diff options
Diffstat (limited to 'tracker-aruco')
| -rw-r--r-- | tracker-aruco/ftnoir_tracker_aruco.cpp | 27 |
1 files changed, 13 insertions, 14 deletions
diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp index 7208f742..48dfeb61 100644 --- a/tracker-aruco/ftnoir_tracker_aruco.cpp +++ b/tracker-aruco/ftnoir_tracker_aruco.cpp @@ -52,17 +52,17 @@ void Tracker::start_tracker(QFrame* videoframe) { videoframe->show(); videoWidget = new ArucoVideoWidget(videoframe); - QHBoxLayout* layout = new QHBoxLayout(); - layout->setContentsMargins(0, 0, 0, 0); - layout->addWidget(videoWidget); + QHBoxLayout* layout_ = new QHBoxLayout(); + layout_->setContentsMargins(0, 0, 0, 0); + layout_->addWidget(videoWidget); if (videoframe->layout()) delete videoframe->layout(); - videoframe->setLayout(layout); + videoframe->setLayout(layout_); videoWidget->show(); start(); for (int i = 0; i < 6; i++) pose[i] = 0; - this->layout = layout; + layout = layout_; } #define HT_PI 3.1415926535 @@ -146,7 +146,7 @@ void Tracker::run() } cv::Mat grayscale; cv::cvtColor(color, grayscale, cv::COLOR_RGB2GRAY); - + const int scale = grayscale.cols > 480 ? 2 : 1; // param 2 ignored for Otsu thresholding. it's required to use our fork of Aruco. detector.setThresholdParams(5, -1); @@ -170,13 +170,13 @@ void Tracker::run() const double size_max = 0.3; bool roi_valid = false; - + auto time = cv::getTickCount(); - + const double dt = (time - last_time) / freq; last_time = time; cur_fps = cur_fps * 0.97 + 0.03 * (dt == 0 ? 0 : 1./dt); - + if (last_roi.width > 0 && last_roi.height) { detector.setMinMaxSize(std::min(1., std::max(0.01, size_min * grayscale.cols / last_roi.width)), @@ -239,7 +239,7 @@ void Tracker::run() obj_points.at<float>(x4,0)= -size + hx; obj_points.at<float>(x4,1)= size + hy; obj_points.at<float>(x4,2)= 0 + hz; - + std::vector<cv::Point2f> img_points = m; if (!cv::solvePnP(obj_points, img_points, intrinsics, dist_coeffs, rvec, tvec, false, cv::SOLVEPNP_ITERATIVE)) goto fail; @@ -387,7 +387,7 @@ void TrackerControls::toggleCalibrate() calib_timer.start(); } else { cleanupCalib(); - + auto pos = calibrator.get_estimate(); s.headpos_x = pos(0); s.headpos_y = pos(1); @@ -415,13 +415,12 @@ void TrackerControls::update_tracker_calibration() void TrackerControls::doOK() { s.b->save(); - this->close(); + close(); } void TrackerControls::doCancel() { - s.b->reload(); - this->close(); + close(); } void TrackerControls::camera_settings() |