tracker/aruco: remove some obsolete stuff

3 files changed, 73 insertions, 126 deletions

diff --git a/tracker-aruco/aruco-trackercontrols.ui b/tracker-aruco/aruco-trackercontrols.ui
index 0d70d9ed..a1600a8f 100644
--- a/tracker-aruco/aruco-trackercontrols.ui
+++ b/tracker-aruco/aruco-trackercontrols.ui
@@ -9,8 +9,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>453</width>
-    <height>246</height>
+    <width>462</width>
+    <height>221</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -64,21 +64,33 @@
       <item>
        <widget class="QFrame" name="frame">
         <layout class="QGridLayout" name="gridLayout_4">
-         <item row="0" column="0">
-          <widget class="QLabel" name="label_9">
-           <property name="text">
-            <string>Diagonal FOV</string>
+         <item row="2" column="1">
+          <widget class="QComboBox" name="cameraName">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
            </property>
           </widget>
          </item>
-         <item row="2" column="1">
-          <widget class="QComboBox" name="cameraName">
+         <item row="0" column="1">
+          <widget class="QSpinBox" name="cameraFOV">
            <property name="sizePolicy">
             <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
              <horstretch>0</horstretch>
              <verstretch>0</verstretch>
             </sizepolicy>
            </property>
+           <property name="locale">
+            <locale language="English" country="UnitedStates"/>
+           </property>
+           <property name="minimum">
+            <number>35</number>
+           </property>
+           <property name="maximum">
+            <number>90</number>
+           </property>
           </widget>
          </item>
          <item row="3" column="1">
@@ -106,6 +118,34 @@
            </item>
           </widget>
          </item>
+         <item row="1" column="0">
+          <widget class="QLabel" name="label_12">
+           <property name="text">
+            <string>Frames per second</string>
+           </property>
+          </widget>
+         </item>
+         <item row="3" column="0">
+          <widget class="QLabel" name="label_11">
+           <property name="text">
+            <string>Resolution</string>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="0">
+          <widget class="QLabel" name="label_10">
+           <property name="text">
+            <string>Camera name</string>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="0">
+          <widget class="QLabel" name="label_9">
+           <property name="text">
+            <string>Diagonal FOV</string>
+           </property>
+          </widget>
+         </item>
          <item row="1" column="1">
           <widget class="QComboBox" name="cameraFPS">
            <property name="sizePolicy">
@@ -146,47 +186,7 @@
            </item>
           </widget>
          </item>
-         <item row="0" column="1">
-          <widget class="QSpinBox" name="cameraFOV">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="locale">
-            <locale language="English" country="UnitedStates"/>
-           </property>
-           <property name="minimum">
-            <number>35</number>
-           </property>
-           <property name="maximum">
-            <number>90</number>
-           </property>
-          </widget>
-         </item>
-         <item row="2" column="0">
-          <widget class="QLabel" name="label_10">
-           <property name="text">
-            <string>Camera name</string>
-           </property>
-          </widget>
-         </item>
-         <item row="1" column="0">
-          <widget class="QLabel" name="label_12">
-           <property name="text">
-            <string>Frames per second</string>
-           </property>
-          </widget>
-         </item>
-         <item row="3" column="0">
-          <widget class="QLabel" name="label_11">
-           <property name="text">
-            <string>Resolution</string>
-           </property>
-          </widget>
-         </item>
-         <item row="5" column="1">
+         <item row="4" column="1">
           <widget class="QPushButton" name="camera_settings">
            <property name="sizePolicy">
             <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
@@ -199,23 +199,6 @@
            </property>
           </widget>
          </item>
-         <item row="4" column="0">
-          <widget class="QLabel" name="label">
-           <property name="text">
-            <string>Model rotation</string>
-           </property>
-          </widget>
-         </item>
-         <item row="4" column="1">
-          <widget class="QComboBox" name="model_rotation">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-          </widget>
-         </item>
         </layout>
        </widget>
       </item>
diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp
index faa8bb44..5ce52565 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.cpp
+++ b/tracker-aruco/ftnoir_tracker_aruco.cpp
@@ -227,19 +227,6 @@ void aruco_tracker::clamp_last_roi()
     last_roi &= cv::Rect(0, 0, color.cols, color.rows);
 }
 
-cv::Point3f aruco_tracker::rotate_model(float x, float y, settings::rot mode)
-{
-    cv::Point3f pt(x, y, 0);
-
-    if (mode)
-    {
-        const double theta = int(mode) * 90/4. * M_PI/180;
-        pt.x = x * cos(theta) - y * sin(theta);
-        pt.y = y * cos(theta) + x * sin(theta);
-    }
-    return pt;
-}
-
 void aruco_tracker::set_points()
 {
     using f = float;
@@ -249,12 +236,10 @@ void aruco_tracker::set_points()
 
     const int x1=1, x2=2, x3=3, x4=0;
 
