From cca730a8d311f099d1b58ecd04051b612ae3ef72 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Mon, 9 May 2022 19:14:32 +0200
Subject: tracker/{pt-base,trackhat}: add variable deadzone factor
---
tracker-pt/ftnoir_tracker_pt.cpp | 2 +-
tracker-pt/point-filter.cpp | 4 ++--
tracker-pt/point-filter.hpp | 2 +-
tracker-pt/point_tracker.cpp | 5 +++--
tracker-pt/point_tracker.h | 3 ++-
tracker-pt/pt-api.hpp | 1 +
6 files changed, 10 insertions(+), 7 deletions(-)
diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index d43e861f..0f8495d9 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -101,7 +101,7 @@ void Tracker_PT::run()
{
int dynamic_pose_ms = s.dynamic_pose ? s.init_phase_timeout : 0;
- point_tracker.track(points, PointModel(s), info, dynamic_pose_ms, filter);
+ point_tracker.track(points, PointModel(s), info, dynamic_pose_ms, filter, camera->deadzone_amount());
ever_success.store(true, std::memory_order_relaxed);
}
diff --git a/tracker-pt/point-filter.cpp b/tracker-pt/point-filter.cpp
index b03562ed..10448fe2 100644
--- a/tracker-pt/point-filter.cpp
+++ b/tracker-pt/point-filter.cpp
@@ -10,7 +10,7 @@ void point_filter::reset()
t = std::nullopt;
}
-const PointOrder& point_filter::operator()(const PointOrder& input)
+const PointOrder& point_filter::operator()(const PointOrder& input, f deadzone_amount)
{
using std::fmod;
using std::sqrt;
@@ -40,7 +40,7 @@ const PointOrder& point_filter::operator()(const PointOrder& input)
return A * pow((f)10, (f)-log10_pos) * rest;
);
- f dist = 0, dz = (float)s.point_filter_deadzone / 800; // sqrt(640^2 + 480^2)
+ f dist = 0, dz = deadzone_amount * (f)s.point_filter_deadzone / 800; // sqrt(640^2 + 480^2)
for (unsigned i = 0; i < 3; i++)
{
diff --git a/tracker-pt/point-filter.hpp b/tracker-pt/point-filter.hpp
index cc86505b..c3c045dd 100644
--- a/tracker-pt/point-filter.hpp
+++ b/tracker-pt/point-filter.hpp
@@ -19,7 +19,7 @@ class point_filter final
public:
void reset();
- const PointOrder& operator()(const PointOrder& input);
+ const PointOrder& operator()(const PointOrder& input, f deadzone_amount);
explicit point_filter(const pt_settings& s);
~point_filter() = default;
diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp
index aca07d8e..39e96038 100644
--- a/tracker-pt/point_tracker.cpp
+++ b/tracker-pt/point_tracker.cpp
@@ -137,7 +137,8 @@ void PointTracker::track(const std::vector<vec2>& points,
const PointModel& model,
const pt_camera_info& info,
int init_phase_timeout,
- point_filter& filter)
+ point_filter& filter,
+ f deadzone_amount)
{
const f fx = pt_camera_info::get_focal_length(info.fov, info.res_x, info.res_y);
PointOrder order;
@@ -150,7 +151,7 @@ void PointTracker::track(const std::vector<vec2>& points,
else
order = find_correspondences_previous(points.data(), model, info);
- if (POSIT(model, filter(order), fx) != -1)
+ if (POSIT(model, filter(order, deadzone_amount), fx) != -1)
{
init_phase = false;
t.start();
diff --git a/tracker-pt/point_tracker.h b/tracker-pt/point_tracker.h
index 06388f49..7492b4eb 100644
--- a/tracker-pt/point_tracker.h
+++ b/tracker-pt/point_tracker.h
@@ -61,7 +61,8 @@ public:
const PointModel& model,
const pt_camera_info& info,
int init_phase_timeout,
- point_filter& filter);
+ point_filter& filter,
+ f deadzone_amount);
Affine pose() const { return X_CM; }
vec2 project(const vec3& v_M, f focal_length);
vec2 project(const vec3& v_M, f focal_length, const Affine& X_CM);
diff --git a/tracker-pt/pt-api.hpp b/tracker-pt/pt-api.hpp
index 1a6444e5..15021ff3 100644
--- a/tracker-pt/pt-api.hpp
+++ b/tracker-pt/pt-api.hpp
@@ -98,6 +98,7 @@ struct pt_camera
virtual void set_fov(f value) = 0;
virtual void show_camera_settings() = 0;
+ virtual f deadzone_amount() const { return 1; }
};
struct pt_point_extractor : pt_pixel_pos_mixin
--
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