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-rw-r--r--compat/mutex.cpp10
-rw-r--r--compat/mutex.hpp6
-rw-r--r--cv/CMakeLists.txt2
-rw-r--r--cv/numeric.hpp5
-rw-r--r--cv/video-property-page.cpp3
-rw-r--r--cv/video-property-page.hpp6
-rw-r--r--options/base-value.cpp2
-rw-r--r--options/base-value.hpp4
-rw-r--r--options/value.hpp20
-rw-r--r--proto-udp/ftnoir_protocol_ftn.cpp6
-rw-r--r--proto-udp/ftnoir_protocol_ftn.h5
-rw-r--r--sdk-paths-sthalik@Clang-windows.cmake3
-rw-r--r--spline/spline-widget.cpp5
-rw-r--r--spline/spline.cpp27
-rw-r--r--tracker-aruco/CMakeLists.txt2
-rw-r--r--tracker-pt/CMakeLists.txt2
-rw-r--r--tracker-pt/ftnoir_tracker_pt.cpp2
-rw-r--r--tracker-pt/module/point_extractor.cpp12
-rw-r--r--tracker-pt/module/point_extractor.h2
-rw-r--r--tracker-pt/point_tracker.cpp22
-rw-r--r--tracker-pt/pt-api.cpp2
-rw-r--r--tracker-wii/wii_point_extractor.cpp4
22 files changed, 78 insertions, 74 deletions
diff --git a/compat/mutex.cpp b/compat/mutex.cpp
index 55789a22..664677ea 100644
--- a/compat/mutex.cpp
+++ b/compat/mutex.cpp
@@ -17,17 +17,17 @@ mutex::mutex(RecursionMode m) : inner{m}
{
}
-QMutex* mutex::operator&() const
+QMutex* mutex::operator&() const noexcept
{
- return *this;
+ return &inner;
}
-mutex::operator QMutex*() const
+mutex::operator QMutex*() const noexcept
{
return &inner;
}
-QMutex* mutex::operator->() const
+QMutex* mutex::operator->() const noexcept
{
- return *this;
+ return &inner;
}
diff --git a/compat/mutex.hpp b/compat/mutex.hpp
index 37e6802b..e142fd0b 100644
--- a/compat/mutex.hpp
+++ b/compat/mutex.hpp
@@ -17,7 +17,7 @@ public:
mutex(const mutex& datum);
explicit mutex(RecursionMode m);
- QMutex* operator&() const;
- operator QMutex*() const;
- QMutex* operator->() const;
+ QMutex* operator&() const noexcept;
+ explicit operator QMutex*() const noexcept;
+ QMutex* operator->() const noexcept;
};
diff --git a/cv/CMakeLists.txt b/cv/CMakeLists.txt
index 1007344c..60350a99 100644
--- a/cv/CMakeLists.txt
+++ b/cv/CMakeLists.txt
@@ -1,6 +1,6 @@
find_package(OpenCV QUIET)
if(OpenCV_FOUND)
otr_module(cv STATIC)
- target_link_libraries(${self} opencv_core opencv_videoio)
+ target_link_libraries(${self} opencv_videoio opencv_core)
target_include_directories(${self} SYSTEM PRIVATE ${OpenCV_INCLUDE_DIRS})
endif()
diff --git a/cv/numeric.hpp b/cv/numeric.hpp
index 0edb7f58..7d850cbe 100644
--- a/cv/numeric.hpp
+++ b/cv/numeric.hpp
@@ -5,9 +5,8 @@
namespace types {
using f = double;
- namespace constants {
- static constexpr inline f eps = f(1e-8);
- }
+ static constexpr inline f eps = f(1e-8);
+ static constexpr inline f pi = f(M_PI);
template<int n> using vec = cv::Vec<f, n>;
using vec2 = vec<2>;
diff --git a/cv/video-property-page.cpp b/cv/video-property-page.cpp
index 1b8b94cf..bae5e8b3 100644
--- a/cv/video-property-page.cpp
+++ b/cv/video-property-page.cpp
@@ -25,8 +25,6 @@
#include <QDebug>
-#include <dshow.h>
-
bool video_property_page::show_from_capture(cv::VideoCapture& cap, int /*index */)
{
return cap.set(cv::CAP_PROP_SETTINGS, 0);
@@ -165,4 +163,3 @@ bool video_property_page::show_from_capture(cv::VideoCapture&, int idx)
