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-rw-r--r--tracker-pt/ftnoir_tracker_pt.cpp2
-rw-r--r--tracker-pt/module/camera.cpp6
-rw-r--r--tracker-pt/module/camera.h6
-rw-r--r--tracker-pt/module/frame.cpp2
-rw-r--r--tracker-pt/module/frame.hpp2
-rw-r--r--tracker-pt/module/point_extractor.cpp22
-rw-r--r--tracker-pt/point_tracker.cpp10
-rw-r--r--tracker-pt/pt-api.cpp32
-rw-r--r--tracker-pt/pt-api.hpp20
9 files changed, 53 insertions, 49 deletions
diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index c72a7ffa..da295e39 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -71,7 +71,7 @@ void Tracker_PT::run()
point_extractor->extract_points(*frame, *preview_frame, points);
point_count = points.size();
- const double fx = pt_camera_info::get_focal_length(info.fov, info.res_x, info.res_y);
+ const f fx = pt_camera_info::get_focal_length(info.fov, info.res_x, info.res_y);
const bool success = points.size() >= PointModel::N_POINTS;
Affine X_CM;
diff --git a/tracker-pt/module/camera.cpp b/tracker-pt/module/camera.cpp
index 86cffd72..1afecc92 100644
--- a/tracker-pt/module/camera.cpp
+++ b/tracker-pt/module/camera.cpp
@@ -60,12 +60,12 @@ Camera::result Camera::get_frame(pt_frame& frame_)
if (new_frame)
{
- const double dt = t.elapsed_seconds();
+ const f dt = (f)t.elapsed_seconds();
t.start();
// measure fps of valid frames
- constexpr double RC = .1; // seconds
- const double alpha = dt/(dt + RC);
+ constexpr f RC = f{1}/10; // seconds
+ const f alpha = dt/(dt + RC);
if (dt_mean < dt_eps)
dt_mean = dt;
diff --git a/tracker-pt/module/camera.h b/tracker-pt/module/camera.h
index 8abe6cf0..69b2f860 100644
--- a/tracker-pt/module/camera.h
+++ b/tracker-pt/module/camera.h
@@ -33,13 +33,13 @@ struct Camera final : pt_camera
QString get_desired_name() const override;
QString get_active_name() const override;
- void set_fov(double value) override { fov = value; }
+ void set_fov(f value) override { fov = value; }
void show_camera_settings() override;
private:
[[nodiscard]] bool get_frame_(cv::Mat& frame);
- double dt_mean = 0, fov = 30;
+ f dt_mean = 0, fov = 30;
Timer t;
pt_camera_info cam_info;
pt_camera_info cam_desired;
@@ -56,7 +56,7 @@ private:
pt_settings s;
- static constexpr inline double dt_eps = 1./256;
+ static constexpr inline f dt_eps = f{1}/256;
};
} // ns pt_module
diff --git a/tracker-pt/module/frame.cpp b/tracker-pt/module/frame.cpp
index 7dd8c92f..c88099f1 100644
--- a/tracker-pt/module/frame.cpp
+++ b/tracker-pt/module/frame.cpp
@@ -52,7 +52,7 @@ QImage Preview::get_bitmap()
QImage::Format_ARGB32);
}
-void Preview::draw_head_center(double x, double y)
+void Preview::draw_head_center(f x, f y)
{
auto [px_, py_] = to_pixel_pos(x, y, frame_copy.cols, frame_copy.rows);
diff --git a/tracker-pt/module/frame.hpp b/tracker-pt/module/frame.hpp
index d440bd67..89334599 100644
--- a/tracker-pt/module/frame.hpp
+++ b/tracker-pt/module/frame.hpp
@@ -26,7 +26,7 @@ struct Preview final : pt_preview
Preview& operator=(const pt_frame& frame) override;
QImage get_bitmap() override;
- void draw_head_center(double x, double y) override;
+ void draw_head_center(f x, f y) override;
operator cv::Mat&() { return frame_copy; }
operator cv::Mat const&() const { return frame_copy; }
diff --git a/tracker-pt/module/point_extractor.cpp b/tracker-pt/module/point_extractor.cpp
index 0f7af939..1d5d4a06 100644
--- a/tracker-pt/module/point_extractor.cpp
+++ b/tracker-pt/module/point_extractor.cpp
@@ -52,7 +52,7 @@ algorithm for tracking single particles with variable size and shape." (2008).
