diff options
| -rw-r--r-- | tracker-aruco/ftnoir_tracker_aruco.cpp | 23 | ||||
| -rw-r--r-- | tracker-aruco/ftnoir_tracker_aruco.h | 4 | ||||
| -rw-r--r-- | tracker-pt/ftnoir_tracker_pt.cpp | 27 | ||||
| -rw-r--r-- | tracker-pt/ftnoir_tracker_pt.h | 8 |
4 files changed, 23 insertions, 39 deletions
diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp index 0df89fcb..5473eb6f 100644 --- a/tracker-aruco/ftnoir_tracker_aruco.cpp +++ b/tracker-aruco/ftnoir_tracker_aruco.cpp @@ -42,15 +42,13 @@ constexpr const double aruco_tracker::size_min; constexpr const double aruco_tracker::size_max; aruco_tracker::aruco_tracker() : - stop(false), - layout(nullptr), - videoWidget(nullptr), fps(0), obj_points(4), intrinsics(cv::Matx33d::eye()), rmat(cv::Matx33d::eye()), roi_points(4), - last_roi(65535, 65535, 0, 0) + last_roi(65535, 65535, 0, 0), + stop(false) { // param 2 ignored for Otsu thresholding. it's required to use our fork of Aruco. detector.setThresholdParams(7, -1); @@ -62,10 +60,6 @@ aruco_tracker::~aruco_tracker() { stop = true; wait(); - if (videoWidget) - delete videoWidget; - if(layout) - delete layout; // fast start/stop causes breakage portable::sleep(1000); camera.release(); @@ -74,18 +68,15 @@ aruco_tracker::~aruco_tracker() void aruco_tracker::start_tracker(QFrame* videoframe) { videoframe->show(); - videoWidget = new cv_video_widget(videoframe); - QHBoxLayout* layout_ = new QHBoxLayout(); - layout_->setContentsMargins(0, 0, 0, 0); - layout_->addWidget(videoWidget); - if (videoframe->layout()) - delete videoframe->layout(); - videoframe->setLayout(layout_); + videoWidget = qptr<cv_video_widget>(videoframe); + layout = qptr<QHBoxLayout>(); + layout->setContentsMargins(0, 0, 0, 0); + layout->addWidget(videoWidget.data()); + videoframe->setLayout(layout.data()); videoWidget->show(); start(); for (int i = 0; i < 6; i++) pose[i] = 0; - layout = layout_; } void aruco_tracker::getRT(cv::Matx33d& r_, cv::Vec3d& t_) diff --git a/tracker-aruco/ftnoir_tracker_aruco.h b/tracker-aruco/ftnoir_tracker_aruco.h index 54940d28..edec2437 100644 --- a/tracker-aruco/ftnoir_tracker_aruco.h +++ b/tracker-aruco/ftnoir_tracker_aruco.h @@ -78,8 +78,8 @@ private: cv::VideoCapture camera; QMutex camera_mtx; QMutex mtx; - QHBoxLayout* layout; - cv_video_widget* videoWidget; + qshared<cv_video_widget> videoWidget; + qshared<QHBoxLayout> layout; settings s; double pose[6], fps; cv::Mat frame, grayscale, color; diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp index ca25e858..0e43b812 100644 --- a/tracker-pt/ftnoir_tracker_pt.cpp +++ b/tracker-pt/ftnoir_tracker_pt.cpp @@ -19,8 +19,6 @@ //----------------------------------------------------------------------------- Tracker_PT::Tracker_PT() : - video_widget(nullptr), - video_frame(nullptr), point_count(0), commands(0), ever_success(false) @@ -32,13 +30,7 @@ Tracker_PT::~Tracker_PT() { set_command(ABORT); wait(); - if (video_widget) - delete video_widget; - video_widget = NULL; - if (video_frame) - { - if (video_frame->layout()) delete video_frame->layout(); - } + // fast start/stop causes breakage camera.stop(); } @@ -180,7 +172,7 @@ void Tracker_PT::run() video_widget->update_image(frame_); } } - qDebug() << "pt: Thread stopping"; + qDebug() << "pt: thread stopped"; } void Tracker_PT::apply_settings() @@ -209,17 +201,16 @@ void Tracker_PT::apply_settings() qDebug() << "pt: done applying settings"; } -void Tracker_PT::start_tracker(QFrame *parent_window) +void Tracker_PT::start_tracker(QFrame* video_frame) { - video_frame = parent_window; video_frame->setAttribute(Qt::WA_NativeWindow); - video_frame->show(); - video_widget = new cv_video_widget(video_frame); - QHBoxLayout* video_layout = new QHBoxLayout(parent_window); - video_layout->setContentsMargins(0, 0, 0, 0); - video_layout->addWidget(video_widget); - video_frame->setLayout(video_layout); + video_widget = qptr<cv_video_widget>(video_frame); + layout = qptr<QHBoxLayout>(video_frame); + layout->setContentsMargins(0, 0, 0, 0); + layout->addWidget(video_widget.data()); + video_frame->setLayout(layout.data()); video_widget->resize(video_frame->width(), video_frame->height()); + video_frame->show(); start(); } diff --git a/tracker-pt/ftnoir_tracker_pt.h b/tracker-pt/ftnoir_tracker_pt.h index 020694ae..66928655 100644 --- a/tracker-pt/ftnoir_tracker_pt.h +++ b/tracker-pt/ftnoir_tracker_pt.h @@ -18,12 +18,14 @@ #include "point_tracker.h" #include "compat/timer.hpp" #include "cv/video-widget.hpp" +#include "compat/util.hpp" #include <QCoreApplication> #include <QThread> #include <QMutex> #include <QMutexLocker> #include <QTime> +#include <QLayout> #include <atomic> #include <memory> #include <vector> @@ -65,12 +67,12 @@ private: QMutex camera_mtx; QMutex data_mtx; - CVCamera camera; + Camera camera; PointExtractor point_extractor; PointTracker point_tracker; - cv_video_widget* video_widget; - QFrame* video_frame; + qshared<cv_video_widget> video_widget; + qshared<QLayout> layout; settings_pt s; Timer time; |