tracker/aruco: modernize c++

2 files changed, 21 insertions, 40 deletions

diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp
index 0c6f2b75..78be1623 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.cpp
+++ b/tracker-aruco/ftnoir_tracker_aruco.cpp
@@ -33,31 +33,7 @@
 #include <algorithm>
 #include <iterator>
 
-constexpr double aruco_tracker::timeout;
-constexpr double aruco_tracker::timeout_backoff_c;
-constexpr const int aruco_tracker::adaptive_sizes[];
-
-constexpr const aruco_tracker::resolution_tuple aruco_tracker::resolution_choices[];
-
-constexpr const double aruco_tracker::RC;
-constexpr const float aruco_tracker::size_min;
-constexpr const float aruco_tracker::size_max;
-
-#ifdef DEBUG_UNSHARP_MASKING
-constexpr double aruco_tracker::gauss_kernel_size;
-#endif
-
-aruco_tracker::aruco_tracker() :
-    pose{0,0,0, 0,0,0},
-    fps(0),
-    no_detection_timeout(0),
-    obj_points(4),
-    intrinsics(cv::Matx33d::eye()),
-    rmat(cv::Matx33d::eye()),
-    roi_points(4),
-    last_roi(65535, 65535, 0, 0),
-    adaptive_size_pos(0),
-    use_otsu(false)
+aruco_tracker::aruco_tracker()
 {
     cv::setBreakOnError(true);
     // param 2 ignored for Otsu thresholding. it's required to use our fork of Aruco.
@@ -331,7 +307,6 @@ void aruco_tracker::set_roi_from_projection()
 void aruco_tracker::set_detector_params()
 {
     detector.setDesiredSpeed(3);
-    detector.setThresholdParams(adaptive_sizes[adaptive_size_pos], adaptive_thres);
 #if !defined USE_EXPERIMENTAL_CANNY
     if (use_otsu)
         detector._thresMethod = aruco::MarkerDetector::FIXED_THRES;
@@ -487,7 +462,7 @@ aruco_dialog::aruco_dialog() :
     connect(&calib_timer, SIGNAL(timeout()), this, SLOT(update_tracker_calibration()));
     connect(ui.camera_settings, SIGNAL(clicked()), this, SLOT(camera_settings()));
 
-    connect(&s.camera_name, SIGNAL(valueChanged(const QString&)), this, SLOT(update_camera_settings_state(const QString&)));
+    connect(&s.camera_name, base_value::value_changed<QString>(), this, &aruco_dialog::update_camera_settings_state);
 
     update_camera_settings_state(s.camera_name);
 }
diff --git a/tracker-aruco/ftnoir_tracker_aruco.h b/tracker-aruco/ftnoir_tracker_aruco.h
index e41dfaa2..f25d3314 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.h
+++ b/tracker-aruco/ftnoir_tracker_aruco.h
@@ -101,27 +101,28 @@ private:
     std::unique_ptr<cv_video_widget> videoWidget;
     std::unique_ptr<QHBoxLayout> layout;
     settings s;
-    double pose[6], fps, no_detection_timeout;
+    double pose[6] {}, fps = 0;
+    double no_detection_timeout = 0;
     cv::Mat frame, grayscale, color;
     cv::Matx33d r;
 #ifdef DEBUG_UNSHARP_MASKING
     cv::Mat blurred;
 #endif
-    std::vector<cv::Point3f> obj_points;
-    cv::Matx33d intrinsics;
+    std::vector<cv::Point3f> obj_points {4};
+    cv::Matx33d intrinsics = cv::Matx33d::eye();
     aruco::MarkerDetector detector;
     std::vector<aruco::Marker> markers;
     cv::Vec3d t;
     cv::Vec3d rvec, tvec;
     std::vector<cv::Point2f> roi_projection;
     std::vector<cv::Point2f> repr2;
-    cv::Matx33d m_r, m_q, rmat;
+    cv::Matx33d m_r, m_q, rmat = cv::Matx33d::eye();
     cv::Vec3d euler;
-    std::vector<cv::Point3f> roi_points;
-    cv::Rect last_roi;
+    std::vector<cv::Point3f> roi_points {4};
+    cv::Rect last_roi { 65535, 65535, 0, 0 };
     Timer fps_timer, last_detection_timer;
-    unsigned adaptive_size_pos;
-    bool use_otsu;
+    unsigned adaptive_size_pos = 0;
+    bool use_otsu = false;
 
     struct resolution_tuple
     {
@@ -129,7 +130,7 @@ private:
         int height;
     };
 
-    static constexpr const int adaptive_sizes[] =
+    static constexpr inline const int adaptive_sizes[] =
     {
 #if defined USE_EXPERIMENTAL_CANNY
         3,
@@ -142,9 +143,13 @@ private:
 #endif
     };
 
-    static constexpr int adaptive_thres = 6;
+#if !defined USE_EXPERIMENTAL_CANNY
+    static constexpr inline int adaptive_thres = 6;
+#else
+    static constexpr inline int adaptive_thres = 3;
+#endif
 
-    static constexpr const resolution_tuple resolution_choices[] =
+    static constexpr inline const resolution_tuple resolution_choices[] =
     {
         { 640, 480 },
         { 320, 240 },
@@ -152,10 +157,11 @@ private:
     };
 
 #ifdef DEBUG_UNSHARP_MASKING
-    static constexpr double gauss_kernel_size = 3;
+    static constexpr inline double gauss_kernel_size = 3;
 #endif
 
     static constexpr inline double timeout = 1;
+
     static constexpr inline double timeout_backoff_c = 4./11;
 
     static constexpr inline float size_min = 0.05;
@@ -177,7 +183,7 @@ private:
     settings s;
     TranslationCalibrator calibrator;
     QTimer calib_timer;
-private slots:
+private Q_SLOTS:
     void doOK();
     void doCancel();
     void toggleCalibrate();