static cv::Vec2d MeanShiftIteration(const cv::Mat &frame_gray, const vec2 &current_center, f filter_width)
{
// Most amazingly this function runs faster with doubles than with floats.
- const f s = 1.0 / filter_width;
+ const f s = 1 / filter_width;
f m = 0;
vec2 com { 0, 0 };
@@ -62,12 +62,12 @@ static cv::Vec2d MeanShiftIteration(const cv::Mat &frame_gray, const vec2 &curre
for (int j = 0; j < frame_gray.cols; j++)
{
f val = frame_ptr[j];
- val = val * val; // taking the square wights brighter parts of the image stronger.
+ val = val * val; // taking the square weighs brighter parts of the image stronger.
{
f dx = (j - current_center[0])*s;
f dy = (i - current_center[1])*s;
- f f = std::fmax(0, 1 - dx*dx - dy*dy);
- val *= f;
+ f max = std::fmax(f{0}, 1 - dx*dx - dy*dy);
+ val *= max;
}
m += val;
com[0] += j * val;
@@ -76,7 +76,7 @@ static cv::Vec2d MeanShiftIteration(const cv::Mat &frame_gray, const vec2 &curre
}
if (m > f(.1))
{
- com *= f(1) / m;
+ com *= 1 / m;
return com;
}
else
@@ -93,7 +93,7 @@ PointExtractor::PointExtractor(const QString& module_name) : s(module_name)
void PointExtractor::ensure_channel_buffers(const cv::Mat& orig_frame)
{
if (ch[0].rows != orig_frame.rows || ch[0].cols != orig_frame.cols)
- for (unsigned k = 0; k < 3; k++)
+ for (unsigned k = 0; k < 3; k++) // NOLINT(modernize-loop-convert)
ch[k] = cv::Mat1b(orig_frame.rows, orig_frame.cols);
}
@@ -176,7 +176,7 @@ void PointExtractor::threshold_image(const cv::Mat& frame_gray, cv::Mat1b& outpu
cv::noArray(),
hist,
1,
- (int const*) &hist_size,
+ &hist_size,
&ranges);
const f radius = (f) threshold_radius_value(frame_gray.cols, frame_gray.rows, threshold_slider_value);
@@ -217,8 +217,8 @@ void PointExtractor::extract_points(const pt_frame& frame_, pt_preview& preview_
threshold_image(frame_gray_unmasked, frame_bin);
frame_gray_unmasked.copyTo(frame_gray, frame_bin);
- const f region_size_min = s.min_point_size;
- const f region_size_max = s.max_point_size;
+ const f region_size_min = (f)s.min_point_size;
+ const f region_size_max = (f)s.max_point_size;
unsigned idx = 0;
@@ -309,7 +309,7 @@ end:
static constexpr f radius_c = f(1.75);
const f kernel_radius = b.radius * radius_c;
- vec2 pos(rect.width/2., rect.height/2.); // position relative to ROI.
