1 files changed, 42 insertions, 28 deletions

diff --git a/tracker-aruco/ftnoir_tracker_aruco.h b/tracker-aruco/ftnoir_tracker_aruco.h
index 6c249c6a..1d6fd107 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.h
+++ b/tracker-aruco/ftnoir_tracker_aruco.h
@@ -37,34 +37,48 @@
 
 using namespace options;
 
-struct settings : opts {
-    value<QString> camera_name { b, "camera-name", ""};
-    value<int> fov { b, "field-of-view", 56 };
+enum aruco_fps
+{
+    fps_default = 0,
+    fps_30      = 1,
+    fps_60      = 2,
+    fps_75      = 3,
+    fps_125     = 4,
+    fps_200     = 5,
+    fps_50      = 6,
+    fps_100     = 7,
+    fps_120     = 8,
+    fps_MAX     = 9,
+};
 
+struct settings : opts {
     value<double> headpos_x { b, "headpos-x", 0 },
                   headpos_y { b, "headpos-y", 0 },
                   headpos_z { b, "headpos-z", 0 };
 
-    value<int> force_fps { b, "force-fps", 0 },
-               resolution { b, "force-resolution", 0 };
+    value<QString> camera_name { b, "camera-name", ""};
+    value<int> resolution { b, "force-resolution", 0 };
+    value<int> fov { b, "field-of-view", 56 };
+    value<aruco_fps> force_fps { b, "force-fps", fps_default };
 
-    settings() : opts("aruco-tracker") {}
+    settings();
 };
 
-class aruco_dialog;
-
 class aruco_tracker : protected virtual QThread, public ITracker
 {
     Q_OBJECT
-    friend class aruco_dialog;
-    static constexpr inline float c_search_window = 1.3f;
+    static constexpr float c_search_window = 1.3f;
 public:
     aruco_tracker();
     ~aruco_tracker() override;
     module_status start_tracker(QFrame* frame) override;
     void data(double *data) override;
     void run() override;
+
     void getRT(cv::Matx33d &r, cv::Vec3d &t);
+    QMutex camera_mtx;
+    cv::VideoCapture camera;
+
 private:
     bool detect_with_roi();
     bool detect_without_roi();
@@ -81,48 +95,46 @@ private:
     void set_detector_params();
     void cycle_detection_params();
 
-    cv::VideoCapture camera;
-    QMutex camera_mtx;
     QMutex mtx;
     std::unique_ptr<cv_video_widget> videoWidget;
     std::unique_ptr<QHBoxLayout> layout;
     settings s;
     double pose[6] {}, fps = 0;
     double no_detection_timeout = 0;
-    cv::Mat frame, grayscale, color;
     cv::Matx33d r;
-    std::vector<cv::Point3f> obj_points {4};
     cv::Matx33d intrinsics = cv::Matx33d::eye();
-    aruco::MarkerDetector detector;
-    std::vector<aruco::Marker> markers;
     cv::Vec3d t;
     cv::Vec3d rvec, tvec;
-    std::vector<cv::Point2f> roi_projection;
-    std::vector<cv::Point2f> repr2;
     cv::Matx33d m_r, m_q, rmat = cv::Matx33d::eye();
     cv::Vec3d euler;
     std::vector<cv::Point3f> roi_points {4};
+    std::vector<cv::Point2f> roi_projection;
+    std::vector<cv::Point2f> repr2;
+    std::vector<cv::Point3f> obj_points {4};
+    aruco::MarkerDetector detector;
+    std::vector<aruco::Marker> markers;
+    cv::Mat frame, grayscale, color;
     cv::Rect last_roi { 65535, 65535, 0, 0 };
     Timer fps_timer, last_detection_timer;
     unsigned adaptive_size_pos { 0 };
     bool use_otsu = false;
 
 #if !defined USE_EXPERIMENTAL_CANNY
-    static constexpr inline int adaptive_thres = 6;
+    static constexpr int adaptive_thres = 6;
 #else
-    static constexpr inline int adaptive_thres = 3;
+    static constexpr int adaptive_thres = 3;
 #endif
 
-    static constexpr inline double timeout = .35;
-    static constexpr inline double timeout_backoff_c = .25;
+    static constexpr double timeout = .35;
+    static constexpr double timeout_backoff_c = .25;
 
-    static constexpr inline float size_min = 0.05;
-    static constexpr inline float size_max = 0.5;
+    static constexpr float size_min = 0.05f;
+    static constexpr float size_max = 0.5f;
 
-    static constexpr inline double RC = .25;
+    static constexpr double RC = .25;
 
 #ifdef DEBUG_UNSHARP_MASKING
-    static constexpr inline double gauss_kernel_size = 3;
+    static constexpr double gauss_kernel_size = 3;
     cv::Mat blurred;
 #endif
 };
@@ -135,6 +147,8 @@ public:
     void register_tracker(ITracker * x) override { tracker = static_cast<aruco_tracker*>(x); }
     void unregister_tracker() override { tracker = nullptr; }
 private:
+    void make_fps_combobox();
+
     Ui::Form ui;
     aruco_tracker* tracker;
     settings s;
@@ -153,6 +167,6 @@ private Q_SLOTS:
 class aruco_metadata : public Metadata
 {
     Q_OBJECT
-    QString name() { return QString("aruco -- paper marker tracker"); }
-    QIcon icon() { return QIcon(":/images/aruco.png"); }
+    QString name() override { return QString("aruco -- paper marker tracker"); }
+    QIcon icon() override { return QIcon(":/images/aruco.png"); }
 };