tracker/aruco: make fps change backward-compatible

Issue: #794

7 files changed, 104 insertions, 203 deletions

diff --git a/tracker-aruco/aruco-trackercontrols.ui b/tracker-aruco/aruco-trackercontrols.ui
index f2c18c1d..9c3bd78a 100644
--- a/tracker-aruco/aruco-trackercontrols.ui
+++ b/tracker-aruco/aruco-trackercontrols.ui
@@ -154,51 +154,6 @@
              <verstretch>0</verstretch>
             </sizepolicy>
            </property>
-           <item>
-            <property name="text">
-             <string>Default</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
-             <string>30</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
-             <string>50</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
-             <string>60</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
-             <string>75</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
-             <string>100</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
-             <string>120</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
-             <string>125</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
-             <string>200</string>
-            </property>
-           </item>
           </widget>
          </item>
          <item row="4" column="1">
diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp
index db8e499a..6fc31874 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.cpp
+++ b/tracker-aruco/ftnoir_tracker_aruco.cpp
@@ -28,6 +28,7 @@
 #include <QDebug>
 
 #include <vector>
+#include <tuple>
 #include <cstdio>
 #include <cmath>
 #include <algorithm>
@@ -134,26 +135,35 @@ bool aruco_tracker::detect_without_roi()
     return markers.size() == 1 && markers[0].size() == 4;
 }
 
+static int enum_to_fps(int value)
+{
+    int fps;
+
+    switch (value)
+    {
+    default: eval_once(qDebug() << "aruco: invalid fps enum value");
+    [[fallthrough]];
+    case fps_default:   fps = 0; break;
+    case fps_30:        fps = 30; break;
+    case fps_60:        fps = 60; break;
+    case fps_75:        fps = 75; break;
+    case fps_125:       fps = 125; break;
+    case fps_200:       fps = 200; break;
+    case fps_50:        fps = 50; break;
+    case fps_100:       fps = 100; break;
+    case fps_120:       fps = 120; break;
+    }
+
+    return fps;
+};
+
 bool aruco_tracker::open_camera()
 {
     int rint = s.resolution;
     if (rint < 0 || rint >= (int)(sizeof(resolution_choices) / sizeof(resolution_tuple)))
         rint = 0;
     resolution_tuple res = resolution_choices[rint];
-    int fps;
-    switch (*s.force_fps)
-    {
-    default:
-    case 0: fps = 0; break;
-    case 1: fps = 30; break;
-    case 2: fps = 50; break;
-    case 3: fps = 60; break;
-    case 4: fps = 75; break;
-    case 5: fps = 100; break;
-    case 6: fps = 120; break;
-    case 7: fps = 125; break;
-    case 8: fps = 200; break;
-    }
+    int fps = enum_to_fps(s.force_fps);
 
     QMutexLocker l(&camera_mtx);
 
@@ -442,17 +452,52 @@ void aruco_tracker::data(double *data)
     data[TZ] = pose[TZ];
 }
 
