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/* Copyright (c) 2012 Patrick Ruoff
* Copyright (c) 2014-2016 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.
*/
#include "ftnoir_tracker_pt.h"
#include "cv/video-widget.hpp"
#include "compat/camera-names.hpp"
#include "compat/math-imports.hpp"
#include "pt-api.hpp"
#include <QHBoxLayout>
#include <QDebug>
#include <QFile>
#include <QCoreApplication>
namespace pt_module {
Tracker_PT::Tracker_PT(pointer<pt_runtime_traits> const& traits) :
traits { traits },
s { traits->get_module_name() },
point_extractor { traits->make_point_extractor() },
camera { traits->make_camera() },
frame { traits->make_frame() },
preview_frame { traits->make_preview(preview_width, preview_height) }
{
cv::setBreakOnError(true);
cv::setNumThreads(1);
connect(s.b.get(), SIGNAL(saving()), this, SLOT(maybe_reopen_camera()), Qt::DirectConnection);
connect(&s.fov, SIGNAL(valueChanged(int)), this, SLOT(set_fov(int)), Qt::DirectConnection);
set_fov(s.fov);
}
Tracker_PT::~Tracker_PT()
{
requestInterruption();
wait();
QMutexLocker l(&camera_mtx);
camera->stop();
}
void Tracker_PT::run()
{
maybe_reopen_camera();
while(!isInterruptionRequested())
{
pt_camera_info info;
bool new_frame = false;
{
QMutexLocker l(&camera_mtx);
if (camera)
std::tie(new_frame, info) = camera->get_frame(*frame);
}
if (new_frame)
{
*preview_frame = *frame;
point_extractor->extract_points(*frame, *preview_frame, points);
point_count = points.size();
const f fx = pt_camera_info::get_focal_length(info.fov, info.res_x, info.res_y);
const bool success = points.size() >= PointModel::N_POINTS;
Affine X_CM;
{
QMutexLocker l(¢er_lock);
if (success)
{
point_tracker.track(points,
PointModel(s),
info,
s.dynamic_pose ? s.init_phase_timeout : 0);
ever_success = true;
}
QMutexLocker l2(&data_lock);
X_CM = point_tracker.pose();
}
Affine X_MH(mat33::eye(), vec3(s.t_MH_x, s.t_MH_y, s.t_MH_z));
Affine X_GH = X_CM * X_MH;
vec3 p = X_GH.t; // head (center?) position in global space
preview_frame->draw_head_center((p[0] * fx) / p[2], (p[1] * fx) / p[2]);
video_widget->update_image(preview_frame->get_bitmap());
{
int w = -1, h = -1;
video_widget->get_preview_size(w, h);
if (w != preview_width || h != preview_height)
{
preview_width = w; preview_height = h;
preview_frame = traits->make_preview(w, h);
}
}
}
}
}
bool Tracker_PT::maybe_reopen_camera()
{
QMutexLocker l(&camera_mtx);
return camera->start(camera_name_to_index(s.camera_name),
s.cam_fps, s.cam_res_x, s.cam_res_y);
}
void Tracker_PT::set_fov(int value)
{
QMutexLocker l(&camera_mtx);
camera->set_fov(value);
}
module_status Tracker_PT::start_tracker(QFrame* video_frame)
{
//video_frame->setAttribute(Qt::WA_NativeWindow);
video_widget = std::make_unique<cv_video_widget>(video_frame);
layout = std::make_unique<QHBoxLayout>(video_frame);
layout->setContentsMargins(0, 0, 0, 0);
layout->addWidget(video_widget.get());
video_frame->setLayout(layout.get());
//video_widget->resize(video_frame->width(), video_frame->height());
video_frame->show();
start(QThread::HighPriority);
return {};
}
void Tracker_PT::data(double *data)
{
if (ever_success)
{
Affine X_CM;
{
QMutexLocker l(&data_lock);
X_CM = point_tracker.pose();
}
Affine X_MH(mat33::eye(), vec3(s.t_MH_x, s.t_MH_y, s.t_MH_z));
Affine X_GH(X_CM * X_MH);
// translate rotation matrix from opengl (G) to roll-pitch-yaw (E) frame
// -z -> x, y -> z, x -> -y
mat33 R_EG(0, 0,-1,
-1, 0, 0,
0, 1, 0);
mat33 R(R_EG * X_GH.R * R_EG.t());
// get translation(s)
const vec3& t = X_GH.t;
// extract rotation angles
double alpha, beta, gamma;
beta = atan2( (double)-R(2,0), (double)sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) );
alpha = atan2( (double)R(1,0), (double)R(0,0) );
gamma = atan2( (double)R(2,1), (double)R(2,2) );
constexpr double rad2deg = 180/M_PI;
data[Yaw] = rad2deg * alpha;
data[Pitch] = -rad2deg * beta;
data[Roll] = rad2deg * gamma;
// convert to cm
data[TX] = (double)t[0] / 10;
data[TY] = (double)t[1] / 10;
data[TZ] = (double)t[2] / 10;
}
}
bool Tracker_PT::center()
{
QMutexLocker l(¢er_lock);
point_tracker.reset_state();
return false;
}
int Tracker_PT::get_n_points()
{
return int(point_count);
}
bool Tracker_PT::get_cam_info(pt_camera_info& info)
{
QMutexLocker l(&camera_mtx);
bool ret;
std::tie(ret, info) = camera->get_info();
return ret;
}
Affine Tracker_PT::pose() const
{
QMutexLocker l(&data_lock);
return point_tracker.pose();
}
} // ns pt_module
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