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-rw-r--r--ftnoir_tracker_aruco/aruco-trackercontrols.ui109
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp49
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.h2
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.
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-10 22:59:01 +0000