for now remove calibration support

PT tracker returns garbage when calibrating, Z is zero. Maybe can be
reverted and fixed later.

1 files changed, 1 insertions, 27 deletions

diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 48a62c2c..d166ad01 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -12,7 +12,6 @@
 #include <QFile>
 #include <QCoreApplication>
 #include "opentrack/camera-names.hpp"
-#include "opentrack/opencv-calibration.hpp"
 
 using namespace std;
 using namespace cv;
@@ -55,8 +54,6 @@ void Tracker_PT::reset_command(Command command)
 float Tracker_PT::get_focal_length()
 {
     QMutexLocker l(&camera_mtx);
-    if (!intrinsics.empty())
-        return intrinsics.at<float>(0, 0);
     CamInfo info = camera.get_info();
     const int w = info.res_x, h = info.res_y;
     static constexpr double pi = 3.1415926f;
@@ -99,16 +96,7 @@ void Tracker_PT::run()
             
             if (success)
             {
-                if (!intrinsics.empty())
-                {
-                    std::vector<cv::Vec2f> points_;
-                    cv::undistortPoints(points, points_, intrinsics, dist_coeffs);
-                    point_tracker.track(points_, PointModel(s), get_focal_length(), s.dynamic_pose, s.init_phase_timeout);
-                }
-                else
-                {
-                    point_tracker.track(points, PointModel(s), get_focal_length(), s.dynamic_pose, s.init_phase_timeout);
-                }
+                point_tracker.track(points, PointModel(s), get_focal_length(), s.dynamic_pose, s.init_phase_timeout);
             }
             
             {
@@ -159,20 +147,6 @@ void Tracker_PT::apply_settings()
     camera.set_res(s.cam_res_x, s.cam_res_y);
     camera.set_fps(s.cam_fps);
     camera.start();
-    cv::Mat intrinsics_ = cv::Mat::eye(3, 3, CV_32FC1);
-    cv::Mat dist_coeffs_ = cv::Mat::zeros(5, 1, CV_32FC1);
-    intrinsics = cv::Mat();
-    dist_coeffs = cv::Mat();
-    auto info = camera.get_info();
-    if (info.res_x == 0 || info.res_y == 0)
-        return;
-    if (get_camera_calibration(s.camera_name, intrinsics_, dist_coeffs_, info.res_x, info.res_y, s.fov))
-    {
-        intrinsics = intrinsics_.clone();
-        dist_coeffs = dist_coeffs_.clone();
-        qDebug() << s.camera_name << "calibrated";
-    }
-
     qDebug()<<"Tracker::apply ends";
 }