bool video_property_page::show(int) { return false; }
bool video_property_page::show_from_capture(cv::VideoCapture&, int) { return false; }
#endif
-
diff --git a/cv/video-property-page.hpp b/cv/video-property-page.hpp
index 9e6b596f..c2b9525d 100644
--- a/cv/video-property-page.hpp
+++ b/cv/video-property-page.hpp
@@ -1,11 +1,6 @@
#pragma once
#include <QString>
-
-#ifdef _WIN32
-# include <windows.h>
-#endif
-
#include <opencv2/videoio.hpp>
struct video_property_page final
@@ -15,3 +10,4 @@ struct video_property_page final
static bool show_from_capture(cv::VideoCapture& cap, int index);
private:
};
+
diff --git a/options/base-value.cpp b/options/base-value.cpp
index be18bbfd..39453a09 100644
--- a/options/base-value.cpp
+++ b/options/base-value.cpp
@@ -2,7 +2,7 @@
using namespace options;
-value_::value_(bundle const& b, const QString& name) :
+value_::value_(bundle const& b, const QString& name) noexcept :
b(b), self_name(name)
{
b->on_value_created(this);
diff --git a/options/base-value.hpp b/options/base-value.hpp
index 7baff0b3..11d17c00 100644
--- a/options/base-value.hpp
+++ b/options/base-value.hpp
@@ -31,7 +31,7 @@ class OTR_OPTIONS_EXPORT value_ : public QObject
public:
QString name() const { return self_name; }
- value_(bundle const& b, const QString& name);
+ value_(bundle const& b, const QString& name) noexcept;
~value_() override;
// no C++17 "constexpr inline" for data declarations in MSVC
@@ -63,7 +63,7 @@ protected:
bundle b;
QString self_name;
- virtual void store_variant(const QVariant& x) = 0;
+ virtual void store_variant(const QVariant& x) noexcept = 0;
template<typename t>
void store_(const t& datum)
diff --git a/options/value.hpp b/options/value.hpp
index 6714d50d..64234ecf 100644
--- a/options/value.hpp
+++ b/options/value.hpp
@@ -44,7 +44,7 @@ class value final : public value_
using traits = detail::value_traits<t>;
cc_noinline
- t get() const
+ t get() const noexcept
{
if (self_name.isEmpty() || !b->contains(self_name))
return traits::pass_value(def);
@@ -57,7 +57,8 @@ class value final : public value_
return traits::pass_value(traits::value_with_default(traits::value_from_qvariant(variant), def));
}
- void store_variant(const QVariant& value) override
+ cc_noinline
+ void store_variant(const QVariant& value) noexcept override
{
if (self_name.isEmpty())
return;
@@ -78,7 +79,7 @@ public:
emit valueChanged(traits::storage_from_value(get()));
}
- value<u>& operator=(const t& datum)
+ value<u>& operator=(const t& datum) noexcept
{
store_variant(traits::qvariant_from_value(traits::pass_value(datum)));
@@ -88,11 +89,12 @@ public:
static constexpr inline Qt::ConnectionType DIRECT_CONNTYPE = Qt::DirectConnection;
static constexpr inline Qt::ConnectionType SAFE_CONNTYPE = Qt::QueuedConnection;
- value(bundle b, const QString& name, t def) :
- value_(b, name), def(std::move(def))
+ value(bundle b, const QString& name, t def) noexcept : value_(b, name), def(std::move(def))
{
}
+ value(const value<u>& other) noexcept : value{other.b, other.self_name, other.def} {}
+
t default_value() const
{
return def;
@@ -108,16 +110,16 @@ public:
template<typename w>