-    settings::rot mode = s.model_rotation;
-
-    obj_points[x1] = rotate_model(-size, -size, mode);
-    obj_points[x2] = rotate_model(size, -size, mode);
-    obj_points[x3] = rotate_model(size, size, mode);
-    obj_points[x4] = rotate_model(-size, size, mode);
+    obj_points[x1] = { -size, -size, 0 };
+    obj_points[x2] = { size, -size, 0 };
+    obj_points[x3] = { size, size, 0 };
+    obj_points[x4] = { -size, size, 0 };
 
     for (unsigned i = 0; i < 4; i++)
         obj_points[i] += cv::Point3f(hx, hy, hz);
@@ -341,9 +326,9 @@ void aruco_tracker::set_detector_params()
 
     detector.setThresholdParams(adaptive_sizes[adaptive_size_pos], adaptive_thres);
 #else
-        detector._thresMethod = aruco::MarkerDetector::CANNY;
-        int value = adaptive_sizes[adaptive_size_pos];
-        detector.setThresholdParams(value, value * 3);
+    detector._thresMethod = aruco::MarkerDetector::CANNY;
+    int value = adaptive_sizes[adaptive_size_pos];
+    detector.setThresholdParams(value, value * 3);
 #endif
 }
 
@@ -480,11 +465,6 @@ aruco_dialog::aruco_dialog() :
     tie_setting(s.headpos_y, ui.cy);
     tie_setting(s.headpos_z, ui.cz);
 
-    ui.model_rotation->addItem("0", int(settings::rot_zero));
-    ui.model_rotation->addItem("+22.5", int(settings::rot_plus));
-    ui.model_rotation->addItem("-22.5", int(settings::rot_neg));
-    tie_setting(s.model_rotation, ui.model_rotation);
-
     connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
     connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
     connect(ui.btn_calibrate, SIGNAL(clicked()), this, SLOT(toggleCalibrate()));
diff --git a/tracker-aruco/ftnoir_tracker_aruco.h b/tracker-aruco/ftnoir_tracker_aruco.h
index 293991eb..b634576a 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.h
+++ b/tracker-aruco/ftnoir_tracker_aruco.h
@@ -38,29 +38,17 @@
 using namespace options;
 
 struct settings : opts {
-    enum rot
-    {
-        rot_zero = 0,
-        rot_neg = -1,
-        rot_plus = +1,
-    };
-
-    value<int> fov;
-    value<double> headpos_x, headpos_y, headpos_z;
-    value<QString> camera_name;
-    value<int> force_fps, resolution;
-    value<rot> model_rotation;
-    settings() :
-        opts("aruco-tracker"),
-        fov(b, "field-of-view", 56),
-        headpos_x(b, "headpos-x", 0),
-        headpos_y(b, "headpos-y", 0),
-        headpos_z(b, "headpos-z", 0),
-        camera_name(b, "camera-name", ""),
-        force_fps(b, "force-fps", 0),
-        resolution(b, "force-resolution", 0),
-        model_rotation(b, "model-rotation", rot_zero)
-    {}
+    value<QString> camera_name { b, "camera-name", ""};
+    value<int> fov { b, "field-of-view", 56 };
+
+    value<double> headpos_x { b, "headpos-x", 0 },
+                  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 };
+
+    settings() = default;
 };
 
 class aruco_dialog;
@@ -93,8 +81,6 @@ private:
     void set_detector_params();
     void cycle_detection_params();
 
-    cv::Point3f rotate_model(float x, float y, settings::rot mode);
-
     cv::VideoCapture camera;
     QMutex camera_mtx;
     QMutex mtx;
@@ -105,9 +91,6 @@ private:
     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 {4};
     cv::Matx33d intrinsics = cv::Matx33d::eye();
     aruco::MarkerDetector detector;
@@ -121,7 +104,7 @@ private:
     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 = 0;
+    unsigned adaptive_size_pos { 0 };
     bool use_otsu = false;
 
 #if !defined USE_EXPERIMENTAL_CANNY
@@ -130,10 +113,6 @@ private:
     static constexpr inline int adaptive_thres = 3;
 #endif
 
-#ifdef DEBUG_UNSHARP_MASKING
-    static constexpr inline double gauss_kernel_size = 3;
-#endif
-
     static constexpr inline double timeout = 1;
     static constexpr inline double timeout_backoff_c = 4./11;
 
@@ -141,6 +120,11 @@ private:
     static constexpr inline float size_max = 0.5;
 
     static constexpr inline double RC = .25;
+
+#ifdef DEBUG_UNSHARP_MASKING
+    static constexpr inline double gauss_kernel_size = 3;
+    cv::Mat blurred;
+#endif
 };
 
 class aruco_dialog : public ITrackerDialog