implement optional aruco frame smoothing ewma scheme

1 files changed, 180 insertions, 130 deletions

diff --git a/ftnoir_tracker_aruco/aruco-trackercontrols.ui b/ftnoir_tracker_aruco/aruco-trackercontrols.ui
index d4b64c23..340ed0ad 100644
--- a/ftnoir_tracker_aruco/aruco-trackercontrols.ui
+++ b/ftnoir_tracker_aruco/aruco-trackercontrols.ui
@@ -10,7 +10,7 @@
     <x>0</x>
     <y>0</y>
     <width>704</width>
-    <height>308</height>
+    <height>399</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -32,7 +32,106 @@
    <property name="spacing">
     <number>-1</number>
    </property>
-   <item row="7" column="1" rowspan="2">
+   <item row="0" column="0">
+    <widget class="QLabel" name="label">
+     <property name="text">
+      <string>Horizontal FOV</string>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="3" rowspan="3" colspan="2">
+    <widget class="QGroupBox" name="groupBox">
+     <property name="title">
+      <string>Enable axes</string>
+     </property>
+     <layout class="QFormLayout" name="formLayout">
+      <property name="horizontalSpacing">
+       <number>-1</number>
+      </property>
+      <property name="leftMargin">
+       <number>6</number>
+      </property>
+      <property name="topMargin">
+       <number>0</number>
+      </property>
+      <property name="rightMargin">
+       <number>6</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <item row="0" column="0">
+       <widget class="QCheckBox" name="rx">
+        <property name="text">
+         <string>RX</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QCheckBox" name="tx">
+        <property name="text">
+         <string>TX</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QCheckBox" name="ry">
+        <property name="text">
+         <string>RY</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QCheckBox" name="ty">
+        <property name="text">
+         <string>TY</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QCheckBox" name="rz">
+        <property name="text">
+         <string>RZ</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QCheckBox" name="tz">
+        <property name="text">
+         <string>TZ</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="1" column="0">
+    <widget class="QLabel" name="label_2">
+     <property name="text">
+      <string>Frames per second</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="1" colspan="2">
+    <widget class="QComboBox" name="cameraName"/>
+   </item>
+   <item row="0" column="1" colspan="2">
+    <widget class="QDoubleSpinBox" name="cameraFOV">
+     <property name="locale">
+      <locale language="English" country="UnitedStates"/>
+     </property>
+     <property name="minimum">
+      <double>35.000000000000000</double>
+     </property>
+     <property name="maximum">
+      <double>180.000000000000000</double>
+     </property>
+     <property name="value">
+      <double>52.000000000000000</double>
+     </property>
+    </widget>
+   </item>
+   <item row="8" column="1">
     <widget class="QGroupBox" name="groupBox_2">
      <property name="title">
       <string>Head centroid position</string>
@@ -124,79 +223,6 @@
      </layout>
     </widget>
    </item>
-   <item row="0" column="3" rowspan="3" colspan="2">
-    <widget class="QGroupBox" name="groupBox">
-     <property name="title">
-      <string>Enable axes</string>
-     </property>
-     <layout class="QFormLayout" name="formLayout">
-      <property name="horizontalSpacing">
-       <number>-1</number>
-      </property>
-      <property name="leftMargin">
-       <number>6</number>
-      </property>
-      <property name="topMargin">
-       <number>0</number>
-      </property>
-      <property name="rightMargin">
-       <number>6</number>
-      </property>
-      <property name="bottomMargin">
-       <number>0</number>
-      </property>
-      <item row="0" column="0">
-       <widget class="QCheckBox" name="rx">
-        <property name="text">
-         <string>RX</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="1">
-       <widget class="QCheckBox" name="tx">
-        <property name="text">
-         <string>TX</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="0">
-       <widget class="QCheckBox" name="ry">
-        <property name="text">
-         <string>RY</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="1">
-       <widget class="QCheckBox" name="ty">
-        <property name="text">
