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/* Copyright (c) 2012 Patrick Ruoff
* Copyright (c) 2014-2015 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.
*/
#include "ftnoir_tracker_pt.h"
#include <QHBoxLayout>
#include <cmath>
#include <QDebug>
#include <QFile>
#include <QCoreApplication>
#include "opentrack-compat/camera-names.hpp"
#include "opentrack-compat/sleep.hpp"
#include <functional>
//#define PT_PERF_LOG //log performance
//-----------------------------------------------------------------------------
Tracker_PT::Tracker_PT() :
video_widget(NULL),
video_frame(NULL),
ever_success(false),
commands(0)
{
connect(s.b.get(), SIGNAL(saving()), this, SLOT(apply_settings()));
}
Tracker_PT::~Tracker_PT()
{
set_command(ABORT);
wait();
if (video_widget)
delete video_widget;
video_widget = NULL;
if (video_frame)
{
if (video_frame->layout()) delete video_frame->layout();
}
// fast start/stop causes breakage
portable::sleep(1000);
camera.stop();
}
void Tracker_PT::set_command(Command command)
{
//QMutexLocker lock(&mutex);
commands |= command;
}
void Tracker_PT::reset_command(Command command)
{
//QMutexLocker lock(&mutex);
commands &= ~command;
}
bool Tracker_PT::get_focal_length(float& ret)
{
QMutexLocker l(&camera_mtx);
CamInfo info;
const bool res = camera.get_info(info);
if (res)
{
static constexpr double pi = 3.14159265359;
const int w = info.res_x, h = info.res_y;
const double diag = sqrt(1. + h/(double)w * h/(double)w);
const double diag_fov = static_cast<int>(s.fov) * pi / 180.;
const double fov = 2.*atan(tan(diag_fov/2.0)/diag);
ret = .5 / tan(.5 * fov);
return true;
}
return false;
}
void Tracker_PT::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
apply_settings();
cv::Mat frame_;
while((commands & ABORT) == 0)
{
const double dt = time.elapsed() * 1e-9;
time.start();
bool new_frame;
{
QMutexLocker l(&camera_mtx);
new_frame = camera.get_frame(dt, &frame);
if (frame.rows != frame_.rows || frame.cols != frame_.cols)
frame_ = cv::Mat(frame.rows, frame.cols, CV_8UC3);
frame.copyTo(frame_);
}
if (new_frame && !frame_.empty())
{
const auto& points = point_extractor.extract_points(frame_);
float fx;
if (!get_focal_length(fx))
continue;
const bool success = points.size() >= PointModel::N_POINTS;
if (success)
{
point_tracker.track(points, PointModel(s), fx, s.dynamic_pose, s.init_phase_timeout);
ever_success = true;
}
Affine X_CM = pose();
std::function<void(const cv::Vec2f&, const cv::Scalar)> fun = [&](const cv::Vec2f& p, const cv::Scalar color)
{
auto p2 = cv::Point(p[0] * frame_.cols + frame_.cols/2, -p[1] * frame_.cols + frame_.rows/2);
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);
};
for (unsigned i = 0; i < points.size(); i++)
{
fun(points[i], cv::Scalar(0, 255, 0));
}
{
Affine X_MH(cv::Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z)); // just copy pasted these lines from below
Affine X_GH = X_CM * X_MH;
cv::Vec3f p = X_GH.t; // head (center?) position in global space
cv::Vec2f p_(p[0] / p[2] * fx, p[1] / p[2] * fx); // projected to screen
fun(p_, cv::Scalar(0, 0, 255));
}
video_widget->update_image(frame_);
}
}
qDebug()<<"Tracker:: Thread stopping";
}
void Tracker_PT::apply_settings()
{
qDebug() << "Tracker:: Applying settings";
QMutexLocker l(&camera_mtx);
CamInfo info = camera.get_desired();
const QString name = camera.get_desired_name();
if (s.cam_fps != info.fps ||
s.cam_res_x != info.res_x ||
s.cam_res_y != info.res_y ||
s.camera_name != name)
{
qDebug() << "pt: camera reset needed";
camera.stop();
camera.set_device(s.camera_name);
camera.set_res(s.cam_res_x, s.cam_res_y);
camera.set_fps(s.cam_fps);
frame = cv::Mat();
camera.start();
}
else
qDebug() << "pt: camera not needing reset";
qDebug() << "Tracker::apply ends";
}
void Tracker_PT::start_tracker(QFrame *parent_window)
{
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());
start();
}
void Tracker_PT::data(double *data)
{
if (ever_success)
{
Affine X_CM = pose();
Affine X_MH(cv::Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z));
Affine X_GH = X_CM * X_MH;
cv::Matx33f R = X_GH.R;
cv::Vec3f t = X_GH.t;
// translate rotation matrix from opengl (G) to roll-pitch-yaw (E) frame
// -z -> x, y -> z, x -> -y
cv::Matx33f R_EG(0, 0,-1,
-1, 0, 0,
0, 1, 0);
R = R_EG * R * R_EG.t();
using std::atan2;
using std::sqrt;
// 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));
// extract rotation angles
data[Yaw] = rad2deg * alpha;
data[Pitch] = -rad2deg * beta;
data[Roll] = rad2deg * gamma;
// get translation(s)
// convert to cm
data[TX] = t[0] / 10;
data[TY] = t[1] / 10;
data[TZ] = t[2] / 10;
}
}
#include "ftnoir_tracker_pt_dialog.h"
OPENTRACK_DECLARE_TRACKER(Tracker_PT, TrackerDialog_PT, TrackerDll)
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