First solveP3P results that are looking consistent.

Translation vector in meters seems to be spot on.
Rotation angles still need to be computed.
Radial distortion still need to be taken into account.

1 files changed, 6 insertions, 3 deletions

diff --git a/tracker-points/module/point_extractor.h b/tracker-points/module/point_extractor.h
index a6103667..2af5c131 100644
--- a/tracker-points/module/point_extractor.h
+++ b/tracker-points/module/point_extractor.h
@@ -33,16 +33,19 @@ class PointExtractor final : public pt_point_extractor
 public:
     // extracts points from frame and draws some processing info into frame, if draw_output is set
     // dt: time since last call in seconds
-    void extract_points(const pt_frame& frame, pt_preview& preview_frame, std::vector<vec2>& points) override;
+    void extract_points(const pt_frame& frame, pt_preview& preview_frame, std::vector<vec2>& points, std::vector<vec2>& imagePoints) override;
     PointExtractor(const QString& module_name);
+
+public:
+    std::vector<blob> blobs;
+
 private:
     static constexpr int max_blobs = 16;
 
     pt_settings s;
 
     cv::Mat1b frame_gray_unmasked, frame_bin, frame_gray;
-    cv::Mat1f hist;
-    std::vector<blob> blobs;
+    cv::Mat1f hist;    
     cv::Mat1b ch[3];
 
     void ensure_channel_buffers(const cv::Mat& orig_frame);