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//
// libavg - Media Playback Engine.
// Copyright (C) 2003-2014 Ulrich von Zadow
//
// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2 of the License, or (at your option) any later version.
//
// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
//
// Current versions can be found at www.libavg.de
//
#include "TrackerCalibrator.h"
#include "TrackerInputDevice.h"
#include "../base/ObjectCounter.h"
#include "../base/Exception.h"
#include "../imaging/DeDistort.h"
extern "C" {
#include "../lmfit/lmmin.h"
#include "../lmfit/lm_eval.h"
}
using namespace std;
#define NUM_POINTS 4
#define MIN_DIST_FROM_BORDER 30
//#define DEBUG_FIT 1
#define MAX_ITERATIONS 50000
namespace avg {
enum Params { DISPSCALE_X, DISPSCALE_Y, DISPOFFSET_X, DISPOFFSET_Y, DIST_2,
ANGLE, TRAPEZ, NUM_PARAMS};
void lm_print_tracker( int n_par, double* p, int m_dat, double* fvec,
void *data, int iflag, int iter, int nfev )
/*
* data : for soft control of printout behaviour, add control
* variables to the data struct
* iflag : 0 (init) 1 (outer loop) 2(inner loop) -1(terminated)
* iter : outer loop counter
* nfev : number of calls to *evaluate
*/
{
TrackerCalibrator *mydata;
mydata = static_cast<TrackerCalibrator*>(data);
mydata->print_tracker(n_par, p, m_dat, fvec, iflag, iter, nfev);
}
void lm_evaluate_tracker(double* p, int m_dat, double* fvec,
void *data, int *info)
{
TrackerCalibrator *mydata = static_cast<TrackerCalibrator*>(data);
mydata->evaluate_tracker(p, m_dat, fvec, info);
}
TrackerCalibrator::TrackerCalibrator(const IntPoint& CamExtents,
const IntPoint& DisplayExtents)
: m_CurPoint(0),
m_CamExtents(CamExtents),
m_DisplayExtents(DisplayExtents),
m_bCurPointSet(false)
{
ObjectCounter::get()->incRef(&typeid(*this));
IntPoint OffsetPerPoint((DisplayExtents.x-MIN_DIST_FROM_BORDER*2)/(NUM_POINTS-1),
(DisplayExtents.y-MIN_DIST_FROM_BORDER*2)/(NUM_POINTS-1));
for (int y=0; y<NUM_POINTS; y++) {
for (int x=0; x<NUM_POINTS; x++) {
m_DisplayPoints.push_back(
IntPoint(OffsetPerPoint.x*x+MIN_DIST_FROM_BORDER,
OffsetPerPoint.y*y+MIN_DIST_FROM_BORDER));
m_CamPoints.push_back(glm::dvec2(0,0));
}
}
}
TrackerCalibrator::~TrackerCalibrator()
{
ObjectCounter::get()->decRef(&typeid(*this));
}
bool TrackerCalibrator::nextPoint()
{
if (!m_bCurPointSet) {
// There is no data for the previous point, so delete it.
m_DisplayPoints.erase(m_DisplayPoints.begin()+m_CurPoint);
m_CamPoints.erase(m_CamPoints.begin()+m_CurPoint);
} else {
m_CurPoint++;
}
m_bCurPointSet = false;
if (m_CurPoint < m_DisplayPoints.size()) {
return true;
} else {
return false;
}
}
IntPoint TrackerCalibrator::getDisplayPoint()
{
return m_DisplayPoints[m_CurPoint];
}
void TrackerCalibrator::setCamPoint(const glm::vec2& pt)
{
m_CamPoints[m_CurPoint] = pt;
m_bCurPointSet = true;
}
DeDistortPtr TrackerCalibrator::makeTransformer()
{
lm_control_type control;
lm_initialize_control( &control );
control.maxcall=MAX_ITERATIONS;
// control.epsilon=1e-8;
// control.ftol = 1e-4;
// control.xtol = 1e-4;
// control.gtol = 1e-4;
int dat = int(m_DisplayPoints.size());
AVG_ASSERT(dat == int(m_CamPoints.size()));
//fill in reasonable defaults
m_DistortParams.clear();
m_DistortParams.push_back(0);
m_Angle = 0;
m_TrapezoidFactor = 0.0;
m_DisplayOffset= glm::vec2(0,0);
m_DisplayScale = glm::vec2(2,2);
int n_p = NUM_PARAMS;
//should really match the Params enum!!!!
