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
|
/* Copyright (c) 2013 Stanislaw Halik <sthalik@misaki.pl>
*
* 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 "ui_aruco-trackercontrols.h"
#include "ar_video_widget.h"
#include <QObject>
#include <QThread>
#include <QMutex>
#include <QHBoxLayout>
#include <QDialog>
#include <QTimer>
#include "facetracknoir/options.h"
#include "ftnoir_tracker_aruco/trans_calib.h"
#include "facetracknoir/plugin-api.hpp"
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
using namespace options;
struct settings {
pbundle b;
value<double> fov, headpos_x, headpos_y, headpos_z;
value<int> camera_index, force_fps, resolution;
value<int> desaturate;
settings() :
b(bundle("aruco-tracker")),
fov(b, "field-of-view", 56),
headpos_x(b, "headpos-x", 0),
headpos_y(b, "headpos-y", 0),
headpos_z(b, "headpos-z", 0),
camera_index(b, "camera-index", 0),
force_fps(b, "force-fps", 0),
resolution(b, "force-resolution", 0),
desaturate(b, "desaturate", 0)
{}
};
class Tracker : protected QThread, public ITracker
{
Q_OBJECT
static constexpr double c_search_window = 2.9;
public:
Tracker();
~Tracker() override;
void StartTracker(QFrame* frame);
void GetHeadPoseData(double *data);
void run();
void reload() { s.b->reload(); }
void getRT(cv::Matx33d &r, cv::Vec3d &t);
private:
QMutex mtx;
volatile bool stop;
QHBoxLayout* layout;
ArucoVideoWidget* videoWidget;
settings s;
double pose[6];
cv::Mat frame;
cv::VideoCapture camera;
cv::Matx33d r;
cv::Vec3d t;
};
class TrackerControls : public QWidget, public ITrackerDialog
{
Q_OBJECT
public:
TrackerControls();
void registerTracker(ITracker * x) { tracker = dynamic_cast<Tracker*>(x); }
void unRegisterTracker() { tracker = nullptr; }
private:
Ui::Form ui;
Tracker* tracker;
settings s;
TranslationCalibrator calibrator;
QTimer calib_timer;
private slots:
void doOK();
void doCancel();
void toggleCalibrate();
void cleanupCalib();
void update_tracker_calibration();
};
|
