tracker/pt: allow for reuse

Issue: #718

This allows for replacing the camera and point extractor code. See
`module.cpp' and `pt-api.hpp`.

1 files changed, 62 insertions, 0 deletions

diff --git a/tracker-pt/pt-api.cpp b/tracker-pt/pt-api.cpp
new file mode 100644
index 00000000..c11f372f
--- /dev/null
+++ b/tracker-pt/pt-api.cpp
@@ -0,0 +1,62 @@
+#include "pt-api.hpp"
+#include "cv/numeric.hpp"
+
+using namespace types;
+
+pt_camera_info::pt_camera_info()
+{
+}
+
+double pt_camera_info::get_focal_length() const
+{
+    const double diag_len = std::sqrt(double(res_x*res_x + res_y*res_y));
+    const double aspect_x = res_x / diag_len;
+    //const double aspect_y = res_y / diag_len;
+    const double diag_fov = fov * M_PI/180;
+    const double fov_x = 2*std::atan(std::tan(diag_fov*.5) * aspect_x);
+    //const double fov_y = 2*atan(tan(diag_fov*.5) * aspect_y);
+    const double fx = .5 / std::tan(fov_x * .5);
+    return fx;
+    //fy = .5 / tan(fov_y * .5);
+    //static bool once = false; if (!once) { once = true; qDebug() << "f" << ret << "fov" << (fov * 180/M_PI); }
+}
+
+pt_settings::pt_settings(const QString& name) : opts(name)
+{
+}
+
+pt_camera::pt_camera()
+{
+}
+
+pt_camera::~pt_camera()
+{
+}
+
+pt_runtime_traits::pt_runtime_traits()
+{
+}
+
+pt_runtime_traits::~pt_runtime_traits()
+{
+}
+
+pt_point_extractor::pt_point_extractor()
+{
+}
+
+pt_point_extractor::~pt_point_extractor()
+{
+}
+
+double pt_point_extractor::threshold_radius_value(int w, int h, int threshold)
+{
+    double cx = w / 640., cy = h / 480.;
+
+    const double min_radius = 1.75 * cx;
+    const double max_radius = 15 * cy;
+
+    const double radius = std::fmax(0., (max_radius-min_radius) * threshold / f(255) + min_radius);
+
+    return radius;
+}