+void aruco_dialog::make_fps_combobox()
+{
+    std::vector<std::tuple<int, int>> resolutions;
+    resolutions.reserve(fps_MAX);
+
+    for (int k = 0; k < fps_MAX; k++)
+    {
+        int hz = enum_to_fps(k);
+        resolutions.emplace_back(k, hz);
+    }
+
+    std::sort(resolutions.begin(), resolutions.end(), [](const auto& a, const auto& b) {
+        auto [idx1, hz1] = a;
+        auto [idx2, hz2] = b;
+
+        return hz1 < hz2;
+    });
+
+    for (auto [idx, hz] : resolutions)
+    {
+        QString name;
+
+        if (hz == 0)
+            name = tr("Default");
+        else
+            name = QString::number(hz);
+
+        ui.cameraFPS->addItem(name, idx);
+    }
+}
+
 aruco_dialog::aruco_dialog() :
     calibrator(1, 0)
 {
+    ui.setupUi(this);
+    //setAttribute(Qt::WA_NativeWindow, true);
+
+    make_fps_combobox();
+    tie_setting(s.force_fps, ui.cameraFPS);
+
     tracker = nullptr;
     calib_timer.setInterval(100);
-    ui.setupUi(this);
-    setAttribute(Qt::WA_NativeWindow, true);
     ui.cameraName->addItems(get_camera_names());
+
     tie_setting(s.camera_name, ui.cameraName);
     tie_setting(s.resolution, ui.resolution);
-    tie_setting(s.force_fps, ui.cameraFPS);
     tie_setting(s.fov, ui.cameraFOV);
     tie_setting(s.headpos_x, ui.cx);
     tie_setting(s.headpos_y, ui.cy);
@@ -537,4 +582,6 @@ void aruco_dialog::update_camera_settings_state(const QString& name)
     ui.camera_settings->setEnabled(true);
 }
 
+settings::settings() : opts("aruco-tracker") {}
+
 OPENTRACK_DECLARE_TRACKER(aruco_tracker, aruco_dialog, aruco_metadata)
diff --git a/tracker-aruco/ftnoir_tracker_aruco.h b/tracker-aruco/ftnoir_tracker_aruco.h
index 6c249c6a..757182e8 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.h
+++ b/tracker-aruco/ftnoir_tracker_aruco.h
@@ -37,6 +37,20 @@
 
 using namespace options;
 
+enum aruco_fps
+{
+    fps_default = 0,
+    fps_30      = 1,
+    fps_60      = 2,
+    fps_75      = 3,
+    fps_125     = 4,
+    fps_200     = 5,
+    fps_50      = 6,
+    fps_100     = 7,
+    fps_120     = 8,
+    fps_MAX     = 9,
+};
+
 struct settings : opts {
     value<QString> camera_name { b, "camera-name", ""};
     value<int> fov { b, "field-of-view", 56 };
@@ -45,18 +59,15 @@ struct settings : opts {
                   headpos_y { b, "headpos-y", 0 },
                   headpos_z { b, "headpos-z", 0 };
 
-    value<int> force_fps { b, "force-fps", 0 },
-               resolution { b, "force-resolution", 0 };
+    value<int> resolution { b, "force-resolution", 0 };
+    value<aruco_fps> force_fps { b, "force-fps", fps_default };
 
-    settings() : opts("aruco-tracker") {}
+    settings();
 };
 
-class aruco_dialog;
-
 class aruco_tracker : protected virtual QThread, public ITracker
 {
     Q_OBJECT
-    friend class aruco_dialog;
     static constexpr inline float c_search_window = 1.3f;
 public:
     aruco_tracker();
@@ -64,7 +75,11 @@ public:
     module_status start_tracker(QFrame* frame) override;
     void data(double *data) override;
     void run() override;
+
     void getRT(cv::Matx33d &r, cv::Vec3d &t);
+    QMutex camera_mtx;
+    cv::VideoCapture camera;
+
 private:
     bool detect_with_roi();
     bool detect_without_roi();
@@ -81,8 +96,6 @@ private:
     void set_detector_params();
     void cycle_detection_params();
 
