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-rw-r--r--tracker-neuralnet/ftnoir_tracker_neuralnet.cpp71
1 files changed, 6 insertions, 65 deletions
diff --git a/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp b/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp
index a1a3526b..59e17063 100644
--- a/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp
+++ b/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp
@@ -13,7 +13,6 @@
#include "compat/math-imports.hpp"
#include "compat/timer.hpp"
#include "compat/check-visible.hpp"
-#include "compat/camera-names.hpp"
#include "cv/init.hpp"
#include <omp.h>
@@ -84,8 +83,7 @@ struct OnScopeExit
CamIntrinsics make_intrinsics(const cv::Mat& img, const Settings& settings)
{
const int w = img.cols, h = img.rows;
- //const double diag_fov = settings.fov * M_PI / 180.;
- const double diag_fov = 60 * M_PI / 180.; (void)settings;
+ const double diag_fov = settings.fov * M_PI / 180.;
const double fov_w = 2.*atan(tan(diag_fov/2.)/sqrt(1. + h/(double)w * h/(double)w));
const double fov_h = 2.*atan(tan(diag_fov/2.)/sqrt(1. + w/(double)h * w/(double)h));
const double focal_length_w = 1. / tan(.5 * fov_w);
@@ -353,7 +351,7 @@ bool NeuralNetTracker::detect()
last_pose_affine_ = pose_affine;
}
- draw_gizmos(*face, pose_affine);
+ draw_gizmos(*face, last_pose_affine_);
return true;
}
@@ -503,38 +501,17 @@ bool NeuralNetTracker::load_and_initialize_model()
bool NeuralNetTracker::open_camera()
{
-#if 0
int rint = std::clamp(*settings_.resolution, 0, (int)std::size(resolution_choices)-1);
resolution_tuple res = resolution_choices[rint];
int fps = enum_to_fps(settings_.force_fps);
-#endif
-
- video::impl::camera::info args {};
- args.width = 640;
- args.height = 480;
- args.fps = 60;
- args.use_mjpeg = true;
QMutexLocker l(&camera_mtx_);
- camera_ = nullptr;
- const QString name = settings_.camera_name;
-
- if (name.isEmpty() || name == "TrackHat sensor")
- {
- camera_ = video::make_camera_("TrackHat sensor");
- if (camera_ && camera_->start(args))
- return true;
- if (!name.isEmpty())
- return false;
- }
-
- camera_ = video::make_camera(name);
+ camera_ = video::make_camera(settings_.camera_name);
if (!camera_)
return false;
-#if 0
video::impl::camera::info args {};
if (res.width)
@@ -546,7 +523,6 @@ bool NeuralNetTracker::open_camera()
args.fps = fps;
args.use_mjpeg = settings_.use_mjpeg;
-#endif
if (!camera_->start(args))
{
@@ -624,8 +600,6 @@ void NeuralNetTracker::run()
std::chrono::duration_cast<std::chrono::milliseconds>(
clk.now() - t).count()*1.e-3);
}
-
- camera_ = nullptr;
}
@@ -670,23 +644,19 @@ void NeuralNetTracker::update_fps(double dt)
void NeuralNetTracker::data(double *data)
{
- auto tmp2 = [&]()
+ Affine tmp = [&]()
{
QMutexLocker lck(&mtx_);
return last_pose_affine_;
}();
- if (!tmp2)
- return;
- const auto& tmp = *tmp2;
-
const auto& mx = tmp.R.col(0);
const auto& my = tmp.R.col(1);
const auto& mz = -tmp.R.col(2);
const float yaw = std::atan2(mx(2), mx(0));
const float pitch = -std::atan2(-mx(1), std::sqrt(mx(2)*mx(2)+mx(0)*mx(0)));
- const float roll = -std::atan2(-my(2), mz(2));
+ const float roll = std::atan2(-my(2), mz(2));
{
constexpr double rad2deg = 180/M_PI;
data[Yaw] = rad2deg * yaw;
@@ -704,7 +674,7 @@ void NeuralNetTracker::data(double *data)
Affine NeuralNetTracker::pose()
{
QMutexLocker lck(&mtx_);
- return last_pose_affine_ ? *last_pose_affine_ : Affine{};
+ return last_pose_affine_;
}
std::tuple<cv::Size,double, double> NeuralNetTracker::stats() const
@@ -715,19 +685,16 @@ std::tuple<cv::Size,double, double> NeuralNetTracker::stats() const
void NeuralNetDialog::make_fps_combobox()
{
-#if 0
for (int k = 0; k < fps_MAX; k++)
{
const int hz = enum_to_fps(k);
const QString name = (hz == 0) ? tr("Default") : QString::number(hz);
ui_.cameraFPS->addItem(name, k);
}
-#endif
}
void NeuralNetDialog::make_resolution_combobox()
{
-#if 0
int k=0;
for (const auto [w, h] : resolution_choices)
{
@@ -736,7 +703,6 @@ void NeuralNetDialog::make_resolution_combobox()
: QString::number(w) + " x " + QString::number(h);
ui_.resolution->addItem(s, k++);
}
-#endif
}
@@ -748,44 +714,21 @@ NeuralNetDialog::NeuralNetDialog() :
make_fps_combobox();
make_resolution_combobox();
- ui_.cameraName->addItem(QString{});
for (const auto& str : video::camera_names())
ui_.cameraName->addItem(str);
tie_setting(settings_.camera_name, ui_.cameraName);
-#if 0
tie_setting(settings_.fov, ui_.cameraFOV);
-#endif
tie_setting(settings_.offset_fwd, ui_.tx_spin);
tie_setting(settings_.offset_up, ui_.ty_spin);
tie_setting(settings_.offset_right, ui_.tz_spin);
tie_setting(settings_.show_network_input, ui_.showNetworkInput);
tie_setting(settings_.roi_filter_alpha, ui_.roiFilterAlpha);
-#if 0
tie_setting(settings_.use_mjpeg, ui_.use_mjpeg);
-#endif
tie_setting(settings_.roi_zoom, ui_.roiZoom);
tie_setting(settings_.num_threads, ui_.threadCount);
-#if 0
tie_setting(settings_.resolution, ui_.resolution);
tie_setting(settings_.force_fps, ui_.cameraFPS);
-#endif
-
- {
- const struct {
- QString label;
- exposure_preset preset;
- } presets[] = {
- { QStringLiteral("Near (1-4ft)"), exposure_preset::near },
- { QStringLiteral("Far (4-8ft)"), exposure_preset::far },
- { QStringLiteral("Custom"), exposure_preset::ignored },
- };
-
- for (const auto& [label, preset] : presets)
- ui_.exposure_preset->addItem(label, int(preset));
-
- tie_setting(cs_.exposure, ui_.exposure_preset);
- }
connect(ui_.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
connect(ui_.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
@@ -807,13 +750,11 @@ NeuralNetDialog::NeuralNetDialog() :
void NeuralNetDialog::save()
{
settings_.b->save();
- cs_.b->save();
}
void NeuralNetDialog::reload()
{
settings_.b->reload();
- cs_.b->reload();
}
void NeuralNetDialog::doOK()
generated by cgit v1.2.3 (git 2.39.1) at 2025-04-04 19:13:08 +0000