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-rw-r--r--CMakeLists.txt15
-rw-r--r--facetracknoir/tracker.cpp3
-rw-r--r--ftnoir_filter_accela/ftnoir_filter_accela.h5
-rw-r--r--ftnoir_filter_base/ftnoir_filter_base.h1
-rw-r--r--ftnoir_filter_ewma2/ftnoir_filter_ewma2.h1
-rw-r--r--ftnoir_filter_kalman/ftnoir_filter_kalman.h87
-rw-r--r--ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui211
-rw-r--r--ftnoir_filter_kalman/images/filter-16-ac.pngbin0 -> 725 bytes
-rw-r--r--ftnoir_filter_kalman/kalman-filter.qrc5
-rw-r--r--ftnoir_filter_kalman/kalman.cpp156
10 files changed, 481 insertions, 3 deletions
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 65e2f01b..f51d38e7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -132,6 +132,14 @@ if(NOT SDK_FACEAPI_ONLY)
QT4_WRAP_UI(opentrack-filter-accela-uih ${opentrack-filter-accela-ui})
QT4_ADD_RESOURCES(opentrack-filter-accela-rcc ${opentrack-filter-accela-rc})
+ file(GLOB opentrack-filter-kalman-c "ftnoir_filter_kalman/*.cpp")
+ file(GLOB opentrack-filter-kalman-h "ftnoir_filter_kalman/*.h")
+ QT4_WRAP_CPP(opentrack-filter-kalman-moc ${opentrack-filter-kalman-h})
+ file(GLOB opentrack-filter-kalman-ui "ftnoir_filter_kalman/*.ui")
+ file(GLOB opentrack-filter-kalman-rc "ftnoir_filter_kalman/*.qrc")
+ QT4_WRAP_UI(opentrack-filter-kalman-uih ${opentrack-filter-kalman-ui})
+ QT4_ADD_RESOURCES(opentrack-filter-kalman-rcc ${opentrack-filter-kalman-rc})
+
file(GLOB opentrack-filter-ewma-c "ftnoir_filter_ewma2/*.cpp")
file(GLOB opentrack-filter-ewma-h "ftnoir_filter_ewma2/*.h")
QT4_WRAP_CPP(opentrack-filter-ewma-moc ${opentrack-filter-ewma-h})
@@ -318,6 +326,11 @@ endif()
add_library(opentrack-filter-accela SHARED ${opentrack-filter-accela-c} ${opentrack-filter-accela-moc} ${opentrack-filter-accela-uih} ${opentrack-filter-accela-rcc})
target_link_libraries(opentrack-filter-accela ${MY_QT_LIBS} opentrack-spline-widget)
+ if(OpenCV_FOUND)
+ add_library(opentrack-filter-kalman SHARED ${opentrack-filter-kalman-c} ${opentrack-filter-kalman-moc} ${opentrack-filter-kalman-uih} ${opentrack-filter-kalman-rcc})
+ target_link_libraries(opentrack-filter-kalman ${MY_QT_LIBS} ${OpenCV_LIBS})
+ endif()
+
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_COMPILER_IS_GNUCC)
SET_TARGET_PROPERTIES(opentrack-filter-accela
PROPERTIES LINK_FLAGS "-Wl,--version-script=${CMAKE_SOURCE_DIR}/facetracknoir/posix-version-script.txt")
@@ -533,7 +546,7 @@ if(NOT SDK_FACEAPI_ONLY)
endif()
if(OpenCV_FOUND)
- install(TARGETS opentrack-tracker-pt RUNTIME DESTINATION . LIBRARY DESTINATION .)
