diff options
Diffstat (limited to 'tracker-aruco/ftnoir_tracker_aruco.h')
| -rw-r--r-- | tracker-aruco/ftnoir_tracker_aruco.h | 50 |
1 files changed, 17 insertions, 33 deletions
diff --git a/tracker-aruco/ftnoir_tracker_aruco.h b/tracker-aruco/ftnoir_tracker_aruco.h index 293991eb..b634576a 100644 --- a/tracker-aruco/ftnoir_tracker_aruco.h +++ b/tracker-aruco/ftnoir_tracker_aruco.h @@ -38,29 +38,17 @@ using namespace options; struct settings : opts { - enum rot - { - rot_zero = 0, - rot_neg = -1, - rot_plus = +1, - }; - - value<int> fov; - value<double> headpos_x, headpos_y, headpos_z; - value<QString> camera_name; - value<int> force_fps, resolution; - value<rot> model_rotation; - settings() : - opts("aruco-tracker"), - fov(b, "field-of-view", 56), - headpos_x(b, "headpos-x", 0), - headpos_y(b, "headpos-y", 0), - headpos_z(b, "headpos-z", 0), - camera_name(b, "camera-name", ""), - force_fps(b, "force-fps", 0), - resolution(b, "force-resolution", 0), - model_rotation(b, "model-rotation", rot_zero) - {} + value<QString> camera_name { b, "camera-name", ""}; + value<int> fov { b, "field-of-view", 56 }; + + 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 }; + + settings() = default; }; class aruco_dialog; @@ -93,8 +81,6 @@ private: void set_detector_params(); void cycle_detection_params(); - cv::Point3f rotate_model(float x, float y, settings::rot mode); - cv::VideoCapture camera; QMutex camera_mtx; QMutex mtx; @@ -105,9 +91,6 @@ private: double no_detection_timeout = 0; cv::Mat frame, grayscale, color; cv::Matx33d r; -#ifdef DEBUG_UNSHARP_MASKING - cv::Mat blurred; -#endif std::vector<cv::Point3f> obj_points {4}; cv::Matx33d intrinsics = cv::Matx33d::eye(); aruco::MarkerDetector detector; @@ -121,7 +104,7 @@ private: std::vector<cv::Point3f> roi_points {4}; cv::Rect last_roi { 65535, 65535, 0, 0 }; Timer fps_timer, last_detection_timer; - unsigned adaptive_size_pos = 0; + unsigned adaptive_size_pos { 0 }; bool use_otsu = false; #if !defined USE_EXPERIMENTAL_CANNY @@ -130,10 +113,6 @@ private: static constexpr inline int adaptive_thres = 3; #endif -#ifdef DEBUG_UNSHARP_MASKING - static constexpr inline double gauss_kernel_size = 3; -#endif - static constexpr inline double timeout = 1; static constexpr inline double timeout_backoff_c = 4./11; @@ -141,6 +120,11 @@ private: static constexpr inline float size_max = 0.5; static constexpr inline double RC = .25; + +#ifdef DEBUG_UNSHARP_MASKING + static constexpr inline double gauss_kernel_size = 3; + cv::Mat blurred; +#endif }; class aruco_dialog : public ITrackerDialog |