cv/calibrator: return distinct sample count for all DOF

3 files changed, 25 insertions, 11 deletions

diff --git a/cv/translation-calibrator.cpp b/cv/translation-calibrator.cpp
index cdd573bc..fb150bf9 100644
--- a/cv/translation-calibrator.cpp
+++ b/cv/translation-calibrator.cpp
@@ -54,12 +54,10 @@ void TranslationCalibrator::update(const cv::Matx33d& R_CM_k, const cv::Vec3d& t
     y += H_k_T * t_CM_k;
 }
 
-std::tuple<cv::Vec3f, unsigned> TranslationCalibrator::get_estimate()
+std::tuple<cv::Vec3f, cv::Vec3i> TranslationCalibrator::get_estimate()
 {
     cv::Vec6f x = P.inv() * y;
 
-    qDebug() << "calibrator:" << nsamples << "samples total";
-
     unsigned values[3] {};
     vec* in[] { &used_yaw_poses, &used_pitch_poses, &used_roll_poses };
 
@@ -71,12 +69,13 @@ std::tuple<cv::Vec3f, unsigned> TranslationCalibrator::get_estimate()
                 values[k]++;
     }
 
-    qDebug() << "samples"
+    qDebug() << "samples total" << nsamples
              << "yaw" << values[0]
              << "pitch" << values[1]
              << "roll" << values[2];
 
-    return std::make_tuple(cv::Vec3f(-x[0], -x[1], -x[2]), nsamples);
+    return std::make_tuple(cv::Vec3f(-x[0], -x[1], -x[2]),
+                           cv::Vec3i(values[0], values[1], values[2]));
 }
 
 bool TranslationCalibrator::check_bucket(const cv::Matx33d& R_CM_k)
diff --git a/cv/translation-calibrator.hpp b/cv/translation-calibrator.hpp
index ae2ed844..d908496a 100644
--- a/cv/translation-calibrator.hpp
+++ b/cv/translation-calibrator.hpp
@@ -29,7 +29,7 @@ public:
     void update(const cv::Matx33d& R_CM_k, const cv::Vec3d& t_CM_k);
 
     // get the current estimate for t_MH
-    std::tuple<cv::Vec3f, unsigned> get_estimate();
+    std::tuple<cv::Vec3f, cv::Vec3i> get_estimate();
 
 private:
     bool check_bucket(const cv::Matx33d& R_CM_k);
diff --git a/tracker-pt/ftnoir_tracker_pt_dialog.cpp b/tracker-pt/ftnoir_tracker_pt_dialog.cpp
index c2079c27..ee80fe6f 100644
--- a/tracker-pt/ftnoir_tracker_pt_dialog.cpp
+++ b/tracker-pt/ftnoir_tracker_pt_dialog.cpp
@@ -104,16 +104,31 @@ void TrackerDialog_PT::startstop_trans_calib(bool start)
         qDebug() << "pt: stopping translation calibration";
         {
             cv::Vec3f tmp;
-            unsigned nsamples;
+            cv::Vec3i nsamples;
             std::tie(tmp, nsamples) = trans_calib.get_estimate();
             s.t_MH_x = int(tmp[0]);
             s.t_MH_y = int(tmp[1]);
             s.t_MH_z = int(tmp[2]);
 
-            static constexpr unsigned min_samples = 80;
-            const QString sample_feedback = nsamples >= min_samples
-                ? tr("%1 samples. Over %2, good!").arg(nsamples).arg(min_samples)
-                : tr("%1 samples. Try for at least %2 for a precise calibration.").arg(nsamples).arg(min_samples);
+            static constexpr unsigned min_yaw_samples = 15;
+            static constexpr unsigned min_pitch_samples = 15;
+            static constexpr unsigned min_samples = min_yaw_samples+min_pitch_samples;
+
+            // Don't bother counting roll samples. Roll calibration is hard enough
+            // that it's a hidden unsupported feature anyway.
+
+            const QString sample_feedback = progn(
+                if (nsamples[0] < min_yaw_samples)
+                    return tr("%1 yaw samples. Yaw more to %2 samples for stable calibration.")
+                        .arg(nsamples[0]).arg(min_yaw_samples);
+                if (nsamples[1] < min_pitch_samples)
+                    return tr("%1 pitch samples. Pitch more to %2 samples for stable calibration.")
+                        .arg(nsamples[1]).arg(min_pitch_samples);
+
+                const unsigned nsamples_total = nsamples[0] + nsamples[1];
+
+                return tr("%1 samples. Over %2, good!").arg(nsamples_total).arg(min_samples);
+            );
 
             ui.sample_count_display->setText(sample_feedback);
         }