+ install(TARGETS opentrack-tracker-pt opentrack-filter-kalman RUNTIME DESTINATION . LIBRARY DESTINATION .)
endif()
install(TARGETS
diff --git a/facetracknoir/tracker.cpp b/facetracknoir/tracker.cpp
index 380d1748..25e09126 100644
--- a/facetracknoir/tracker.cpp
+++ b/facetracknoir/tracker.cpp
@@ -161,6 +161,9 @@ void Tracker::run() {
if (Libraries->pSecondTracker)
Libraries->pSecondTracker->NotifyCenter();
+
+ if (Libraries->pFilter)
+ Libraries->pFilter->Initialize();
}
if (getTrackingActive()) {
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.h b/ftnoir_filter_accela/ftnoir_filter_accela.h
index 7939b783..fa1e9bcd 100644
--- a/ftnoir_filter_accela/ftnoir_filter_accela.h
+++ b/ftnoir_filter_accela/ftnoir_filter_accela.h
@@ -48,6 +48,7 @@ public:
FTNoIR_Filter();
~FTNoIR_Filter();
void FilterHeadPoseData(double *current_camera_position, double *target_camera_position, double *new_camera_position, double *last_post_filter_values);
+ void Initialize() {}
private:
void loadSettings(); // Load the settings from the INI-file
@@ -93,8 +94,8 @@ private:
private slots:
void doOK();
void doCancel();
- void settingChanged(bool) { settingsDirty = true; };
- void settingChanged(int) { settingsDirty = true; };
+ void settingChanged(bool) { settingsDirty = true; }
+ void settingChanged(int) { settingsDirty = true; }
};
//*******************************************************************************************************
diff --git a/ftnoir_filter_base/ftnoir_filter_base.h b/ftnoir_filter_base/ftnoir_filter_base.h
index 0dcf640a..b38fc226 100644
--- a/ftnoir_filter_base/ftnoir_filter_base.h
+++ b/ftnoir_filter_base/ftnoir_filter_base.h
@@ -27,6 +27,7 @@ struct IFilter
{
virtual ~IFilter() {}
virtual void FilterHeadPoseData(double *current_camera_position, double *target_camera_position, double *new_camera_position, double *last_post_filter) = 0;
+ virtual void Initialize() = 0;
};
// Factory function that creates instances of the Filter object.
diff --git a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h
index 7fc9c77e..910fc7c1 100644
--- a/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h
+++ b/ftnoir_filter_ewma2/ftnoir_filter_ewma2.h
@@ -41,6 +41,7 @@ class FTNoIR_Filter : public IFilter
public:
FTNoIR_Filter();
~FTNoIR_Filter();
+ void Initialize() {}
void FilterHeadPoseData(double *current_camera_position, double *target_camera_position, double *new_camera_position, double *last_post_filter);
diff --git a/ftnoir_filter_kalman/ftnoir_filter_kalman.h b/ftnoir_filter_kalman/ftnoir_filter_kalman.h
new file mode 100644
index 00000000..59169612
--- /dev/null
+++ b/ftnoir_filter_kalman/ftnoir_filter_kalman.h
@@ -0,0 +1,87 @@
+#pragma once
+/* Copyright (c) 2013 Stanisław Halik <sthalik@misaki.pl>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ */
+#ifndef INCLUDED_FTN_FILTER_H
+#define INCLUDED_FTN_FILTER_H
+
+#undef FTNOIR_TRACKER_BASE_LIB
+#define FTNOIR_TRACKER_BASE_EXPORT Q_DECL_IMPORT
+
+#include "ftnoir_filter_base/ftnoir_filter_base.h"
+#include "ui_ftnoir_kalman_filtercontrols.h"
+#include "facetracknoir/global-settings.h"
+#include <opencv2/opencv.hpp>
+#include <vector>
+#include <QString>
+#include <QIcon>
+#include <QWidget>
+#include <QObject>
+
+class FTNOIR_FILTER_BASE_EXPORT FTNoIR_Filter : public IFilter
+{
+public:
+ FTNoIR_Filter();
+ virtual ~FTNoIR_Filter() {
+ }
+ void Initialize();
+ void FilterHeadPoseData(double *current_camera_position,
+ double *target_camera_position,
+ double *new_camera_position,
+ double *last_post_filter_values);
+ cv::KalmanFilter kalman;
+ double prev_position[6];
+};
+
+void kalman_load_settings(FTNoIR_Filter& self);
+void kalman_save_settings(FTNoIR_Filter& self);
+
+class FTNOIR_FILTER_BASE_EXPORT FTNoIR_FilterDll : public Metadata
+{
