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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 "options/options.hpp"
#include "cv/translation-calibrator.hpp"
#include "api/plugin-api.hpp"
#include "video/video-widget.hpp"
#include "compat/timer.hpp"
#include "aruco/markerdetector.h"
#include <QObject>
#include <QThread>
#include <QMutex>
#include <QHBoxLayout>
#include <QDialog>
#include <QTimer>
#include <memory>
#include <cinttypes>
#include <opencv2/core.hpp>
#include <opencv2/videoio.hpp>
// value 0->1
//#define DEBUG_UNSHARP_MASKING .75
//canny thresholding
//#define USE_EXPERIMENTAL_CANNY
using namespace options;
enum aruco_fps
{
fps_default = 0,
fps_30 = 1,
fps_60 = 2,
fps_75 = 3,
fps_125 = 4,
fps_200 = 5,
fps_50 = 6,
fps_100 = 7,
fps_120 = 8,
fps_MAX = 9,
};
struct settings : opts {
value<double> headpos_x { b, "headpos-x", 0 },
headpos_y { b, "headpos-y", 0 },
headpos_z { b, "headpos-z", 0 };
value<QString> camera_name { b, "camera-name", ""};
value<int> resolution { b, "force-resolution", 0 };
value<int> fov { b, "field-of-view", 56 };
value<aruco_fps> force_fps { b, "force-fps", fps_default };
settings();
};
class aruco_tracker : protected virtual QThread, public ITracker
{
Q_OBJECT
static constexpr float c_search_window = 1.3f;
public:
aruco_tracker();
~aruco_tracker() override;
module_status start_tracker(QFrame* frame) override;
void data(double *data) override;
void run() override;
void getRT(cv::Matx33d &r, cv::Vec3d &t);
QMutex camera_mtx;
cv::VideoCapture camera;
private:
bool detect_with_roi();
bool detect_without_roi();
bool open_camera();
void set_intrinsics();
void update_fps();
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();
void set_detector_params();
void cycle_detection_params();
QMutex mtx;
std::unique_ptr<cv_video_widget> videoWidget;
std::unique_ptr<QHBoxLayout> layout;
settings s;
double pose[6] {}, fps = 0;
double no_detection_timeout = 0;
cv::Matx33d r;
cv::Matx33d intrinsics = cv::Matx33d::eye();
cv::Vec3d t;
cv::Vec3d rvec, tvec;
cv::Matx33d m_r, m_q, rmat = cv::Matx33d::eye();
cv::Vec3d euler;
std::vector<cv::Point3f> roi_points {4};
std::vector<cv::Point2f> roi_projection;
std::vector<cv::Point2f> repr2;
std::vector<cv::Point3f> obj_points {4};
aruco::MarkerDetector detector;
std::vector<aruco::Marker> markers;
cv::Mat frame, grayscale, color;
cv::Rect last_roi { 65535, 65535, 0, 0 };
Timer fps_timer, last_detection_timer;
unsigned adaptive_size_pos { 0 };
bool use_otsu = false;
#if !defined USE_EXPERIMENTAL_CANNY
static constexpr int adaptive_thres = 6;
#else
static constexpr int adaptive_thres = 3;
#endif
static constexpr double timeout = .35;
static constexpr double timeout_backoff_c = .25;
static constexpr float size_min = 0.05f;
static constexpr float size_max = 0.5f;
static constexpr double RC = .25;
#ifdef DEBUG_UNSHARP_MASKING
static constexpr double gauss_kernel_size = 3;
cv::Mat blurred;
#endif
};
class aruco_dialog : public ITrackerDialog
{
Q_OBJECT
public:
aruco_dialog();
void register_tracker(ITracker * x) override { tracker = static_cast<aruco_tracker*>(x); }
void unregister_tracker() override { tracker = nullptr; }
private:
void make_fps_combobox();
Ui::Form ui;
aruco_tracker* tracker;
settings s;
TranslationCalibrator calibrator;
QTimer calib_timer;
private Q_SLOTS:
void doOK();
void doCancel();
void toggleCalibrate();
void cleanupCalib();
void update_tracker_calibration();
void camera_settings();
void update_camera_settings_state(const QString& name);
};
class aruco_metadata : public Metadata
{
Q_OBJECT
QString name() override { return QString("aruco -- paper marker tracker"); }
QIcon icon() override { return QIcon(":/images/aruco.png"); }
};
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