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/* 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>
using namespace std;
using namespace cv;
using namespace boost;
//-----------------------------------------------------------------------------
Tracker::Tracker()
: frame_count(0), commands(0), video_widget(NULL)
{
qDebug()<<"Tracker Const";
TrackerSettings settings;
settings.load_ini();
apply(settings);
qDebug()<<"Tracker Starting";
start();
}
Tracker::~Tracker()
{
set_command(ABORT);
wait();
if (video_widget) delete video_widget;
}
void Tracker::set_command(Command command)
{
QMutexLocker lock(&mutex);
commands |= command;
}
void Tracker::reset_command(Command command)
{
QMutexLocker lock(&mutex);
commands &= ~command;
}
void Tracker::run()
{
qDebug()<<"Tracker Thread started";
time.start();
forever
{
{
QMutexLocker lock(&mutex);
if (commands & ABORT) break;
if (commands & PAUSE) continue;
commands = 0;
float dt = time.elapsed() / 1000.0;
time.restart();
frame = camera.get_frame(dt);
if (!frame.empty())
{
const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, draw_frame);
point_tracker.track(points, camera.get_info().f, dt);
frame_count++;
}
}
msleep(sleep_time);
}
qDebug()<<"Tracker Thread stopping";
}
void Tracker::apply(const TrackerSettings& settings)
{
apply_without_camindex(settings);
QMutexLocker lock(&mutex);
qDebug()<<"Tracker: setting cam index "<<settings.cam_index;
camera.set_index(settings.cam_index);
qDebug()<<"Tracker: done setting cam index";
}
void Tracker::apply_without_camindex(const TrackerSettings& settings)
{
qDebug()<<"Tracker::apply_without_camindex";
QMutexLocker lock(&mutex);
camera.set_f(settings.cam_f);
point_extractor.threshold_val = settings.threshold;
point_extractor.min_size = settings.min_point_size;
point_extractor.max_size = settings.max_point_size;
point_tracker.point_model = boost::shared_ptr<PointModel>(new PointModel(settings.M01, settings.M02));
sleep_time = settings.sleep_time;
draw_frame = settings.video_widget;
t_MH = settings.t_MH;
}
//-----------------------------------------------------------------------------
// ITracker interface
void Tracker::Initialize(QFrame *videoframe)
{
const int VIDEO_FRAME_WIDTH = 252;
const int VIDEO_FRAME_HEIGHT = 189;
qDebug("Tracker::Initialize()");
// setup video frame
videoframe->setAttribute(Qt::WA_NativeWindow);
videoframe->show();
video_widget = new VideoWidget(videoframe);
QHBoxLayout* layout = new QHBoxLayout();
layout->setContentsMargins(0, 0, 0, 0);
layout->addWidget(video_widget);
if (videoframe->layout()) delete videoframe->layout();
videoframe->setLayout(layout);
video_widget->resize(VIDEO_FRAME_WIDTH, VIDEO_FRAME_HEIGHT);
}
void Tracker::refreshVideo()
{
if (video_widget)
{
Mat frame_copy;
shared_ptr< vector<Vec2f> > points;
//qDebug("Tracker::refreshVideo()");
{
QMutexLocker lock(&mutex);
if (!draw_frame || frame.empty()) return;
// copy the frame and points from the tracker thread
frame_copy = frame.clone();
points = shared_ptr< vector<Vec2f> >(new vector<Vec2f>(point_extractor.get_points()));
}
video_widget->update(frame_copy, points);
}
}
void Tracker::StartTracker(HWND parent_window)
{
reset_command(PAUSE);
}
void Tracker::StopTracker(bool exit)
{
set_command(PAUSE);
}
bool Tracker::GiveHeadPoseData(THeadPoseData *data)
{
const float rad2deg = 180.0/3.14159265;
{
QMutexLocker lock(&mutex);
FrameTrafo pose = point_tracker.get_pose();
// get translation
Vec3f p = pose.R * t_MH + pose.t;
data->x = p[0] / 10.0; // convert to cm
data->y = p[1] / 10.0;
data->z = p[2] / 10.0;
// extract rotation angles from rotation matrix
const Matx33f& R = pose.R;
data->yaw = atan2( -R(2,0), sqrt(R(0,0)*R(0,0) + R(1,0)*R(1,0)) );
float cos_beta = cos(data->yaw);
if (cos_beta != 0)
{
data->pitch = rad2deg * atan2( R(2,1)/cos_beta, R(2,2)/cos_beta);
data->roll = rad2deg * atan2( R(1,0)/cos_beta, R(0,0)/cos_beta);
}
data->yaw *= rad2deg;
}
refreshVideo();
return true;
}
//-----------------------------------------------------------------------------
#pragma comment(linker, "/export:GetTracker=_GetTracker@0")
FTNOIR_TRACKER_BASE_EXPORT TRACKERHANDLE __stdcall GetTracker()
{
return new Tracker;
}
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