explicit cc_forceinline operator w() const { return to<w>(); }
- auto operator->() const
+ auto operator->() const noexcept
{
return detail::dereference_wrapper<t>{get()};
}
- cc_forceinline t operator()() const { return get(); }
- cc_forceinline t operator*() const { return get(); }
+ cc_forceinline t operator()() const noexcept { return get(); }
+ cc_forceinline t operator*() const noexcept { return get(); }
template<typename w>
- w to() const
+ w to() const noexcept
{
return static_cast<w>(get());
}
diff --git a/proto-udp/ftnoir_protocol_ftn.cpp b/proto-udp/ftnoir_protocol_ftn.cpp
index 0eb79954..def3ebb1 100644
--- a/proto-udp/ftnoir_protocol_ftn.cpp
+++ b/proto-udp/ftnoir_protocol_ftn.cpp
@@ -18,15 +18,19 @@ udp::udp()
QObject::connect(s.b.get(), &bundle_::changed,
this, &udp::set_dest_address,
- Qt::QueuedConnection);
+ Qt::DirectConnection);
}
void udp::pose(const double *headpose) {
+ spinlock_guard l(spl);
+
outSocket.writeDatagram((const char *) headpose, sizeof(double[6]), dest_ip, dest_port);
}
void udp::set_dest_address()
{
+ spinlock_guard l(spl);
+
dest_port = (unsigned short)s.port;
dest_ip = QHostAddress((s.ip1.to<unsigned>() & 0xff) << 24 |
(s.ip2.to<unsigned>() & 0xff) << 16 |
diff --git a/proto-udp/ftnoir_protocol_ftn.h b/proto-udp/ftnoir_protocol_ftn.h
index 8bc581bf..a7c90f5b 100644
--- a/proto-udp/ftnoir_protocol_ftn.h
+++ b/proto-udp/ftnoir_protocol_ftn.h
@@ -11,10 +11,11 @@
#pragma once
#include "ui_ftnoir_ftncontrols.h"
-#include <QUdpSocket>
#include "api/plugin-api.hpp"
+#include "compat/spinlock.hpp"
#include "options/options.hpp"
using namespace options;
+#include <QUdpSocket>
struct settings : opts {
value<int> ip1, ip2, ip3, ip4, port;
@@ -41,6 +42,8 @@ private:
QUdpSocket outSocket;
settings s;
+ mutable std::atomic_flag spl = ATOMIC_FLAG_INIT;
+
QHostAddress dest_ip { 127u << 24 | 1u };
unsigned short dest_port = 65535;
diff --git a/sdk-paths-sthalik@Clang-windows.cmake b/sdk-paths-sthalik@Clang-windows.cmake
index 102917d1..895d68b2 100644
--- a/sdk-paths-sthalik@Clang-windows.cmake
+++ b/sdk-paths-sthalik@Clang-windows.cmake
@@ -53,8 +53,9 @@ set(_cxxflags
-Werror
-Werror=inconsistent-missing-destructor-override
#-Wno-error=padded
-
-fdiagnostics-color=always
+
+ -fno-exceptions -fno-rtti # get rid of evil
)
set(base-cxxflags "")
foreach(k ${_cxxflags})
diff --git a/spline/spline-widget.cpp b/spline/spline-widget.cpp
index 7c92094d..bfe8aff1 100644
--- a/spline/spline-widget.cpp
+++ b/spline/spline-widget.cpp
@@ -31,7 +31,10 @@ spline_widget::spline_widget(QWidget *parent) : QWidget(parent)
spline_widget::~spline_widget()
{
if (connection)
+ {
QObject::disconnect(connection);
+ connection = {};
+ }
}
void spline_widget::setConfig(base_spline* spl)
@@ -39,7 +42,7 @@ void spline_widget::setConfig(base_spline* spl)
if (connection)
{
QObject::disconnect(connection);
- connection = QMetaObject::Connection();
+ connection = {};
}
config = spl;
diff --git a/spline/spline.cpp b/spline/spline.cpp
index 5381a28e..50812bad 100644
--- a/spline/spline.cpp
+++ b/spline/spline.cpp
@@ -127,7 +127,7 @@ QPointF spline::ensure_in_bounds(const QList<QPointF>& points, int i)
