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.

2 files changed, 8 insertions, 4 deletions

diff --git a/tracker-points/module/point_extractor.cpp b/tracker-points/module/point_extractor.cpp
index 1a75a3e3..d1975317 100644
--- a/tracker-points/module/point_extractor.cpp
+++ b/tracker-points/module/point_extractor.cpp
@@ -239,7 +239,7 @@ static void draw_blobs(cv::Mat& preview_frame, const blob* blobs, unsigned nblob
     }
 }
 
-void PointExtractor::extract_points(const pt_frame& frame_, pt_preview& preview_frame_, std::vector<vec2>& points)
+void PointExtractor::extract_points(const pt_frame& frame_, pt_preview& preview_frame_, std::vector<vec2>& points, std::vector<vec2>& imagePoints)
 {
     const cv::Mat& frame = frame_.as_const<Frame>()->mat;
 
@@ -375,6 +375,7 @@ end:
         vec2 p;
         std::tie(p[0], p[1]) = to_screen_pos(b.pos[0], b.pos[1], W, H);
         points.push_back(p);
+        imagePoints.push_back(vec2(b.pos[0], b.pos[1]));
     }
 }
 
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);