-         <string>TY</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="0">
-       <widget class="QCheckBox" name="rz">
-        <property name="text">
-         <string>RZ</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="1">
-       <widget class="QCheckBox" name="tz">
-        <property name="text">
-         <string>TZ</string>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
-   </item>
-   <item row="6" column="0">
-    <widget class="QLabel" name="label_4">
-     <property name="text">
-      <string>Resolution</string>
-     </property>
-    </widget>
-   </item>
    <item row="1" column="1" colspan="2">
     <widget class="QComboBox" name="cameraFPS">
      <item>
@@ -221,48 +247,14 @@
      </item>
     </widget>
    </item>
-   <item row="1" column="0">
-    <widget class="QLabel" name="label_2">
+   <item row="6" column="0">
+    <widget class="QLabel" name="label_4">
      <property name="text">
-      <string>Frames per second</string>
-     </property>
-    </widget>
-   </item>
-   <item row="6" column="1">
-    <widget class="QComboBox" name="resolution">
-     <item>
-      <property name="text">
-       <string>640x480</string>
-      </property>
-     </item>
-     <item>
-      <property name="text">
-       <string>320x240</string>
-      </property>
-     </item>
-     <item>
-      <property name="text">
-       <string>320x200</string>
-      </property>
-     </item>
-     <item>
-      <property name="text">
-       <string>Default (not recommended!)</string>
-      </property>
-     </item>
-    </widget>
-   </item>
-   <item row="8" column="3" colspan="2">
-    <widget class="QDialogButtonBox" name="buttonBox">
-     <property name="standardButtons">
-      <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+      <string>Resolution</string>
      </property>
     </widget>
    </item>
-   <item row="2" column="1" colspan="2">
-    <widget class="QComboBox" name="cameraName"/>
-   </item>
-   <item row="6" column="2" rowspan="2" colspan="3">
+   <item row="6" column="2" rowspan="3" colspan="3">
     <widget class="QLabel" name="label_6">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
@@ -293,19 +285,34 @@
      </property>
     </widget>
    </item>
-   <item row="0" column="1" colspan="2">
-    <widget class="QDoubleSpinBox" name="cameraFOV">
-     <property name="locale">
-      <locale language="English" country="UnitedStates"/>
-     </property>
-     <property name="minimum">
-      <double>35.000000000000000</double>
-     </property>
-     <property name="maximum">
-      <double>180.000000000000000</double>
-     </property>
-     <property name="value">
-      <double>52.000000000000000</double>
+   <item row="6" column="1">
+    <widget class="QComboBox" name="resolution">
+     <item>
+      <property name="text">
+       <string>640x480</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>320x240</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>320x200</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Default (not recommended!)</string>
+      </property>
+     </item>
+    </widget>
+   </item>
+   <item row="9" column="4">
+    <widget class="QDialogButtonBox" name="buttonBox">
+     <property name="standardButtons">
+      <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
      </property>
     </widget>
    </item>
@@ -316,10 +323,54 @@
      </property>
     </widget>
    </item>
-   <item row="0" column="0">
-    <widget class="QLabel" name="label">
+   <item row="7" column="1">
+    <widget class="QComboBox" name="ewma">
+     <item>
+      <property name="text">
+       <string>0</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>1</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>2</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>3</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>4</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>5</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>6</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>7</string>
+      </property>
+     </item>
+    </widget>
+   </item>
+   <item row="7" column="0">
+    <widget class="QLabel" name="label_10">
      <property name="text">
-      <string>Horizontal FOV</string>
+      <string>Frame EWMA</string>
      </property>
     </widget>
    </item>
@@ -340,7 +391,6 @@
   <tabstop>tx</tabstop>
   <tabstop>ty</tabstop>
   <tabstop>tz</tabstop>
-  <tabstop>buttonBox</tabstop>
  </tabstops>
  <resources/>
  <connections/>