls::doCancel() { - s.b->revert(); + s.b->reload(); this->close(); } -- cgit v1.2.3