int spline::element_count(const QList<QPointF>& points, double max_input)
{
- const unsigned sz = points.size();
+ const unsigned sz = (unsigned)points.size();
for (unsigned k = 0; k < sz; k++)
{
const QPointF& pt = points[k];
@@ -310,9 +310,6 @@ void spline::save()
void spline::invalidate_settings()
{
- // we're holding the mutex to allow signal disconnection in spline dtor
- // before this slot gets called for the next time
-
{
QMutexLocker l(&mtx);
validp = false;
@@ -373,19 +370,19 @@ void spline::ensure_valid(points_t& list) const
std::stable_sort(list.begin(), list.end(), sort_fn);
- const int sz = list.size();
+ const unsigned sz = (unsigned)list.size();
- QList<QPointF> all_points, tmp;
- all_points.reserve(sz); tmp.reserve(sz);
+ QList<QPointF> tmp_points, all_points;
+ tmp_points.reserve(sz); all_points.reserve(sz);
const double maxx = max_input();
- for (int i = 0; i < sz; i++)
+ for (unsigned i = 0; i < sz; i++)
{
QPointF& pt{list[i]};
bool overlap = false;
- for (int j = i+1; j < sz; j++)
+ for (unsigned j = i+1; j < sz; j++)
{
const QPointF& pt2{list[j]};
const QPointF tmp(pt - pt2);
@@ -400,27 +397,27 @@ void spline::ensure_valid(points_t& list) const
if (!overlap)
{
- tmp.append(pt); // all points total
+ all_points.append(pt); // all points total
// points within selected limit, for use in `update_interp_data'
if (pt.x() - 1e-4 <= maxx && pt.x() >= 0)
- all_points.push_back(pt);
+ tmp_points.push_back(pt);
}
}
// simply storing to s->points fires bundle::changed leading to a livelock
// hence only store if we can't help it
- if (tmp.size() < points.size())
+ if (all_points.size() < points.size())
{
// all points that don't overlap
- points = std::move(tmp);
+ points = std::move(all_points);
s->points = points;
}
- if (all_points.size() < list.size())
+ if (tmp_points.size() < list.size())
// points that are within currently-specified bounds
- list = std::move(all_points);
+ list = std::move(tmp_points);
last_input_value = {};
activep = false;
diff --git a/tracker-aruco/CMakeLists.txt b/tracker-aruco/CMakeLists.txt
index 253cdd5f..bfa7a348 100644
--- a/tracker-aruco/CMakeLists.txt
+++ b/tracker-aruco/CMakeLists.txt
@@ -15,7 +15,7 @@ if(OpenCV_FOUND)
maybe_add_static_define()
- set(modules "${SDK_ARUCO_LIBPATH}" opencv_core opencv_calib3d opencv_imgproc opencv_videoio)
+ set(modules "${SDK_ARUCO_LIBPATH}" opencv_calib3d opencv_imgproc opencv_core)
get_filename_component(dir "${SDK_ARUCO_LIBPATH}" DIRECTORY)
get_filename_component(dir "${dir}" ABSOLUTE)
diff --git a/tracker-pt/CMakeLists.txt b/tracker-pt/CMakeLists.txt
index 4010b6c1..f12f530b 100644
--- a/tracker-pt/CMakeLists.txt
+++ b/tracker-pt/CMakeLists.txt
@@ -2,7 +2,7 @@ find_package(OpenCV QUIET)
if(OpenCV_FOUND)
otr_module(tracker-pt-base STATIC)
target_include_directories(${self} SYSTEM PUBLIC ${OpenCV_INCLUDE_DIRS})
- target_link_libraries(${self} opentrack-cv opencv_core opencv_imgproc opencv_videoio)
+ target_link_libraries(${self} opencv_imgproc opentrack-cv opencv_core)
set_property(TARGET ${self} PROPERTY OUTPUT_NAME "pt-base")
endif()
add_subdirectory(module)
diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index f52564f7..c72a7ffa 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -174,7 +174,7 @@ void Tracker_PT::data(double *data)
alpha = atan2( R(1,0), R(0,0) );
gamma = atan2( R(2,1), R(2,2) );
- constexpr f rad2deg = f(180/M_PI);
+ constexpr f rad2deg = f(180/pi);
data[Yaw] = rad2deg * alpha;
data[Pitch] = -rad2deg * beta;
diff --git a/tracker-pt/module/point_extractor.cpp b/tracker-pt/module/point_extractor.cpp
index e6364a88..0f7af939 100644
--- a/tracker-pt/module/point_extractor.cpp
+++ b/tracker-pt/module/point_extractor.cpp
@@ -182,20 +182,20 @@ void PointExtractor::threshold_image(const cv::Mat& frame_gray, cv::Mat1b& outpu
const f radius = (f) threshold_radius_value(frame_gray.cols, frame_gray.rows, threshold_slider_value);
float const* const __restrict ptr = hist.ptr<float>(0);
- const unsigned area = uround(3 * M_PI * radius*radius);
+ const unsigned area = uround(3 * pi * radius*radius);
const unsigned sz = unsigned(hist.cols * hist.rows);
constexpr unsigned min_thres = 64;
unsigned thres = min_thres;
for (unsigned i = sz-1, cnt = 0; i > 32; i--)
{
- cnt += ptr[i];
+ cnt += (unsigned)ptr[i];
if (cnt >= area)
break;
thres = i;
}
if (thres > min_thres)
- thres *= .8;
+ thres = uround(thres * .8);
cv::threshold(frame_gray, output, thres, 255, cv::THRESH_BINARY);
}
@@ -263,12 +263,12 @@ void PointExtractor::extract_points(const pt_frame& frame_, pt_preview& preview_
}
}
- const double radius = std::sqrt(cnt / M_PI);
+ const double radius = std::sqrt(cnt / pi);
if (radius > region_size_max || radius < region_size_min)
continue;
blobs.emplace_back(radius,
- vec2(rect.width/2., rect.height/2.),
+ vec2(rect.width/f(2), rect.height/f(2)),
std::pow(f(norm), f(1.1))/cnt,
rect);
@@ -294,7 +294,7 @@ end:
for (idx = 0; idx < sz; ++idx)
{
- blob &b = blobs[idx];
+ blob& b = blobs[idx];
cv::Rect rect = b.rect;
rect.x -= rect.width / 2;
diff --git a/tracker-pt/module/point_extractor.h b/tracker-pt/module/point_extractor.h
index 7dd82234..bbe202fa 100644
--- a/tracker-pt/module/point_extractor.h
+++ b/tracker-pt/module/point_extractor.h
@@ -19,7 +19,7 @@ namespace pt_module {
using namespace types;
-struct blob
+struct blob final
{
f radius, brightness;
vec2 pos;
diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp
index b04c8eb1..68e8c286 100644
--- a/tracker-pt/point_tracker.cpp
+++ b/tracker-pt/point_tracker.cpp
@@ -67,18 +67,19 @@ void PointModel::set_model(const pt_settings& s)
void PointModel::get_d_order(const vec2* points, unsigned* d_order, const vec2& d) const
{
+ constexpr unsigned cnt = PointModel::N_POINTS;
// fit line to orthographically projected points
using t = std::pair<f,unsigned>;
- t d_vals[3];
+ t d_vals[cnt];
// get sort indices with respect to d scalar product
- for (unsigned i = 0; i < PointModel::N_POINTS; ++i)
+ for (unsigned i = 0; i < cnt; ++i)
d_vals[i] = t(d.dot(points[i]), i);
std::sort(d_vals,
d_vals + 3u,
[](const t& a, const t& b) { return a.first < b.first; });
- for (unsigned i = 0; i < PointModel::N_POINTS; ++i)
+ for (unsigned i = 0; i < cnt; ++i)
d_order[i] = d_vals[i].second;
}
