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 ++- tracker-points/module/point_extractor.h | 9 ++++++--- 2 files changed, 8 insertions(+), 4 deletions(-) (limited to 'tracker-points/module') 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])); } } diff --git a/tracker-points/module/point_extractor.h b/tracker-points/module/point_extractor.h index a6103667..2af5c131 100644 --- a/tracker-points/module/point_extractor.h +++ b/tracker-points/module/point_extractor.h @@ -33,16 +33,19 @@ class PointExtractor final : public pt_point_extractor public: // extracts points from frame and draws some processing info into frame, if draw_output is set // dt: time since last call in seconds - void extract_points(const pt_frame& frame, pt_preview& preview_frame, std::vector& points) override; + void extract_points(const pt_frame& frame, pt_preview& preview_frame, std::vector& points, std::vector& imagePoints) override; PointExtractor(const QString& module_name); + +public: + std::vector blobs; + private: static constexpr int max_blobs = 16; pt_settings s; cv::Mat1b frame_gray_unmasked, frame_bin, frame_gray; - cv::Mat1f hist; - std::vector blobs; + cv::Mat1f hist; cv::Mat1b ch[3]; void ensure_channel_buffers(const cv::Mat& orig_frame); -- cgit v1.2.3