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-rwxr-xr-xbin/NPClient.dllbin15872 -> 15872 bytes
-rwxr-xr-xbin/NPClient64.dllbin20992 -> 20480 bytes
-rw-r--r--ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui57
-rw-r--r--ftnoir_filter_accela/ftnoir_filter_accela.cpp13
-rw-r--r--ftnoir_filter_accela/ftnoir_filter_accela.h3
-rw-r--r--ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp12
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp17
7 files changed, 78 insertions, 24 deletions
diff --git a/bin/NPClient.dll b/bin/NPClient.dll
index b291cb24..19c54d63 100755
--- a/bin/NPClient.dll
+++ b/bin/NPClient.dll
Binary files differ
diff --git a/bin/NPClient64.dll b/bin/NPClient64.dll
index 8521ca03..fb614039 100755
--- a/bin/NPClient64.dll
+++ b/bin/NPClient64.dll
Binary files differ
diff --git a/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui b/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui
index c7bd2808..1d3e95ef 100644
--- a/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui
+++ b/ftnoir_filter_accela/ftnoir_accela_filtercontrols.ui
@@ -229,6 +229,63 @@ background:none;</string>
</property>
</widget>
</item>
+ <item row="3" column="0">
+ <widget class="QLabel" name="lblSensYaw_6">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>25</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>150</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">color:#0;
+background:none;</string>
+ </property>
+ <property name="text">
+ <string>Deadzone</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1">
+ <widget class="QDoubleSpinBox" name="deadzone">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Maximum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+ </property>
+ <property name="decimals">
+ <number>3</number>
+ </property>
+ <property name="minimum">
+ <double>0.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>3.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>0.050000000000000</double>
+ </property>
+ <property name="value">
+ <double>0.000000000000000</double>
+ </property>
+ </widget>
+ </item>
</layout>
</widget>
</item>
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.cpp b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
index 1168004f..63c82722 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.cpp
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.cpp
@@ -34,9 +34,8 @@ void FTNoIR_Filter::loadSettings() {
zoom_factor = iniFile.value("zoom-slowness", ACCELA_ZOOM_SLOWNESS).toDouble();
rotation_alpha = iniFile.value("rotation-alpha", ACCELA_SMOOTHING_ROTATION).toDouble();
translation_alpha = iniFile.value("translation-alpha", ACCELA_SMOOTHING_TRANSLATION).toDouble();
- iniFile.endGroup ();
- iniFile.beginGroup("Accela-Scaling");
+ deadzone = iniFile.value("deadzone", 0.0).toDouble();
// bigger means less filtering
static const double init_scaling[] = {
1.5, // X
@@ -50,23 +49,23 @@ void FTNoIR_Filter::loadSettings() {
{
scaling[i] = iniFile.value(QString("axis-%1").arg(QString::number(i)), init_scaling[i]).toDouble();
}
-
iniFile.endGroup();
}
-void FTNoIR_Filter::receiveSettings(double rot, double trans, double zoom_fac)
+void FTNoIR_Filter::receiveSettings(double rot, double trans, double zoom_fac, double dz)
{
QMutexLocker foo(&mutex);
rotation_alpha = rot;
translation_alpha = trans;
zoom_factor = zoom_fac;
+ deadzone = dz;
}
-static inline double parabola(const double a, const double x)
+static inline double parabola(const double a, const double x, const double dz)
{
const double a1 = 1./a;
- return a1 * pow(std::max<double>(x - 0.175, 1e-5), 2.2);
+ return a1 * pow(std::max<double>(x - dz, 1e-3), 1.975);
}
void FTNoIR_Filter::FilterHeadPoseData(const double* target_camera_position,
@@ -94,7 +93,7 @@ void FTNoIR_Filter::FilterHeadPoseData(const double* target_camera_position,
const double x = fabs(vec);
const double a = i >= 3 ? rotation_alpha : translation_alpha;
const double reduction = 1. / std::max(1., 1. + zoom_factor * -last_post_filter_values[TZ] / 1000);
- const double velocity = parabola(a, x * scaling[i]) * reduction;
+ const double velocity = parabola(a, x * scaling[i], deadzone) * reduction;
const double result = current_camera_position[i] + velocity * sign;
const bool done = sign > 0 ? result >= target_camera_position[i] : result <= target_camera_position[i];
new_camera_position[i] = current_camera_position[i] = done ? target_camera_position[i] : result;