@@ -98,18 +99,19 @@ PointTracker::PointOrder PointTracker::find_correspondences_previous(const vec2*
const int diagonal = int(std::sqrt(f(info.res_x*info.res_x + info.res_y*info.res_y)));
constexpr int div = 80;
const int max_dist = diagonal / div; // 10 pixels for 640x480
+ constexpr unsigned sz = PointModel::N_POINTS;
// set correspondences by minimum distance to projected model point
- bool point_taken[PointModel::N_POINTS];
- for (unsigned i=0; i<PointModel::N_POINTS; ++i) // NOLINT(modernize-loop-convert)
+ bool point_taken[sz];
+ for (unsigned i=0; i < sz; ++i) // NOLINT(modernize-loop-convert)
point_taken[i] = false;
- for (unsigned i=0; i<PointModel::N_POINTS; ++i)
+ for (unsigned i=0; i < sz; ++i)
{
f min_sdist = 0;
unsigned min_idx = 0;
// find closest point to projected model point i
- for (unsigned j=0; j<PointModel::N_POINTS; ++j)
+ for (unsigned j=0; j < sz; ++j)
{
vec2 d = p[i]-points[j];
f sdist = d.dot(d);
@@ -328,14 +330,14 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order, f foca
// CAVEAT don't change to comparison with an epsilon -sh 20160423
if (JJ0 == II0) {
rho = sqrt(fabs(2*IJ0));
- theta = -M_PI/4;
+ theta = -pi/4;
if (IJ0<0) theta *= -1;
}
else {
rho = sqrt(sqrt( (JJ0-II0)*(JJ0-II0) + 4*IJ0*IJ0 ));
theta = atan( -2*IJ0 / (JJ0-II0) );
// avoid branch misprediction
- theta += (JJ0 - II0 < 0) * M_PI;
+ theta += (JJ0 - II0 < 0) * pi;
theta *= f(.5);
}
@@ -378,7 +380,7 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order, f foca
// check for convergence condition
const f delta = fabs(epsilon_1 - old_epsilon_1) + fabs(epsilon_2 - old_epsilon_2);
- if (delta < constants::eps)
+ if (delta < eps)
break;
old_epsilon_1 = epsilon_1;
diff --git a/tracker-pt/pt-api.cpp b/tracker-pt/pt-api.cpp
index 128dcaea..415f1c13 100644
--- a/tracker-pt/pt-api.cpp
+++ b/tracker-pt/pt-api.cpp
@@ -10,7 +10,7 @@ double pt_camera_info::get_focal_length(f fov, int res_x, int res_y)
const double diag_len = std::sqrt(double(res_x*res_x + res_y*res_y));
const double aspect_x = res_x / diag_len;
//const double aspect_y = res_y / diag_len;
- const double diag_fov = fov * M_PI/180;
+ const double diag_fov = fov * pi/180;
const double fov_x = 2*std::atan(std::tan(diag_fov*.5) * aspect_x);
//const double fov_y = 2*atan(tan(diag_fov*.5) * aspect_y);
const double fx = .5 / std::tan(fov_x * .5);
diff --git a/tracker-wii/wii_point_extractor.cpp b/tracker-wii/wii_point_extractor.cpp
index c5c20c6a..b73925bc 100644
--- a/tracker-wii/wii_point_extractor.cpp
+++ b/tracker-wii/wii_point_extractor.cpp
@@ -99,8 +99,8 @@ void WIIPointExtractor::draw_bg(cv::Mat& preview_frame, const struct wii_info& w
2);
//draw horizon
- int pdelta = iround((preview_frame.rows / 4.) * tan(((double)wii.Pitch)* M_PI / 180.));
- int rdelta = iround((preview_frame.cols / 4.) * tan(((double)wii.Roll)* M_PI / 180.));
+ int pdelta = iround((preview_frame.rows / 4.) * tan(((double)wii.Pitch)* pi / f(180)));
+ int rdelta = iround((preview_frame.cols / 4.) * tan(((double)wii.Roll)* pi / f(180)));
cv::line(preview_frame,
cv::Point(0, preview_frame.rows / 2 + rdelta - pdelta),
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-20 06:20:18 +0000