diff options
Diffstat (limited to 'ftnoir_tracker_pt')
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 28 | ||||
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt.h | 1 | ||||
| -rw-r--r-- | ftnoir_tracker_pt/point_tracker.cpp | 9 |
3 files changed, 3 insertions, 35 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index 48a62c2c..d166ad01 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -12,7 +12,6 @@ #include <QFile> #include <QCoreApplication> #include "opentrack/camera-names.hpp" -#include "opentrack/opencv-calibration.hpp" using namespace std; using namespace cv; @@ -55,8 +54,6 @@ void Tracker_PT::reset_command(Command command) float Tracker_PT::get_focal_length() { QMutexLocker l(&camera_mtx); - if (!intrinsics.empty()) - return intrinsics.at<float>(0, 0); CamInfo info = camera.get_info(); const int w = info.res_x, h = info.res_y; static constexpr double pi = 3.1415926f; @@ -99,16 +96,7 @@ void Tracker_PT::run() if (success) { - if (!intrinsics.empty()) - { - std::vector<cv::Vec2f> points_; - cv::undistortPoints(points, points_, intrinsics, dist_coeffs); - point_tracker.track(points_, PointModel(s), get_focal_length(), s.dynamic_pose, s.init_phase_timeout); - } - else - { - point_tracker.track(points, PointModel(s), get_focal_length(), s.dynamic_pose, s.init_phase_timeout); - } + point_tracker.track(points, PointModel(s), get_focal_length(), s.dynamic_pose, s.init_phase_timeout); } { @@ -159,20 +147,6 @@ void Tracker_PT::apply_settings() camera.set_res(s.cam_res_x, s.cam_res_y); camera.set_fps(s.cam_fps); camera.start(); - cv::Mat intrinsics_ = cv::Mat::eye(3, 3, CV_32FC1); - cv::Mat dist_coeffs_ = cv::Mat::zeros(5, 1, CV_32FC1); - intrinsics = cv::Mat(); - dist_coeffs = cv::Mat(); - auto info = camera.get_info(); - if (info.res_x == 0 || info.res_y == 0) - return; - if (get_camera_calibration(s.camera_name, intrinsics_, dist_coeffs_, info.res_x, info.res_y, s.fov)) - { - intrinsics = intrinsics_.clone(); - dist_coeffs = dist_coeffs_.clone(); - qDebug() << s.camera_name << "calibrated"; - } - qDebug()<<"Tracker::apply ends"; } diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h index 97aa54aa..b303a913 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h @@ -72,7 +72,6 @@ private: Timer time; volatile bool ever_success; - cv::Mat intrinsics, dist_coeffs; static constexpr double rad2deg = 180.0/3.14159265; static constexpr double deg2rad = 3.14159265/180.0; diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp index f141fe36..b4283d37 100644 --- a/ftnoir_tracker_pt/point_tracker.cpp +++ b/ftnoir_tracker_pt/point_tracker.cpp @@ -259,14 +259,9 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, float X_CM.t[1] = order[0][1] * Z0/focal_length; X_CM.t[2] = Z0; - return i; + //qDebug() << "iter:" << i; - //Rodrigues(X_CM.R, r); - //qDebug()<<"iter: "<<i; - //qDebug()<<"t: "<<X_CM.t[0]<<' '<<X_CM.t[1]<<' '<<X_CM.t[2]; - //Vec3f r; - // - //qDebug()<<"r: "<<r[0]<<' '<<r[1]<<' '<<r[2]<<'\n'; + return i; } cv::Vec2f PointTracker::project(const cv::Vec3f& v_M, float f) |