for now remove calibration support

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

3 files changed, 3 insertions, 35 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";
 }
 
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
index 97aa54aa..b303a913 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
@@ -72,7 +72,6 @@ private:
     Timer time;
     
     volatile bool ever_success;
-    cv::Mat intrinsics, dist_coeffs;
 
     static constexpr double rad2deg = 180.0/3.14159265;
     static constexpr double deg2rad = 3.14159265/180.0;
diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp
index f141fe36..b4283d37 100644
--- a/ftnoir_tracker_pt/point_tracker.cpp
+++ b/ftnoir_tracker_pt/point_tracker.cpp
@@ -259,14 +259,9 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, float
 	X_CM.t[1] = order[0][1] * Z0/focal_length;
 	X_CM.t[2] = Z0;
 
-	return i;
+    //qDebug() << "iter:" << i;
 
-	//Rodrigues(X_CM.R, r);
-	//qDebug()<<"iter: "<<i;
-	//qDebug()<<"t: "<<X_CM.t[0]<<' '<<X_CM.t[1]<<' '<<X_CM.t[2];
-	//Vec3f r;
-	//
-	//qDebug()<<"r: "<<r[0]<<' '<<r[1]<<' '<<r[2]<<'\n';
+	return i;
 }
 
 cv::Vec2f PointTracker::project(const cv::Vec3f& v_M, float f)