remove ewma frame support, too little gain

3 files changed, 52 insertions, 108 deletions

diff --git a/ftnoir_tracker_aruco/aruco-trackercontrols.ui b/ftnoir_tracker_aruco/aruco-trackercontrols.ui
index 340ed0ad..6cc8c29d 100644
--- a/ftnoir_tracker_aruco/aruco-trackercontrols.ui
+++ b/ftnoir_tracker_aruco/aruco-trackercontrols.ui
@@ -105,6 +105,45 @@
      </layout>
     </widget>
    </item>
+   <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>
+    </widget>
+   </item>
    <item row="1" column="0">
     <widget class="QLabel" name="label_2">
      <property name="text">
@@ -254,6 +293,13 @@
      </property>
     </widget>
    </item>
+   <item row="7" column="0">
+    <widget class="QLabel" name="label_10">
+     <property name="text">
+      <string>Frame EWMA</string>
+     </property>
+    </widget>
+   </item>
    <item row="6" column="2" rowspan="3" colspan="3">
     <widget class="QLabel" name="label_6">
      <property name="sizePolicy">
@@ -285,30 +331,6 @@
      </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="9" column="4">
     <widget class="QDialogButtonBox" name="buttonBox">
      <property name="standardButtons">
@@ -323,57 +345,30 @@
      </property>
     </widget>
    </item>
-   <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 row="6" column="1">
+    <widget class="QComboBox" name="resolution">
      <item>
       <property name="text">
-       <string>4</string>
+       <string>640x480</string>
       </property>
      </item>
      <item>
       <property name="text">
-       <string>5</string>
+       <string>320x240</string>
       </property>
      </item>
      <item>
       <property name="text">
-       <string>6</string>
+       <string>320x200</string>
       </property>
      </item>
      <item>
       <property name="text">
-       <string>7</string>
+       <string>Default (not recommended!)</string>
       </property>
      </item>
     </widget>
    </item>
-   <item row="7" column="0">
-    <widget class="QLabel" name="label_10">
-     <property name="text">
-      <string>Frame EWMA</string>
-     </property>
-    </widget>
-   </item>
   </layout>
  </widget>
  <tabstops>
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index c6d45f35..4c900ab4 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -16,7 +16,6 @@
 #include <opencv/highgui.h>
 #include <vector>
 #include <cstdio>
-#include <vector>
 
 #if defined(_WIN32)
 #   define NO_DSHOW_STRSAFE
@@ -129,14 +128,12 @@ void Tracker::load_settings()
         headpos[i] = iniFile.value(QString("headpos-%1").arg(i), 0).toDouble();
     }
     headpitch = iniFile.value("pitch", 0).toDouble();
-    N_hyst = iniFile.value("ewma", 0).toInt();
 
 	iniFile.endGroup();
 }
 
 Tracker::Tracker()
 {
-    N_hyst = 0;
     layout = nullptr;
     stop = false;
 	videoWidget = NULL;
@@ -212,28 +209,6 @@ void Tracker::run()
     int last_fps = 0;
     cv::Point2f last_centroid;
 
-    bool first_run = true;
-
-    std::vector<cv::Mat> lasts;
-
-    for (int i = 0; i < N_hyst; i++)
-        lasts.push_back(cv::Mat());
-
-    vector<float> weights;
-    {
-        const float a = 0.25;
-        float sum = 0;
-        float k = 1;
-        for (int i = 0; i < N_hyst; i++)
-        {
-            sum += k;
-            weights.push_back(k);
-            k *= 1./(a*N_hyst);
-        }
-        for (int i = 0; i < N_hyst; i++)
-            qDebug() << i << "w" << (weights[i] /= sum);
-    }
-
     while (!stop)
     {
         if (!camera.read(color_))
@@ -242,28 +217,6 @@ void Tracker::run()
         color_.copyTo(color);
         cv::cvtColor(color, grayscale, cv::COLOR_BGR2GRAY);
 
-        if (N_hyst > 0)
-        {
-            if (first_run)
-            {
-                first_run = false;
-                for (int i = 0; i < N_hyst; i++)
-                    lasts[i] = grayscale;
-            }
-            cv::Mat hyst(grayscale.rows, grayscale.cols, CV_32F);
-            hyst.setTo(0);
-            for (int i = 0; i < N_hyst-1; i++)
-                lasts[i] = lasts[i+1];
-            lasts[N_hyst-1] = grayscale;
-            for (int i = 0; i < N_hyst; i++)
-                for (int y = 0; y < grayscale.rows; y++)
-                    for (int x = 0; x < grayscale.cols; x++)
-                        hyst.at<float>(y, x) += lasts[i].at<unsigned char>(y, x) * weights[i];
-            hyst.convertTo(grayscale, CV_8U);
-        }
-
-        cv::cvtColor(grayscale, color, cv::COLOR_GRAY2BGR);
-
         const int scale = frame.cols > 480 ? 2 : 1;
         detector.setThresholdParams(scale > 1 ? 11 : 7, 4);
 
@@ -593,7 +546,6 @@ void TrackerControls::loadSettings()
     }
 
     ui.pitch_deg->setValue(iniFile.value("pitch", 0).toDouble());
-    ui.ewma->setCurrentIndex(iniFile.value("ewma", 0).toInt());
 
 	iniFile.endGroup();
 	settingsDirty = false;
@@ -634,7 +586,6 @@ void TrackerControls::save()
 	iniFile.setValue("enable-tz", ui.tz->checkState() != Qt::Unchecked ? true : false);
 	iniFile.setValue("resolution", ui.resolution->currentIndex());
     iniFile.setValue("pitch", ui.pitch_deg->value());
-    iniFile.setValue("ewma", ui.ewma->currentIndex());
 
     QDoubleSpinBox* headpos[] = {
         ui.cx,
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
index 249c8829..be2ad3d7 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
@@ -42,8 +42,6 @@ private:
     cv::Mat frame;
     double headpos[3], headpitch;
     cv::VideoCapture camera;
-    int N_hyst;
-    cv::Mat lasts;
 };
 
 // Widget that has controls for FTNoIR protocol client-settings.