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Address comments
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@ -53,13 +53,11 @@ void ClusteringProcessor::OnControllerUpdate(Core::HID::ControllerTriggerType ty
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RemoveLowIntensityData(filtered_image);
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const std::size_t window_start_x =
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static_cast<std::size_t>(current_config.window_of_interest.x);
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const std::size_t window_start_y =
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static_cast<std::size_t>(current_config.window_of_interest.y);
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const std::size_t window_end_x =
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const auto window_start_x = static_cast<std::size_t>(current_config.window_of_interest.x);
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const auto window_start_y = static_cast<std::size_t>(current_config.window_of_interest.y);
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const auto window_end_x =
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window_start_x + static_cast<std::size_t>(current_config.window_of_interest.width);
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const std::size_t window_end_y =
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const auto window_end_y =
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window_start_y + static_cast<std::size_t>(current_config.window_of_interest.height);
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for (std::size_t y = window_start_y; y < window_end_y; y++) {
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@ -76,7 +74,7 @@ void ClusteringProcessor::OnControllerUpdate(Core::HID::ControllerTriggerType ty
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continue;
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}
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// Cluster object limit reached
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if (next_state.object_count >= 0x10) {
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if (next_state.object_count >= next_state.data.size()) {
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continue;
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}
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next_state.data[next_state.object_count] = cluster;
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@ -105,10 +103,11 @@ void ClusteringProcessor::RemoveLowIntensityData(std::vector<u8>& data) {
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ClusteringProcessor::ClusteringData ClusteringProcessor::GetClusterProperties(std::vector<u8>& data,
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std::size_t x,
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std::size_t y) {
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std::queue<Common::Point<std::size_t>> search_points{};
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using DataPoint = Common::Point<std::size_t>;
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std::queue<DataPoint> search_points{};
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ClusteringData current_cluster = GetPixelProperties(data, x, y);
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SetPixel(data, x, y, 0);
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search_points.push({x, y});
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search_points.emplace<DataPoint>({x, y});
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while (!search_points.empty()) {
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const auto point = search_points.front();
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@ -119,8 +118,8 @@ ClusteringProcessor::ClusteringData ClusteringProcessor::GetClusterProperties(st
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continue;
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}
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std::array<Common::Point<std::size_t>, 4> new_points{
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Common::Point<std::size_t>{point.x - 1, point.y},
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std::array<DataPoint, 4> new_points{
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DataPoint{point.x - 1, point.y},
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{point.x, point.y - 1},
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{point.x + 1, point.y},
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{point.x, point.y + 1},
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@ -139,7 +138,7 @@ ClusteringProcessor::ClusteringData ClusteringProcessor::GetClusterProperties(st
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const ClusteringData cluster = GetPixelProperties(data, new_point.x, new_point.y);
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current_cluster = MergeCluster(current_cluster, cluster);
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SetPixel(data, new_point.x, new_point.y, 0);
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search_points.push({new_point.x, new_point.y});
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search_points.emplace<DataPoint>({new_point.x, new_point.y});
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}
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}
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@ -172,7 +171,7 @@ ClusteringProcessor::ClusteringData ClusteringProcessor::MergeCluster(
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const f32 a_pixel_count = static_cast<f32>(a.pixel_count);
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const f32 b_pixel_count = static_cast<f32>(b.pixel_count);
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const f32 pixel_count = a_pixel_count + b_pixel_count;
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const f32 average_intensitiy =
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const f32 average_intensity =
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(a.average_intensity * a_pixel_count + b.average_intensity * b_pixel_count) / pixel_count;
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const Core::IrSensor::IrsCentroid centroid = {
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.x = (a.centroid.x * a_pixel_count + b.centroid.x * b_pixel_count) / pixel_count,
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@ -195,7 +194,7 @@ ClusteringProcessor::ClusteringData ClusteringProcessor::MergeCluster(
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};
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return {
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.average_intensity = average_intensitiy,
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.average_intensity = average_intensity,
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.centroid = centroid,
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.pixel_count = static_cast<u32>(pixel_count),
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.bound = bound,
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@ -217,7 +216,8 @@ void ClusteringProcessor::SetPixel(std::vector<u8>& data, std::size_t x, std::si
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}
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void ClusteringProcessor::SetDefaultConfig() {
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current_config.camera_config.exposure_time = 200000;
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using namespace std::literals::chrono_literals;
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current_config.camera_config.exposure_time = std::chrono::microseconds(200ms).count();
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current_config.camera_config.gain = 2;
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current_config.camera_config.is_negative_used = false;
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current_config.camera_config.light_target = Core::IrSensor::CameraLightTarget::BrightLeds;
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@ -228,7 +228,7 @@ void ClusteringProcessor::SetDefaultConfig() {
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.height = height,
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};
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current_config.pixel_count_min = 3;
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current_config.pixel_count_max = 0x12C00;
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current_config.pixel_count_max = static_cast<u32>(GetDataSize(format));
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current_config.is_external_light_filter_enabled = true;
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current_config.object_intensity_min = 150;
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@ -805,6 +805,7 @@ void GRenderWindow::TouchEndEvent() {
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}
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void GRenderWindow::InitializeCamera() {
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constexpr auto camera_update_ms = std::chrono::milliseconds{50}; // (50ms, 20Hz)
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if (!Settings::values.enable_ir_sensor) {
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return;
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}
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@ -838,7 +839,7 @@ void GRenderWindow::InitializeCamera() {
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camera_timer = std::make_unique<QTimer>();
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connect(camera_timer.get(), &QTimer::timeout, [this] { RequestCameraCapture(); });
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// This timer should be dependent of camera resolution 5ms for every 100 pixels
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camera_timer->start(50);
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camera_timer->start(camera_update_ms);
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}
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void GRenderWindow::FinalizeCamera() {
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