Merge branch 'unstable' into trackhat-ui

Sponsored-by: TrackHat

* unstable: (112 commits)
  Revert "accela: try more complex deadzone algorithm"
  pt: add wiki link for calibration instructions
  qfc: more gray colors when graph is disabled
  qfc, mapping: disallow editing and change color when checkbox disabled
  qfc: don't allow editing when disabled
  plugin-support: workaround multiple copies of modules
  accela: change translation gain
  accela: change rotation gain
  pt: change extraction code
  freepie-udp: add license
  freepie-udp: update
  accela: try more complex deadzone algorithm
  accela: add helpful comment
  accela: revert to more quadratic spline at start
  also save if save pending when start tracking
  ui: force saving if saving timer is pending
  accela: slightly more linear function
  pose-widget: simplify
  freepie-udp: nix harmless warning
  pose-widget: add comment
  simple-mat: add __restrict for GNU
  ui: save settings on a timer
  ui: show a warning if configuration directory can't be used
  aruco: tune min/max marker size
  win32-joystick: fix duplicate device name selection logic
  ui: no need to reset settings on tracking start
  ui: save profile when combobox text changes, not merely index
  ui: save current tracker/filter/proto, not last
  win32-joystick: fix COM failure path
  win32-joystick: nix unused variable
  win32-joystick: allow for unique selection of joysticks
  qfc: also draw line from function start while moving
  no need to save on tracking start anymore
  save axis opts, not just spline control points
  tracker: change centering order again
  fix typo
  cmake: don't say "opentrack" twice for osx build
  ui: really don't switch profiles while refreshing combobox
  pt: fix type mismatch
  ui: save prior to switching configs
  tracker_rs: adjusted tracker's name
  ui: don't reload settings if config wasn't changed
  ui: save everything before switching profiles
  options: return .ini basename easier
  tracker_rs: more readable icon
  tracker_rs: prevent potential thread starvation
  ui: switch to newly-created config
  ui: decruft
  ui: also bail on new config if its name is ".ini"
  ui: auto-refresh config list
  ui: display up to 20 profiles w/o scrolling
  ui: create an empty config properly in another code branch
  udp-tracker: silence harmless warning
  plugin-support: fix typo
  plugin-support: set more sane RTLD flags
  plugin-support: free modules from address space when needed
  ui: rename symbol to reflect current usage
  ui: move some slots to private
  ui, shortcuts: these are slots, actually
  ui: no need to write anything to new empty config
  ui: avoid potential memory leak
  ft: new game support
  game-data: chomp newlines in extractor
  ui: append extension in the right place
  simple-mat: fix arglist SFINAE
  simple-mat: can use static_cast here
  nix default empty config. it gets created on its own.
  ui: these aren't qt slots
  ui: nix wrong headers
  ui: remove GNU GPL
  ui: simplify condition
  props changed only
  main, ui: store config files in a predefined directory
  pt: show extracted points' areas and success count
  close dialogs on switch to new module
  ...

2 files changed, 18 insertions, 11 deletions

diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index 08ddd3b2..570c2e0d 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -134,6 +134,7 @@ void Tracker::run()
     cv::Vec3d rvec, tvec;
     cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1);
     cv::Mat dist_coeffs = cv::Mat::zeros(5, 1, CV_32FC1);
+    bool otsu = false;
 
     while (!stop)
     {
@@ -144,18 +145,20 @@ void Tracker::run()
             if (!camera.read(color))
                 continue;
         }
+        static constexpr int thres_param2 = 5;
         cv::Mat grayscale;
         cv::cvtColor(color, grayscale, cv::COLOR_RGB2GRAY);
         
         const int scale = grayscale.cols > 480 ? 2 : 1;
-        detector.setThresholdParams(box_sizes[box_idx], 5);
+        detector.setThresholdParams(box_sizes[box_idx], thres_param2);
 
         static constexpr double pi = 3.1415926f;
         const int w = grayscale.cols, h = grayscale.rows;
-        const double diag = sqrt(w * w + h * h)/w, diag_fov = static_cast<int>(s.fov) * pi / 180.;
-        const double fov = 2.*atan(tan(diag_fov/2.)/sqrt(1. + diag*diag));
-        const float focal_length_w = .5 * w / tan(.5 * fov);
-        const float focal_length_h = focal_length_w;
+        const double diag_fov = static_cast<int>(s.fov) * 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 float focal_length_w = .5 * w / tan(.5 * fov_w);
+        const float focal_length_h = .5 * h / tan(.5 * fov_h);
 
         intrinsics.at<float> (0, 0) = focal_length_w;
         intrinsics.at<float> (1, 1) = focal_length_h;
@@ -164,8 +167,8 @@ void Tracker::run()
 
         std::vector< aruco::Marker > markers;
 
-        const double size_min = 0.02;
-        const double size_max = 0.4;
+        const double size_min = 0.05;
+        const double size_max = 0.3;
 
         bool roi_valid = false;
         
@@ -177,11 +180,12 @@ void Tracker::run()
         
         if (last_roi.width > 0 && last_roi.height)
         {
-            detector.setThresholdParams(box_sizes[box_idx], 5);
+            detector.setThresholdParams(box_sizes[box_idx], thres_param2);
             detector.setMinMaxSize(std::max(0.01, size_min * grayscale.cols / last_roi.width),
                                    std::min(1.0, size_max * grayscale.cols / last_roi.width));
 
-            if (detector.detect(grayscale(last_roi), markers, cv::Mat(), cv::Mat(), -1, false),
+            cv::Mat grayscale_ = grayscale(last_roi).clone();
+            if (detector.detect(grayscale_, markers, cv::Mat(), cv::Mat(), -1, false),
                 markers.size() == 1 && markers[0].size() == 4)
             {
                 failed = std::max(0., failed - dt);
@@ -198,6 +202,8 @@ void Tracker::run()
 
         if (!roi_valid)
         {
+            otsu = !otsu;
+            detector._thresMethod = otsu ? aruco::MarkerDetector::FIXED_THRES : aruco::MarkerDetector::ADPT_THRES;
             failed += dt;
             if (failed > max_failed)
             {
@@ -206,7 +212,7 @@ void Tracker::run()
                 qDebug() << "aruco: box size now" << box_sizes[box_idx];
                 failed = 0;
             }
-            detector.setThresholdParams(box_sizes[box_idx], 5);
+            detector.setThresholdParams(box_sizes[box_idx], thres_param2);
             detector.setMinMaxSize(size_min, size_max);
             detector.detect(grayscale, markers, cv::Mat(), cv::Mat(), -1, false);
         }
diff --git a/ftnoir_tracker_aruco/include/markerdetector.h b/ftnoir_tracker_aruco/include/markerdetector.h
index ac120b18..8a7e75ca 100644
--- a/ftnoir_tracker_aruco/include/markerdetector.h
+++ b/ftnoir_tracker_aruco/include/markerdetector.h
@@ -277,6 +277,7 @@ private:
     * This function returns in candidates all the rectangles found in a thresolded image
     */
     void detectRectangles(const cv::Mat &thresImg,vector<MarkerCandidate> & candidates);
+public:
     //Current threshold method
     ThresholdMethods _thresMethod;
     //Threshold parameters
@@ -297,7 +298,7 @@ private:
     cv::Mat grey,thres,thres2,reduced;
     //pointer to the function that analizes a rectangular region so as to detect its internal marker
     int (* markerIdDetector_ptrfunc)(const cv::Mat &in,int &nRotations);
-
+private:
     /**
      */
     bool isInto(cv::Mat &contour,std::vector<cv::Point2f> &b);