Merge branch 'unstable' into trackhat-ui

Sponsored-by: TrackHat

* unstable: (112 commits)
  Revert "accela: try more complex deadzone algorithm"
  pt: add wiki link for calibration instructions
  qfc: more gray colors when graph is disabled
  qfc, mapping: disallow editing and change color when checkbox disabled
  qfc: don't allow editing when disabled
  plugin-support: workaround multiple copies of modules
  accela: change translation gain
  accela: change rotation gain
  pt: change extraction code
  freepie-udp: add license
  freepie-udp: update
  accela: try more complex deadzone algorithm
  accela: add helpful comment
  accela: revert to more quadratic spline at start
  also save if save pending when start tracking
  ui: force saving if saving timer is pending
  accela: slightly more linear function
  pose-widget: simplify
  freepie-udp: nix harmless warning
  pose-widget: add comment
  simple-mat: add __restrict for GNU
  ui: save settings on a timer
  ui: show a warning if configuration directory can't be used
  aruco: tune min/max marker size
  win32-joystick: fix duplicate device name selection logic
  ui: no need to reset settings on tracking start
  ui: save profile when combobox text changes, not merely index
  ui: save current tracker/filter/proto, not last
  win32-joystick: fix COM failure path
  win32-joystick: nix unused variable
  win32-joystick: allow for unique selection of joysticks
  qfc: also draw line from function start while moving
  no need to save on tracking start anymore
  save axis opts, not just spline control points
  tracker: change centering order again
  fix typo
  cmake: don't say "opentrack" twice for osx build
  ui: really don't switch profiles while refreshing combobox
  pt: fix type mismatch
  ui: save prior to switching configs
  tracker_rs: adjusted tracker's name
  ui: don't reload settings if config wasn't changed
  ui: save everything before switching profiles
  options: return .ini basename easier
  tracker_rs: more readable icon
  tracker_rs: prevent potential thread starvation
  ui: switch to newly-created config
  ui: decruft
  ui: also bail on new config if its name is ".ini"
  ui: auto-refresh config list
  ui: display up to 20 profiles w/o scrolling
  ui: create an empty config properly in another code branch
  udp-tracker: silence harmless warning
  plugin-support: fix typo
  plugin-support: set more sane RTLD flags
  plugin-support: free modules from address space when needed
  ui: rename symbol to reflect current usage
  ui: move some slots to private
  ui, shortcuts: these are slots, actually
  ui: no need to write anything to new empty config
  ui: avoid potential memory leak
  ft: new game support
  game-data: chomp newlines in extractor
  ui: append extension in the right place
  simple-mat: fix arglist SFINAE
  simple-mat: can use static_cast here
  nix default empty config. it gets created on its own.
  ui: these aren't qt slots
  ui: nix wrong headers
  ui: remove GNU GPL
  ui: simplify condition
  props changed only
  main, ui: store config files in a predefined directory
  pt: show extracted points' areas and success count
  close dialogs on switch to new module
  ...

1 files changed, 7 insertions, 3 deletions

diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 9cfd31eb..04f1b8d9 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -63,15 +63,15 @@ bool Tracker_PT::get_focal_length(float& ret)
         break;
     }
 
-    const float diag_fov = static_cast<int>(fov_) * pi / 180.f;
+    const double diag_fov = static_cast<int>(fov_) * pi / 180.f;
     QMutexLocker l(&camera_mtx);
     CamInfo info;
     const bool res = camera.get_info(info);
     if (res)
     {
         const int w = info.res_x, h = info.res_y;
-        const double diag = sqrt(w * w + h * h)/w;
-        const double fov = 2.*atan(tan(diag_fov/2.0)/sqrt(1. + diag*diag));
+        const double diag = sqrt(1. + h/(double)w * h/(double)w);
+        const double fov = 2.*atan(tan(diag_fov/2.0)/diag);
         ret = .5 / tan(.5 * fov);
         return true;
     }
@@ -105,6 +105,10 @@ void Tracker_PT::run()
             QMutexLocker lock(&mutex);
 
             std::vector<cv::Vec2f> points = point_extractor.extract_points(frame);
+
+            // blobs are sorted in order of circularity
+            if (points.size() > PointModel::N_POINTS)
+                points.resize(PointModel::N_POINTS);
             
             bool success = points.size() == PointModel::N_POINTS;