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updating to the new Optitrack SDK #6

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b25c646
updating to the new Optitrack SDK
zzhang87 Mar 3, 2017
b857711
fixed bug that cuda matcher add control is not effective
zzhang87 May 27, 2017
18ebc2c
trivial
zzhang87 Jun 16, 2017
dc81c46
Merge pull request #1 from zzhang87/dev
zzhang87 Jun 16, 2017
0fae65c
added trajectory number notice per magnitude
zzhang87 Jul 11, 2017
1efc518
Merge pull request #2 from zzhang87/dev
zzhang87 Jul 11, 2017
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4 changes: 3 additions & 1 deletion CMakeLists.txt
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Expand Up @@ -35,14 +35,16 @@ set(Boost_USE_MULTITHREADED ON)
set(Boost_USE_STATIC_RUNTIME OFF)
set(Boost_NO_BOOST_CMAKE ON)
set(Boost_ADDITIONAL_VERSIONS "1.48" "1.48.0")
set(Boost_INCLUDE_DIR $ENV{Boost_INCLUDE_DIR})

find_package( Boost COMPONENTS thread chrono random date_time system REQUIRED )
message(STATUS "Boost information: BOOST_ROOT = $ENV{BOOST_ROOT}")
message(STATUS "Boost_INCLUDE_DIRS: ${Boost_INCLUDE_DIRS}")
message(STATUS "Boost_LIBRARY_DIRS: ${Boost_LIBRARY_DIRS}")

if (WIN32)
find_package( NP_CAMERASDK )
add_definitions(${Boost_LIB_DIAGNOSTIC_DEFINITIONS})
#add_definitions(${Boost_LIB_DIAGNOSTIC_DEFINITIONS})
include_directories($ENV{MSMPI_INC})
endif()

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29 changes: 14 additions & 15 deletions apps/lptOptitrack/optitrackcams.cpp
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Expand Up @@ -28,8 +28,8 @@ int main(int argc, char** argv) {

string input = (argc > 1 ? argv[1] : "../../../data/input/");
string output = (argc > 2 ? argv[2] : "../../../data/output/");
string cameras_file = input + "cameras.yaml"; //"../../../data/pivstd/4cams/cameras.yaml"; //
string camera_pairs_file = input + "camera_pairs.yaml"; //"../../../data/pivstd/4cams/camera_pairs.yaml"; //
string cameras_file = input + "8_cameras.yaml"; //"../../../data/pivstd/4cams/cameras.yaml"; //
string camera_pairs_file = input + "8_pairs.yaml"; //"../../../data/pivstd/4cams/camera_pairs.yaml"; //

lpt::StreamingPipeline pipeline;
pipeline.setQueueCapacity(1000);
Expand All @@ -46,36 +46,35 @@ int main(int argc, char** argv) {

auto matcher = lpt::PointMatcher::create();
matcher->params.match_threshold = 2.0;
matcher->params.match_threshold = 20;
// matcher->params.match_thresh_level = 20;

auto matcher_cuda = lpt::PointMatcherCUDA::create();
matcher_cuda->params.match_threshold = 2.0; //pixels
matcher_cuda->params.match_thresh_level = 20;
// matcher_cuda->params.match_threshold = 5.0; //pixels
// matcher_cuda->params.match_thresh_level = 20;

auto tracker = lpt::Tracker::create();
tracker->setCostCalculator(lpt::CostMinimumAcceleration::create());
tracker->params.min_radius = 4.0; //mm
tracker->params.min_radius_level = 4;
tracker->params.max_radius = 25.0; //mm
tracker->params.max_radius_level = 25;
tracker->params.KF_sigma_a = 1E-5;
tracker->params.KF_sigma_z = 1E-1;
tracker->params.KF_sigma_a = 2.75E-4;
tracker->params.KF_sigma_z = 1E-2;

bool KalmanFilter = false;

auto visualizer = lpt::Visualizer::create();
double grid_side_length = 400; // mm
double grid_width = 150; // mm
int cell_counts[3] = {40, 15, 15};
visualizer->getVolumeGrid()->setGridOrigin(-145, 33, -105); // nozzle exit: (X, Y, Z) = (105, -165, -100);
//visualizer->getVolumeGrid()->setGridOrigin(14, -23, -80);
double grid_size[3] = {2032, 1270, 1270}; // mm
double grid_width = 105; // mm
int cell_counts[3] = {21,11,11};//{51, 31, 31};
visualizer->getVolumeGrid()->setGridOrigin(-grid_size[0]/2, 584, -grid_size[2]/2);
//visualizer->getVolumeGrid()->setGridOrigin(150,0,0);
visualizer->getVolumeGrid()->setGridCellCounts(cell_counts[0], cell_counts[1], cell_counts[2]);
//visualizer->getVolumeGrid()->setGridDimensions( cell_counts[0]*grid_side_length/cell_counts[2], grid_side_length, grid_side_length); // mm
visualizer->getVolumeGrid()->setGridDimensions(grid_side_length, grid_width, grid_width);
//visualizer->getVolumeGrid()->setGridDimensions(200, 200, 100);
visualizer->getVolumeGrid()->setGridDimensions(grid_size[0], grid_size[1], grid_size[2]);

pipeline.setInputDataPath(input);
pipeline.setOutputDataPath(output);
pipeline.load_Rotation_Matrix();
pipeline.setKalmanFilter(KalmanFilter);
pipeline.attachCameraSystem(camera_system);
pipeline.attachImageProcessor(processor);
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2 changes: 1 addition & 1 deletion apps/lptVirtual/virtualcams.cpp
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Expand Up @@ -51,7 +51,7 @@ int main(int argc, char** argv) {
tracker->params.KF_sigma_a = 1E-5;
tracker->params.KF_sigma_z = 1E-1;

bool KalmanFilter = true;
bool KalmanFilter = false;

lpt::Visualizer::Ptr visualizer = lpt::Visualizer::create();
visualizer->getVolumeGrid()->setGridOrigin(0,0,0);
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105 changes: 0 additions & 105 deletions data/input/camera_pairs.yaml
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126 changes: 0 additions & 126 deletions data/input/cameras.yaml
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3 changes: 2 additions & 1 deletion modules/calib/include/calib.hpp
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Expand Up @@ -63,7 +63,7 @@ class Chessboard : public CalibrationBoard {

class CirclesGrid : public CalibrationBoard {
public:
CirclesGrid(cv::Size board_size = cv::Size(4, 11), double square_size = 16.62);
CirclesGrid(cv::Size board_size = cv::Size(4, 11), double square_size = 20.0);
bool find(lpt::ImageFrame& frame);
int find_circlesgrid_flags;
};
Expand Down Expand Up @@ -91,6 +91,7 @@ class Calibrator {
get_global_reference = false;
updated = false;
object = new lpt::ThreePointLine();
//board = new lpt::Chessboard(cv::Size(9, 6), 25.6);
board = new lpt::CirclesGrid();
calib_flags = CV_CALIB_FIX_ASPECT_RATIO | CV_CALIB_FIX_K3 | CV_CALIB_FIX_K4 | CV_CALIB_FIX_K5;
}
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