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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>
#include <QFile>
#include <QCoreApplication>
using namespace std;
using namespace cv;
//#define PT_PERF_LOG //log performance
//-----------------------------------------------------------------------------
Tracker::Tracker()
: mutex(QMutex::Recursive),
commands(0),
video_widget(NULL),
video_frame(NULL)
{
connect(s.b.get(), SIGNAL(saving()), this, SLOT(apply_settings()));
}
Tracker::~Tracker()
{
set_command(ABORT);
wait();
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;
}
float Tracker::get_focal_length()
{
static constexpr float pi = 3.1415926f;
const float fov = static_cast<int>(s.fov) * pi / 180.f;
return 0.5f / tan(0.5f * fov);
}
void Tracker::run()
{
#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
while((commands & ABORT) == 0)
{
const double dt = time.elapsed() * 1e-9;
time.start();
cv::Mat frame;
const bool new_frame = camera.get_frame(dt, &frame);
if (new_frame && !frame.empty())
{
QMutexLocker lock(&mutex);
std::vector<cv::Vec2f> points = point_extractor.extract_points(frame);
if (points.size() == PointModel::N_POINTS)
point_tracker.track(points, PointModel(s), get_focal_length());
{
Affine CM;
pose(&CM);
cv::Vec3f MH(s.t_MH_x, s.t_MH_y, s.t_MH_z);
cv::Vec3f p = CM.t - MH;
float fx = get_focal_length();
cv::Vec2f p_(p[0] / p[2] * fx, p[1] / p[2] * fx);
points.push_back(p_);
}
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);
}
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()
{
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);
qDebug()<<"Tracker::apply ends";
}
void Tracker::start_tracker(QFrame *parent_window)
{
this->video_frame = parent_window;
video_frame->setAttribute(Qt::WA_NativeWindow);
video_frame->show();
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);
video_frame->setLayout(video_layout);
video_widget->resize(video_frame->width(), video_frame->height());
apply_settings();
camera.start();
start();
}
#ifndef OPENTRACK_API
void Tracker::StopTracker(bool exit)
{
set_command(PAUSE);
}
#endif
#ifdef OPENTRACK_API
#define THeadPoseData double
#endif
void Tracker::data(THeadPoseData *data)
{
Affine X_CM = point_tracker.pose();
Affine X_MH(Matx33f::eye(), cv::Vec3f(-s.t_MH_x, -s.t_MH_y, -s.t_MH_z));
Affine X_GH = X_CM * X_MH;
Matx33f R = X_GH.R;
Vec3f t = X_GH.t;
// 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));
QMutexLocker lock(&mutex);
// extract rotation angles
data[Yaw] = rad2deg * alpha;
data[Pitch] = -rad2deg * beta;
data[Roll] = rad2deg * gamma;
// get translation(s)
data[TX] = t[0] / 10.0; // convert to cm
data[TY] = t[1] / 10.0;
data[TZ] = t[2] / 10.0;
}
//-----------------------------------------------------------------------------
#ifdef OPENTRACK_API
extern "C" OPENTRACK_EXPORT ITracker* GetConstructor()
#else
#pragma comment(linker, "/export:GetTracker=_GetTracker@0")
OPENTRACK_EXPORT ITrackerPtr __stdcall GetTracker()
#endif
{
return new Tracker;
}
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