remove hack of passing fov/w/h as member vars

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<Vec2f>& 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<Vec2f>& points)

+bool PointTracker::find_correspondences(const vector<Vec2f>& 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<Vec2f>& 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<Vec2f>& points)
 

 void PointTracker::POSIT(float fov, int w, int h)

 {

-    // XXX hack

-    this->fov = fov;

-    _w = w;

-    _h = h;

     std::vector<cv::Point3f> obj_points;

     std::vector<cv::Point2f> 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<cv::Vec2f>& points);

+    bool find_correspondences(const std::vector<cv::Vec2f>& 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