diff options
Diffstat (limited to 'tracker-aruco/ftnoir_tracker_aruco.h')
| -rw-r--r-- | tracker-aruco/ftnoir_tracker_aruco.h | 25 |
1 files changed, 12 insertions, 13 deletions
diff --git a/tracker-aruco/ftnoir_tracker_aruco.h b/tracker-aruco/ftnoir_tracker_aruco.h index 757182e8..2c2a1e05 100644 --- a/tracker-aruco/ftnoir_tracker_aruco.h +++ b/tracker-aruco/ftnoir_tracker_aruco.h @@ -52,14 +52,13 @@ enum aruco_fps }; struct settings : opts { - 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<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(); @@ -102,19 +101,19 @@ private: 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 }; @@ -129,8 +128,8 @@ private: static constexpr inline double timeout = .35; static constexpr inline double timeout_backoff_c = .25; - static constexpr inline float size_min = 0.05; - static constexpr inline float size_max = 0.5; + static constexpr inline float size_min = 0.05f; + static constexpr inline float size_max = 0.5f; static constexpr inline double RC = .25; @@ -168,6 +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"); } }; |