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
|
/* Copyright (c) 2013-2015 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 "api/plugin-api.hpp"
#include "include/markerdetector.h"
#include "cv/video-widget.hpp"
#include "cv/translation-calibrator.hpp"
#include <opencv2/core.hpp>
#include <opencv2/videoio.hpp>
#include <QObject>
#include <QThread>
#include <QMutex>
#include <QHBoxLayout>
#include <QDialog>
#include <QTimer>
#include <cinttypes>
#include "options/options.hpp"
using namespace options;
struct settings : opts {
value<int> fov;
value<double> headpos_x, headpos_y, headpos_z;
value<QString> camera_name;
value<int> force_fps, resolution;
settings() :
opts("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_name(b, "camera-name", ""),
force_fps(b, "force-fps", 0),
resolution(b, "force-resolution", 0)
{}
};
class dialog_aruco;
class tracker_aruco : protected QThread, public ITracker
{
Q_OBJECT
friend class dialog_aruco;
static constexpr float c_search_window = 1.3f;
public:
tracker_aruco();
~tracker_aruco() override;
void start_tracker(QFrame* frame) override;
void data(double *data) override;
void run() override;
void getRT(cv::Matx33d &r, cv::Vec3d &t);
private:
bool detect_with_roi();
bool detect_without_roi();
bool open_camera();
void set_intrinsics();
void update_fps(double dt);
void draw_ar(bool ok);
void clamp_last_roi();
void set_points();
void draw_centroid();
void set_last_roi();
void set_rmat();
void set_roi_from_projection();
cv::VideoCapture camera;
QMutex camera_mtx;
QMutex mtx;
volatile bool stop;
QHBoxLayout* layout;
cv_video_widget* videoWidget;
settings s;
double pose[6];
cv::Mat frame, grayscale, color;
cv::Matx33d r;
std::vector<cv::Point3f> obj_points;
cv::Matx33d intrinsics;
cv::Matx14f dist_coeffs;
aruco::MarkerDetector detector;
std::vector<aruco::Marker> markers;
cv::Vec3d t;
cv::Vec3d rvec, tvec;
std::vector<cv::Point2f> roi_projection;
std::vector<cv::Point2f> repr2;
cv::Matx33d m_r, m_q, rmat;
cv::Vec3d euler;
std::vector<cv::Point3f> roi_points;
cv::Rect last_roi;
double freq, cur_fps;
std::uint64_t last_time;
static constexpr float size_min = 0.05f;
static constexpr float size_max = 0.3f;
static constexpr double alpha_ = .95;
};
class dialog_aruco : public ITrackerDialog
{
Q_OBJECT
public:
dialog_aruco();
void register_tracker(ITracker * x) override { tracker = static_cast<tracker_aruco*>(x); }
void unregister_tracker() override { tracker = nullptr; }
private:
Ui::dialog_aruco ui;
tracker_aruco* tracker;
settings s;
TranslationCalibrator calibrator;
QTimer calib_timer;
private slots:
void doOK();
void doCancel();
void toggleCalibrate();
void cleanupCalib();
void update_tracker_calibration();
void set_camera_settings_available(const QString& camera_name);
void show_camera_settings();
};
class aruco_metadata : public Metadata
{
QString name() { return QString(QCoreApplication::translate("aruco_metadata", "aruco -- paper marker tracker")); }
QIcon icon() { return QIcon(":/images/aruco.png"); }
};
|
