From 7105bfbc86840282569e860d7250799dcc140e32 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 11 Jan 2014 15:36:14 +0100 Subject: remove hack of passing fov/w/h as member vars --- FTNoIR_Tracker_PT/point_tracker.cpp | 19 ++++++------------- FTNoIR_Tracker_PT/point_tracker.h | 8 ++------ 2 files changed, 8 insertions(+), 19 deletions(-) diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index cce327e9..a881da62 100644 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -91,10 +91,7 @@ PointTracker::PointTracker() dt_reset(1), v_t(0,0,0), v_r(0,0,0), - dynamic_pose_resolution(true), - fov(0), - _w(0), - _h(0) + dynamic_pose_resolution(true) { } @@ -144,7 +141,7 @@ bool PointTracker::track(const vector& points, float fov, float dt, int w predict(dt_valid); // if there is a point correspondence problem something has gone wrong, do a reset - if (!find_correspondences(points)) + if (!find_correspondences(points, fov, w, h)) { //qDebug()<<"Error in finding point correspondences!"; X_CM = X_CM_old; // undo prediction @@ -181,7 +178,7 @@ void PointTracker::update_velocities(float dt) v_t = (X_CM.t - X_CM_old.t)/dt; } -bool PointTracker::find_correspondences(const vector& points) +bool PointTracker::find_correspondences(const vector& points, float fov, int w, int h) { if (init_phase) { // We do a simple freetrack-like sorting in the init phase... @@ -198,9 +195,9 @@ bool PointTracker::find_correspondences(const vector& points) else { // ... otherwise we look at the distance to the projection of the expected model points // project model points under current pose - p_exp[0] = project(Vec3f(0,0,0)); - p_exp[1] = project(point_model->M01); - p_exp[2] = project(point_model->M02); + p_exp[0] = project(Vec3f(0,0,0), fov, w, h); + p_exp[1] = project(point_model->M01, fov, w, h); + p_exp[2] = project(point_model->M02, fov, w, h); // set correspondences by minimum distance to projected model point bool point_taken[PointModel::N_POINTS]; @@ -236,10 +233,6 @@ bool PointTracker::find_correspondences(const vector& points) void PointTracker::POSIT(float fov, int w, int h) { - // XXX hack - this->fov = fov; - _w = w; - _h = h; std::vector obj_points; std::vector img_points; diff --git a/FTNoIR_Tracker_PT/point_tracker.h b/FTNoIR_Tracker_PT/point_tracker.h index ac43489e..741d5af4 100644 --- a/FTNoIR_Tracker_PT/point_tracker.h +++ b/FTNoIR_Tracker_PT/point_tracker.h @@ -98,16 +98,12 @@ public: FrameTrafo get_pose() const { return X_CM; } void reset(); - float fov; - int _w, _h; - protected: - cv::Vec2f project(const cv::Vec3f& v_M) + cv::Vec2f project(const cv::Vec3f& v_M, float fov, int w, int h) { if (!rvec.empty() && !tvec.empty() && fov > 0) { const float HT_PI = 3.1415926535; - const int w = _w, h = _h; const float focal_length_w = 0.5 * w / tan(fov * HT_PI / 180); const float focal_length_h = 0.5 * h / tan(fov * h / w * HT_PI / 180.0); @@ -126,7 +122,7 @@ protected: return cv::Vec2f(); } - bool find_correspondences(const std::vector& points); + bool find_correspondences(const std::vector& points, float fov, int w, int h); cv::Vec2f p[PointModel::N_POINTS]; // the points in model order cv::Vec2f p_exp[PointModel::N_POINTS]; // the expected point positions -- cgit v1.2.3