+public:
+ void getFullName(QString *strToBeFilled) { *strToBeFilled = QString("Kalman filter"); }
+ void getShortName(QString *strToBeFilled) { *strToBeFilled = QString("Kalman filter"); }
+ void getDescription(QString *strToBeFilled) { *strToBeFilled = QString("Kalman filter"); }
+ void getIcon(QIcon *icon){ *icon = QIcon(":/images/filter-16.png"); }
+};
+
+class FTNOIR_FILTER_BASE_EXPORT FilterControls: public QWidget, Ui::KalmanUICFilterControls, public IFilterDialog
+{
+ Q_OBJECT
+public:
+ explicit FilterControls() : settingsDirty(false) {
+ ui.setupUi(this);
+ QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // Registry settings (in HK_USER)
+
+ QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
+ QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file)
+
+ iniFile.beginGroup("ftnoir-filter-kalman");
+ iniFile.endGroup();
+ connect(ui.btnOk, SIGNAL(clicked()), this, SLOT(doOK()));
+ connect(ui.btnCancel, SIGNAL(clicked()), this, SLOT(doCancel()));
+ show();
+ }
+ virtual ~FilterControls() {}
+ void showEvent ( QShowEvent * event ) {
+ show();
+ }
+
+ void Initialize(QWidget *parent, IFilter* ptr) {
+ }
+
+ bool settingsDirty;
+ Ui::KalmanUICFilterControls ui;
+
+public slots:
+ void doOK();
+ void doCancel();
+ void settingsChanged(double unused) {
+ settingsDirty = true;
+ }
+};
+
+#endif
diff --git a/ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui b/ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui
new file mode 100644
index 00000000..7b71712a
--- /dev/null
+++ b/ftnoir_filter_kalman/ftnoir_kalman_filtercontrols.ui
@@ -0,0 +1,211 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>KalmanUICFilterControls</class>
+ <widget class="QWidget" name="KalmanUICFilterControls">
+ <property name="windowModality">
+ <enum>Qt::ApplicationModal</enum>
+ </property>
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>334</width>
+ <height>100</height>
+ </rect>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="windowTitle">
+ <string>Filter settings</string>
+ </property>
+ <property name="windowIcon">
+ <iconset>
+ <normaloff>
+ images/facetracknoir.png</normaloff>
+ images/facetracknoir.png</iconset>
+ </property>
+ <property name="layoutDirection">
+ <enum>Qt::LeftToRight</enum>
+ </property>
+ <property name="autoFillBackground">
+ <bool>false</bool>
+ </property>
+ <property name="styleSheet">
+ <string notr="true"/>
+ </property>
+ <widget class="QPushButton" name="btnOk">
+ <property name="geometry">
+ <rect>
+ <x>173</x>
+ <y>70</y>
+ <width>73</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>OK</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="btnCancel">
+ <property name="geometry">
+ <rect>
+ <x>250</x>
+ <y>70</y>
+ <width>73</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Cancel</string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_2">
+ <property name="geometry">
+ <rect>
+ <x>9</x>
+ <y>30</y>
+ <width>169</width>
+ <height>16</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>process-noise-covariance</string>
+ </property>
+ </widget>
+ <widget class="QDoubleSpinBox" name="post">
+ <property name="geometry">
+ <rect>
+ <x>180</x>
+ <y>26</y>
+ <width>150</width>
+ <height>22</height>
+ </rect>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+ </property>
+ <property name="decimals">
+ <number>14</number>
+ </property>
+ <property name="maximum">
+ <double>1.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>0.000001000000000</double>
+ </property>
+ <property name="value">
+ <double>0.500000000000000</double>
+ </property>
+ </widget>
+ <widget class="QDoubleSpinBox" name="pnoise">
+ <property name="geometry">
+ <rect>
+ <x>180</x>
+ <y>6</y>
+ <width>150</width>
+ <height>22</height>