-    cv::VideoCapture camera;
-    QMutex camera_mtx;
     QMutex mtx;
     std::unique_ptr<cv_video_widget> videoWidget;
     std::unique_ptr<QHBoxLayout> layout;
@@ -135,6 +148,8 @@ public:
     void register_tracker(ITracker * x) override { tracker = static_cast<aruco_tracker*>(x); }
     void unregister_tracker() override { tracker = nullptr; }
 private:
+    void make_fps_combobox();
+
     Ui::Form ui;
     aruco_tracker* tracker;
     settings s;
diff --git a/tracker-aruco/lang/nl_NL.ts b/tracker-aruco/lang/nl_NL.ts
index ad34d973..87040565 100644
--- a/tracker-aruco/lang/nl_NL.ts
+++ b/tracker-aruco/lang/nl_NL.ts
@@ -36,30 +36,6 @@
         <translation>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Lees de &lt;a href=&quot;https://github.com/opentrack/opentrack/wiki/Aruco-tracker&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;wiki-pagina&lt;/span&gt;&lt;/a&gt; en voornamelijk de laatste paragraaf voordat u de markering uitprint.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</translation>
     </message>
     <message>
-        <source>Default</source>
-        <translation>Standaard</translation>
-    </message>
-    <message>
-        <source>30</source>
-        <translation>30</translation>
-    </message>
-    <message>
-        <source>60</source>
-        <translation>30</translation>
-    </message>
-    <message>
-        <source>75</source>
-        <translation>75</translation>
-    </message>
-    <message>
-        <source>125</source>
-        <translation>125</translation>
-    </message>
-    <message>
-        <source>200</source>
-        <translation>200</translation>
-    </message>
-    <message>
         <source>Default (not recommended!)</source>
         <translation>Standaard (niet aanbevolen)</translation>
     </message>
@@ -83,17 +59,12 @@
         <source>Toggle calibration</source>
         <translation>Schakel tussen kalibratie</translation>
     </message>
+</context>
+<context>
+    <name>aruco_dialog</name>
     <message>
-        <source>50</source>
-        <translation type="unfinished">50</translation>
-    </message>
-    <message>
-        <source>100</source>
-        <translation type="unfinished">100</translation>
-    </message>
-    <message>
-        <source>120</source>
-        <translation type="unfinished">120</translation>
+        <source>Default</source>
+        <translation type="unfinished">Standaard</translation>
     </message>
 </context>
 </TS>
diff --git a/tracker-aruco/lang/ru_RU.ts b/tracker-aruco/lang/ru_RU.ts
index fb54c20f..57c8170d 100644
--- a/tracker-aruco/lang/ru_RU.ts
+++ b/tracker-aruco/lang/ru_RU.ts
@@ -16,30 +16,6 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>30</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>60</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>75</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>125</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>200</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
         <source>640x480</source>
         <translation type="unfinished"></translation>
     </message>
@@ -83,16 +59,11 @@
         <source>Toggle calibration</source>
         <translation type="unfinished"></translation>
     </message>
+</context>
+<context>
+    <name>aruco_dialog</name>
     <message>
-        <source>50</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>100</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>120</source>
+        <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/tracker-aruco/lang/stub.ts b/tracker-aruco/lang/stub.ts
index 39d584a3..67cb36b8 100644
--- a/tracker-aruco/lang/stub.ts
+++ b/tracker-aruco/lang/stub.ts
@@ -16,30 +16,6 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>30</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>60</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>75</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>125</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>200</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
         <source>640x480</source>
         <translation type="unfinished"></translation>
     </message>
@@ -83,16 +59,11 @@
         <source>Toggle calibration</source>
         <translation type="unfinished"></translation>
     </message>
+</context>
+<context>
+    <name>aruco_dialog</name>
     <message>
-        <source>50</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>100</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>120</source>
+        <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/tracker-aruco/lang/zh_CN.ts b/tracker-aruco/lang/zh_CN.ts
index 9115340f..b5093b4e 100644
--- a/tracker-aruco/lang/zh_CN.ts
+++ b/tracker-aruco/lang/zh_CN.ts
@@ -28,30 +28,6 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>30</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>60</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>75</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>125</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>200</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
         <source>Camera name</source>
         <translation type="unfinished"></translation>
     </message>
@@ -83,16 +59,11 @@
         <source>Toggle calibration</source>
         <translation type="unfinished"></translation>
     </message>
+</context>
+<context>
+    <name>aruco_dialog</name>
     <message>
-        <source>50</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>100</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>120</source>
+        <source>Default</source>
         <translation type="unfinished"></translation>
     </message>
 </context>