From 014044c8b1c563add79e96b174c29933b17bdc95 Mon Sep 17 00:00:00 2001 From: Stéphane Lenclud Date: Sun, 31 Mar 2019 09:40:37 +0200 Subject: First solveP3P results that are looking consistent. Translation vector in meters seems to be spot on. Rotation angles still need to be computed. Radial distortion still need to be taken into account. --- tracker-points/module/point_extractor.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) (limited to 'tracker-points/module/point_extractor.cpp') diff --git a/tracker-points/module/point_extractor.cpp b/tracker-points/module/point_extractor.cpp index 1a75a3e3..d1975317 100644 --- a/tracker-points/module/point_extractor.cpp +++ b/tracker-points/module/point_extractor.cpp @@ -239,7 +239,7 @@ static void draw_blobs(cv::Mat& preview_frame, const blob* blobs, unsigned nblob } } -void PointExtractor::extract_points(const pt_frame& frame_, pt_preview& preview_frame_, std::vector& points) +void PointExtractor::extract_points(const pt_frame& frame_, pt_preview& preview_frame_, std::vector& points, std::vector& imagePoints) { const cv::Mat& frame = frame_.as_const()->mat; @@ -375,6 +375,7 @@ end: vec2 p; std::tie(p[0], p[1]) = to_screen_pos(b.pos[0], b.pos[1], W, H); points.push_back(p); + imagePoints.push_back(vec2(b.pos[0], b.pos[1])); } } -- cgit v1.2.3