+ vec2 pos(rect.width/f{2}, rect.height/f{2}); // position relative to ROI.
for (int iter = 0; iter < 10; ++iter)
{
@@ -329,7 +329,7 @@ end:
blob& b = blobs[k];
const f dpi = preview_frame.cols / f(320);
- const f offx = 10 * dpi, offy = 7.5 * dpi;
+ const f offx = 10 * dpi, offy = f{7.5} * dpi;
const f cx = preview_frame.cols / f(frame.cols),
cy = preview_frame.rows / f(frame.rows),
diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp
index c4b518a9..f1f968d0 100644
--- a/tracker-pt/point_tracker.cpp
+++ b/tracker-pt/point_tracker.cpp
@@ -93,7 +93,7 @@ PointTracker::PointOrder PointTracker::find_correspondences_previous(const vec2*
const PointModel& model,
const pt_camera_info& info)
{
- const double fx = pt_camera_info::get_focal_length(info.fov, info.res_x, info.res_y);
+ const f fx = pt_camera_info::get_focal_length(info.fov, info.res_x, info.res_y);
PointTracker::PointOrder p;
p[0] = project(vec3(0,0,0), fx);
p[1] = project(model.M01, fx);
@@ -140,7 +140,7 @@ void PointTracker::track(const std::vector<vec2>& points,
const pt_camera_info& info,
int init_phase_timeout)
{
- const double fx = pt_camera_info::get_focal_length(info.fov, info.res_x, info.res_y);
+ const f fx = pt_camera_info::get_focal_length(info.fov, info.res_x, info.res_y);
PointOrder order;
if (init_phase_timeout <= 0 || t.elapsed_ms() > init_phase_timeout || init_phase)
@@ -262,7 +262,7 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order, f foca
J_1 = J0 + rho*sin(theta)*model.u;
J_2 = J0 - rho*sin(theta)*model.u;
- f norm_const = 1/cv::norm(I_1); // all have the same norm
+ f norm_const = (f)(1/cv::norm(I_1)); // all have the same norm
// create rotation matrices
I_1 *= norm_const; J_1 *= norm_const;
@@ -281,8 +281,8 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order, f foca
// pick the rotation solution closer to the expected one
// in simple metric d(A,B) = || I - A * B^T ||
- f R_1_deviation = cv::norm(mat33::eye() - R_expected * R_1.t());
- f R_2_deviation = cv::norm(mat33::eye() - R_expected * R_2.t());
+ f R_1_deviation = (f)(cv::norm(mat33::eye() - R_expected * R_1.t()));
+ f R_2_deviation = (f)(cv::norm(mat33::eye() - R_expected * R_2.t()));
if (R_1_deviation < R_2_deviation)
R_current = &R_1;
diff --git a/tracker-pt/pt-api.cpp b/tracker-pt/pt-api.cpp
index 415f1c13..ba301276 100644
--- a/tracker-pt/pt-api.cpp
+++ b/tracker-pt/pt-api.cpp
@@ -5,15 +5,15 @@ using namespace types;
pt_camera_info::pt_camera_info() = default;
-double pt_camera_info::get_focal_length(f fov, int res_x, int res_y)
+f 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 f diag_len = std::sqrt(f(res_x*res_x + res_y*res_y));
+ const f aspect_x = res_x / diag_len;
//const double aspect_y = res_y / diag_len;
- const double diag_fov = fov * pi/180;
- const double fov_x = 2*std::atan(std::tan(diag_fov*.5) * aspect_x);
+ const f diag_fov = fov * pi/180;
+ const f fov_x = 2*std::atan(std::tan(diag_fov*f{.5}) * aspect_x);
//const double fov_y = 2*atan(tan(diag_fov*.5) * aspect_y);
- const double fx = .5 / std::tan(fov_x * .5);
+ const f fx = f{.5} / std::tan(fov_x * f{.5});
return fx;
//fy = .5 / tan(fov_y * .5);
//static bool once = false; if (!once) { once = true; qDebug() << "f" << ret << "fov" << (fov * 180/M_PI); }
@@ -26,27 +26,27 @@ pt_runtime_traits::~pt_runtime_traits() = default;
pt_point_extractor::pt_point_extractor() = default;