+ </rect>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+ </property>
+ <property name="decimals">
+ <number>14</number>
+ </property>
+ <property name="maximum">
+ <double>1.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>0.000001000000000</double>
+ </property>
+ <property name="value">
+ <double>0.500000000000000</double>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label">
+ <property name="geometry">
+ <rect>
+ <x>9</x>
+ <y>10</y>
+ <width>165</width>
+ <height>16</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>post-error-matrix</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+ </property>
+ <property name="margin">
+ <number>0</number>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_3">
+ <property name="geometry">
+ <rect>
+ <x>9</x>
+ <y>55</y>
+ <width>109</width>
+ <height>16</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>accel-coefficient</string>
+ </property>
+ </widget>
+ <widget class="QDoubleSpinBox" name="accl">
+ <property name="geometry">
+ <rect>
+ <x>181</x>
+ <y>47</y>
+ <width>150</width>
+ <height>22</height>
+ </rect>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+ </property>
+ <property name="decimals">
+ <number>6</number>
+ </property>
+ <property name="maximum">
+ <double>1000000000.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>0.000001000000000</double>
+ </property>
+ <property name="value">
+ <double>1.000000000000000</double>
+ </property>
+ </widget>
+ </widget>
+ <resources/>
+ <connections/>
+ <designerdata>
+ <property name="gridDeltaX">
+ <number>10</number>
+ </property>
+ <property name="gridDeltaY">
+ <number>10</number>
+ </property>
+ <property name="gridSnapX">
+ <bool>false</bool>
+ </property>
+ <property name="gridSnapY">
+ <bool>false</bool>
+ </property>
+ <property name="gridVisible">
+ <bool>true</bool>
+ </property>
+ </designerdata>
+ <slots>
+ <slot>startEngineClicked()</slot>
+ <slot>stopEngineClicked()</slot>
+ <slot>cameraSettingsClicked()</slot>
+ </slots>
+</ui>
diff --git a/ftnoir_filter_kalman/images/filter-16-ac.png b/ftnoir_filter_kalman/images/filter-16-ac.png
new file mode 100644
index 00000000..d263db2d
--- /dev/null
+++ b/ftnoir_filter_kalman/images/filter-16-ac.png
Binary files differ
diff --git a/ftnoir_filter_kalman/kalman-filter.qrc b/ftnoir_filter_kalman/kalman-filter.qrc
new file mode 100644
index 00000000..9a7d75fa
--- /dev/null
+++ b/ftnoir_filter_kalman/kalman-filter.qrc
@@ -0,0 +1,5 @@
+<RCC>
+ <qresource prefix="/">
+ <file>images/filter-16-ac.png</file>
+ </qresource>
+</RCC>
diff --git a/ftnoir_filter_kalman/kalman.cpp b/ftnoir_filter_kalman/kalman.cpp
new file mode 100644
index 00000000..51af35e1
--- /dev/null
+++ b/ftnoir_filter_kalman/kalman.cpp
@@ -0,0 +1,156 @@
+/* Copyright (c) 2013 Stanisław Halik <sthalik@misaki.pl>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ */
+#include "ftnoir_filter_kalman.h"
+#include "facetracknoir/global-settings.h"
+#include <QDebug>
+#include <math.h>
+
+void kalman_load_settings(FTNoIR_Filter& self) {
+ QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // Registry settings (in HK_USER)
+
+ QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
+ QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file)
+
+ iniFile.beginGroup("ftnoir-filter-kalman");
+ iniFile.endGroup();
+}
+
+void kalman_save_settings(FilterControls& self) {
+ QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // Registry settings (in HK_USER)
+
+ QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
+ QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file)
+
+ iniFile.beginGroup("ftnoir-filter-kalman");
+ iniFile.endGroup();
+}
+
+FTNoIR_Filter::FTNoIR_Filter() {
+ kalman_load_settings(*this);
+ Initialize();
+}
+
+// the following was written by Donovan Baarda <abo@minkirri.apana.org.au>