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.h b/ftnoir_filter_accela/ftnoir_filter_accela.h
index 512b4576..1808e026 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.h
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.h
@@ -47,7 +47,7 @@ public:
void Initialize() {
first_run = true;
}
- void receiveSettings(double rot, double trans, double zoom_fac);
+ void receiveSettings(double rot, double trans, double zoom_fac, double deadzone);
private:
QMutex mutex;
void loadSettings();
@@ -55,6 +55,7 @@ private:
double rotation_alpha, translation_alpha, zoom_factor;
double current_camera_position[6];
double scaling[6];
+ double deadzone;
};
//*******************************************************************************************************
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp
index 559b9d4d..ca3377e1 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp
+++ b/ftnoir_filter_accela/ftnoir_filter_accela_dialog.cpp
@@ -158,9 +158,8 @@ void FilterControls::loadSettings() {
ui.spinZoom->setValue(iniFile.value("zoom-slowness", ACCELA_ZOOM_SLOWNESS).toInt());
ui.rotation_alpha->setValue(iniFile.value("rotation-alpha", ACCELA_SMOOTHING_ROTATION).toDouble());
ui.translation_alpha->setValue(iniFile.value("translation-alpha", ACCELA_SMOOTHING_TRANSLATION).toDouble());
- iniFile.endGroup ();
+ ui.deadzone->setValue(iniFile.value("deadzone", 0).toDouble());
- iniFile.beginGroup("Accela-Scaling");
// bigger means less filtering
static const double init_scaling[] = {
1.5, // X
@@ -184,6 +183,7 @@ void FilterControls::loadSettings() {
{
boxen[i]->setValue(iniFile.value(QString("axis-%1").arg(QString::number(i)), init_scaling[i]).toDouble());
}
+
iniFile.endGroup();
settingsDirty = false;
@@ -200,15 +200,13 @@ void FilterControls::save() {
qDebug() << "FTNoIR_Filter::save() says: iniFile = " << currentFile;
- double rot, trans, zoom;
+ double rot, trans, zoom, deadzone;
iniFile.beginGroup ( "Accela" );
iniFile.setValue("rotation-alpha", rot = ui.rotation_alpha->value());
iniFile.setValue("translation-alpha", trans = ui.translation_alpha->value());
iniFile.setValue("zoom-slowness", zoom = ui.spinZoom->value());
- iniFile.endGroup ();
-
- iniFile.beginGroup("Accela-Scaling");
+ iniFile.setValue("deadzone", deadzone = ui.deadzone->value());
QDoubleSpinBox* boxen[] = {
ui.doubleSpinBox,
@@ -228,7 +226,7 @@ void FilterControls::save() {
settingsDirty = false;
if (accela_filter)
- accela_filter->receiveSettings(rot, trans, zoom);
+ accela_filter->receiveSettings(rot, trans, zoom, deadzone);
}
////////////////////////////////////////////////////////////////////////////////
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index d068564d..d5ed9071 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -187,8 +187,10 @@ start:
aruco::MarkerDetector detector;
detector.setDesiredSpeed(3);
- detector.setThresholdParams(11, 5);
- cv::Mat color, color_, grayscale, grayscale2, rvec, tvec;
+ detector.setMinMaxSize(0.06, 0.4);
+ detector.setThresholdParams(11, 7);
+
+ cv::Mat color, color_, grayscale, rvec, tvec;
if (!camera->isOpened())
{
@@ -203,11 +205,11 @@ start:
auto freq = cv::getTickFrequency();
auto last_time = cv::getTickCount();
auto prev_time = last_time;
+ double last_delay = -1;
int fps = 0;
int last_fps = 0;
double error = 0;
std::vector<cv::Point2f> reprojection;
- auto kernel = cv::createGaussianFilter(CV_8U, cv::Size(5, 5), 0);
cv::Point2f last_centroid;
while (!stop)
{
@@ -218,12 +220,9 @@ start:
}
if (!camera->read(color_))
continue;
+ auto tm = cv::getTickCount();
color_.copyTo(color);
- cv::cvtColor(color, grayscale2, cv::COLOR_BGR2GRAY);
- if (grayscale.empty())
- grayscale = grayscale2.clone();
-
- kernel->apply(grayscale2, grayscale);
+ cv::cvtColor(color, grayscale, cv::COLOR_BGR2GRAY);
const int scale = frame.cols > 480 ? 2 : 1;
@@ -276,7 +275,7 @@ start:
std::sprintf(buf, "Hz: %ld", last_fps);
cv::putText(frame, buf, cv::Point(10, 32), cv::FONT_HERSHEY_PLAIN, scale, cv::Scalar(0, 255, 0), scale);
- std::sprintf(buf, "Delay: %ld ms", (long) (1000 * (time - prev_time) / freq));
+ std::sprintf(buf, "Jiffies: %ld", (long) (10000 * (time - tm) / freq));
cv::putText(frame, buf, cv::Point(10, 54), cv::FONT_HERSHEY_PLAIN, scale, cv::Scalar(80, 255, 0), scale);
std::sprintf(buf, "Error: %f px", error);
cv::putText(frame, buf, cv::Point(10, 76), cv::FONT_HERSHEY_PLAIN, scale, cv::Scalar(80, 255, 0), scale);
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-11 02:34:34 +0000