pt_point_extractor::~pt_point_extractor() = default;
-double pt_point_extractor::threshold_radius_value(int w, int h, int threshold)
+f pt_point_extractor::threshold_radius_value(int w, int h, int threshold)
{
- double cx = w / 640., cy = h / 480.;
+ f cx = w / f{640}, cy = h / f{480};
- const double min_radius = 1.75 * cx;
- const double max_radius = 15 * cy;
+ const f min_radius = f{1.75} * cx;
+ const f max_radius = f{15} * cy;
- const double radius = std::fmax(0., (max_radius-min_radius) * threshold / f(255) + min_radius);
+ const f radius = std::fmax(f{0}, (max_radius-min_radius) * threshold / f(255) + min_radius);
return radius;
}
-std::tuple<double, double> pt_pixel_pos_mixin::to_pixel_pos(double x, double y, int w, int h)
+std::tuple<f, f> pt_pixel_pos_mixin::to_pixel_pos(f x, f y, int w, int h)
{
- return std::make_tuple(w*(x+.5), .5*(h - 2*y*w));
+ return std::make_tuple(w*(x+f{.5}), f{.5}*(h - 2*y*w));
}
-std::tuple<double, double> pt_pixel_pos_mixin::to_screen_pos(double px, double py, int w, int h)
+std::tuple<f, f> pt_pixel_pos_mixin::to_screen_pos(f px, f py, int w, int h)
{
- px *= w/(w-1.); py *= h/(h-1.);
- return std::make_tuple((px - w/2.)/w, -(py - h/2.)/w);
+ px *= w/(w-f{1}); py *= h/(h-f{1});
+ return std::make_tuple((px - w/f{2})/w, -(py - h/f{2})/w);
}
pt_frame::pt_frame() = default;
diff --git a/tracker-pt/pt-api.hpp b/tracker-pt/pt-api.hpp
index 300e4558..09c09a28 100644
--- a/tracker-pt/pt-api.hpp
+++ b/tracker-pt/pt-api.hpp
@@ -23,10 +23,10 @@ struct pt_camera_info final
using f = types::f;
pt_camera_info();
- static double get_focal_length(f fov, int res_x, int res_y);
+ static f get_focal_length(f fov, int res_x, int res_y);
- double fov = 0;
- double fps = 0;
+ f fov = 0;
+ f fps = 0;
int res_x = 0;
int res_y = 0;
@@ -35,8 +35,10 @@ struct pt_camera_info final
struct pt_pixel_pos_mixin
{
- static std::tuple<double, double> to_pixel_pos(double x, double y, int w, int h);
- static std::tuple<double, double> to_screen_pos(double px, double py, int w, int h);
+ using f = types::f;
+
+ static std::tuple<f, f> to_pixel_pos(f x, f y, int w, int h);
+ static std::tuple<f, f> to_screen_pos(f px, f py, int w, int h);
};
struct pt_frame : pt_pixel_pos_mixin
@@ -61,12 +63,13 @@ struct pt_preview : pt_frame
{
virtual pt_preview& operator=(const pt_frame&) = 0;
virtual QImage get_bitmap() = 0;
- virtual void draw_head_center(double x, double y) = 0;
+ virtual void draw_head_center(f x, f y) = 0;
};
struct pt_camera
{
using result = std::tuple<bool, pt_camera_info>;
+ using f = types::f;
pt_camera();
virtual ~pt_camera();
@@ -81,19 +84,20 @@ struct pt_camera
virtual QString get_desired_name() const = 0;
virtual QString get_active_name() const = 0;
- virtual void set_fov(double value) = 0;
+ virtual void set_fov(f value) = 0;
virtual void show_camera_settings() = 0;
};
struct pt_point_extractor : pt_pixel_pos_mixin
{
using vec2 = types::vec2;
+ using f = types::f;
pt_point_extractor();
virtual ~pt_point_extractor();
virtual void extract_points(const pt_frame& image, pt_preview& preview_frame, std::vector<vec2>& points) = 0;
- static double threshold_radius_value(int w, int h, int threshold);
+ static f threshold_radius_value(int w, int h, int threshold);
};
struct pt_runtime_traits
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-15 13:01:50 +0000