+// https://sourceforge.net/p/facetracknoir/discussion/1150909/thread/418615e1/?limit=25#af75/084b
+void FTNoIR_Filter::Initialize() {
+ const double accel_variance = 1e-4;
+ const double noise_variance = 1e1;
+ kalman.init(12, 6, 0, CV_64F);
+ kalman.transitionMatrix = (cv::Mat_<double>(12, 12) <<
+ 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0,
+ 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0,
+ 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0,
+ 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0,
+ 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0,
+ 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1,
+ 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0,
+ 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0,
+ 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0,
+ 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
+ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0,
+ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1);
+ double a = 0.25 * accel_variance;
+ double b = 0.5 * accel_variance;
+ double c = 1.0 * accel_variance;
+ kalman.processNoiseCov = (cv::Mat_<double>(12, 12) <<
+ a, 0, 0, 0, 0, 0, b, 0, 0, 0, 0, 0,
+ 0, a, 0, 0, 0, 0, 0, b, 0, 0, 0, 0,
+ 0, 0, a, 0, 0, 0, 0, 0, b, 0, 0, 0,
+ 0, 0, 0, a, 0, 0, 0, 0, 0, b, 0, 0,
+ 0, 0, 0, 0, a, 0, 0, 0, 0, 0, b, 0,
+ 0, 0, 0, 0, 0, a, 0, 0, 0, 0, 0, b,
+ b, 0, 0, 0, 0, 0, c, 0, 0, 0, 0, 0,
+ 0, b, 0, 0, 0, 0, 0, c, 0, 0, 0, 0,
+ 0, 0, b, 0, 0, 0, 0, 0, c, 0, 0, 0,
+ 0, 0, 0, b, 0, 0, 0, 0, 0, c, 0, 0,
+ 0, 0, 0, 0, b, 0, 0, 0, 0, 0, c, 0,
+ 0, 0, 0, 0, 0, b, 0, 0, 0, 0, 0, c);
+ cv::setIdentity(kalman.measurementMatrix);
+ cv::setIdentity(kalman.measurementNoiseCov, cv::Scalar::all(noise_variance));
+ cv::setIdentity(kalman.errorCovPost, cv::Scalar::all(accel_variance * 1e4));
+ for (int i = 0; i < 6; i++)
+ prev_position[i] = 0;
+}
+
+void FTNoIR_Filter::FilterHeadPoseData(double *current_camera_position,
+ double *target_camera_position,
+ double *new_camera_position,
+ double *last_post_filter_values)
+{
+ bool new_target = false;
+
+ for (int i = 0; i < 6; i++)
+ if (prev_position[i] != target_camera_position[i])
+ {
+ new_target = true;
+ break;
+ }
+
+ cv::Mat output = kalman.predict();
+
+ if (new_target) {
+ cv::Mat measurement(6, 1, CV_64F);
+ for (int i = 0; i < 3; i++) {
+ measurement.at<double>(i) = target_camera_position[i+3];
+ measurement.at<double>(i+3) = target_camera_position[i];
+ }
+ kalman.correct(measurement);
+ }
+
+ for (int i = 0; i < 3; i++) {
+ new_camera_position[i] = output.at<double>(i+3);
+ new_camera_position[i+3] = output.at<double>(i);
+ prev_position[i] = target_camera_position[i];
+ prev_position[i+3] = target_camera_position[i+3];
+ }
+}
+
+void FilterControls::doOK() {
+ kalman_save_settings(*this);
+ close();
+}
+
+void FilterControls::doCancel() {
+ if (settingsDirty) {
+ int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel, QMessageBox::Discard );
+
+ qDebug() << "doCancel says: answer =" << ret;
+
+ switch (ret) {
+ case QMessageBox::Save:
+ kalman_save_settings(*this);
+ this->close();
+ break;
+ case QMessageBox::Discard:
+ this->close();
+ break;
+ case QMessageBox::Cancel:
+ // Cancel was clicked
+ break;
+ default:
+ // should never be reached
+ break;
+ }
+ }
+ else {
+ this->close();
+ }
+}
+
+extern "C" FTNOIR_FILTER_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata()
+{
+ return new FTNoIR_FilterDll;
+}
+
+extern "C" FTNOIR_FILTER_BASE_EXPORT IFilter* CALLING_CONVENTION GetConstructor()
+{
+ return new FTNoIR_Filter;
+}
+
+extern "C" FTNOIR_FILTER_BASE_EXPORT IFilterDialog* CALLING_CONVENTION GetDialog() {
+ return new FilterControls;
+}
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-24 15:24:17 +0000