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/* 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/camera-dialog.hpp"
#include "cv/video-widget.hpp"
#include "cv/translation-calibrator.hpp"
#include <opencv2/core/core.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 TrackerControls;
class Tracker : protected QThread, public ITracker
{
Q_OBJECT
friend class TrackerControls;
static constexpr float c_search_window = 1.3f;
public:
Tracker();
~Tracker() 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 TrackerControls : public ITrackerDialog, protected camera_dialog
{
Q_OBJECT
public:
TrackerControls();
void register_tracker(ITracker * x) override { tracker = static_cast<Tracker*>(x); }
void unregister_tracker() override { 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();
void camera_settings();
};
class TrackerDll : public Metadata
{
QString name() { return QString("aruco -- paper marker tracker"); }
QIcon icon() { return QIcon(":/images/aruco.png"); }
};
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