double p[] = {
m_DisplayScale.x,
m_DisplayScale.y,
m_DisplayOffset.x,
m_DisplayOffset.y,
m_DistortParams[0],
m_Angle,
m_TrapezoidFactor
};
initThisFromDouble(p);
lm_minimize(dat, n_p, p, lm_evaluate_tracker, lm_print_tracker,
this, &control );
initThisFromDouble(p);
/*
for(int i=0;i<NUM_POINTS*NUM_POINTS;i++) {
glm::vec2 screenPoint = m_CurrentTrafo->transformBlobToScreen(
m_CurrentTrafo->transform_point(m_CamPoints[i]));
cerr << "sample value of trafo of (cam) "
<< m_CamPoints[i]<<" : (transformed) "
<< screenPoint
<< "== (display)"
<< glm::vec2(m_DisplayPoints[i])
<< " dist="
<< calcDist(glm::vec2(m_DisplayPoints[i]), screenPoint)
<< endl;
}
cerr<<" DisplayScale = "<<m_DisplayScale << endl;
cerr<<" DisplayOffset= "<<m_DisplayOffset << endl;
cerr<<" unDistortionParams = "<<m_DistortParams[0] << ", " << m_DistortParams[1]
<< ", " << m_DistortParams[2] << endl;
cerr<<" Trapezoid = "<<m_TrapezoidFactor << endl;
cerr<<" angle = "<<m_Angle << endl;
*/
return m_CurrentTrafo;
}
void TrackerCalibrator::initThisFromDouble(double *p)
{
m_DisplayOffset.x = p[DISPOFFSET_X];
m_DisplayOffset.y = p[DISPOFFSET_Y];
m_DisplayScale.x = p[DISPSCALE_X];
m_DisplayScale.y = p[DISPSCALE_Y];
m_DistortParams.clear();
m_DistortParams.push_back( p[DIST_2]);
m_Angle = p[ANGLE];
m_TrapezoidFactor = p[TRAPEZ];
m_CurrentTrafo = DeDistortPtr(
new DeDistort(glm::vec2(m_CamExtents),
m_DistortParams,
m_Angle,
m_TrapezoidFactor,
m_DisplayOffset,
m_DisplayScale
)
);
}
void TrackerCalibrator::evaluate_tracker(double *p, int m_dat, double* fvec, int* info)
{
initThisFromDouble(p);
for (int i=0; i<m_dat; i++) {
glm::dvec2 resultPt = m_CurrentTrafo->transformBlobToScreen(
m_CurrentTrafo->transform_point(m_CamPoints[i]));
fvec[i] = glm::length(resultPt - glm::dvec2(m_DisplayPoints[i]));
}
*info = *info; /* to prevent a 'unused variable' warning */
/* if <parameters drifted away> { *info = -1; } */
}
void TrackerCalibrator::print_tracker(int n_par, double *p, int m_dat,
double *fvec, int iflag, int iter, int nfev)
{
#ifdef DEBUG_FIT
initThisFromDouble(p);
if (iflag==2) {
printf ("trying step in gradient direction\n");
} else if (iflag==1) {
printf ("determining gradient (iteration %d)\n", iter);
} else if (iflag==0) {
printf ("starting minimization\n");
} else if (iflag==-1) {
printf ("terminated after %d evaluations\n", nfev);
}
#endif
AVG_ASSERT(n_par == NUM_PARAMS);
}
}
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