1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
|
/* 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 <QHBoxLayout>
#include <cmath>
#include <QDebug>
#include <QFile>
#include <QCoreApplication>
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()
: commands(0),
video_widget(NULL),
video_frame(NULL),
tracking_valid(false)
{
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();
float dt;
bool new_frame;
forever
{
QMutexLocker lock(&mutex);
if (commands & ABORT) break;
if (commands & PAUSE) continue;
commands = 0;
dt = time.elapsed() / 1000.0;
time.restart();
new_frame = camera.get_frame(dt, &frame);
if (new_frame && !frame.empty())
{
frame = frame_rotation.rotate_frame(frame);
const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, false);
tracking_valid = point_tracker.track(points, camera.get_info().f, dt);
video_widget->update_image(frame);
}
#ifdef PT_PERF_LOG
log_stream<<"dt: "<<dt;
if (!frame.empty()) log_stream<<" fps: "<<camera.get_info().fps;
log_stream<<"\n";
#endif
}
qDebug()<<"Tracker:: Thread stopping";
}
void Tracker::apply(settings& s)
{
qDebug()<<"Tracker:: Applying settings";
QMutexLocker lock(&mutex);
camera.set_device_index(s.cam_index);
camera.set_res(s.cam_res_x, s.cam_res_y);
camera.set_fps(s.cam_fps);
camera.set_f(s.cam_f);
frame_rotation.rotation = static_cast<RotationType>(static_cast<int>(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<PointModel>(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<Vec2f> >& 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<Vec2f> >(new vector<Vec2f>(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;
}
|
