compat, tracker-pt: add unfinished calibrator

3 files changed, 38 insertions, 0 deletions

diff --git a/tracker-pt/ftnoir_tracker_pt_dialog.cpp b/tracker-pt/ftnoir_tracker_pt_dialog.cpp
index 2c3cbd07..35a029df 100644
--- a/tracker-pt/ftnoir_tracker_pt_dialog.cpp
+++ b/tracker-pt/ftnoir_tracker_pt_dialog.cpp
@@ -131,6 +131,8 @@ void TrackerDialog_PT::startstop_trans_calib(bool start)
 
     if (start)
     {
+        c_calib = {};
+
         qDebug() << "pt: starting translation calibration";
         calib_timer.start();
         trans_calib.reset();
@@ -142,6 +144,9 @@ void TrackerDialog_PT::startstop_trans_calib(bool start)
     }
     else
     {
+        // XXX reenable after build
+        // (void) c_calib.get_coefficients();
+
         calib_timer.stop();
         qDebug() << "pt: stopping translation calibration";
         {
@@ -237,8 +242,18 @@ void TrackerDialog_PT::trans_calib_step()
 
     if (tracker)
     {
+        // XXX reenable after build
+        if (false)
+        {
+
+            Mat<double, 6, 1> m;
+            tracker->data(m);
+            c_calib.input(m);
+        }
+
         Affine X_CM = tracker->pose();
         trans_calib.update(X_CM.R, X_CM.t);
+
     }
     else
         startstop_trans_calib(false);
diff --git a/tracker-pt/ftnoir_tracker_pt_dialog.h b/tracker-pt/ftnoir_tracker_pt_dialog.h
index c1c25fb0..bae03adc 100644
--- a/tracker-pt/ftnoir_tracker_pt_dialog.h
+++ b/tracker-pt/ftnoir_tracker_pt_dialog.h
@@ -14,6 +14,7 @@
 #include "ui_FTNoIR_PT_Controls.h"
 #include "cv/translation-calibrator.hpp"
 #include "cv/video-widget.hpp"
+#include "compat/correlation-calibrator.hpp"
 
 #include <QTimer>
 #include <QMutex>
@@ -44,6 +45,7 @@ private:
     Tracker_PT* tracker;
     QTimer timer, calib_timer;
     TranslationCalibrator trans_calib;
+    correlation_calibrator c_calib;
     QMutex calibrator_mutex;
 
     Ui::UICPTClientControls ui;
diff --git a/tracker-pt/ftnoir_tracker_pt_settings.h b/tracker-pt/ftnoir_tracker_pt_settings.h
index 71b98fc2..7fa560d2 100644
--- a/tracker-pt/ftnoir_tracker_pt_settings.h
+++ b/tracker-pt/ftnoir_tracker_pt_settings.h
@@ -46,6 +46,27 @@ struct settings_pt : opts
 
     value<slider_value> threshold_slider;
 
+#define XSTR(x) #x
+
+#define M(name, val) \
+    { b, "interconnect-m" XSTR(name), (val) }
+#define A(name) M(name, 0),
+#define B(name) M(name, 1),
+
+    value<double> interconnect[6][6] {
+        { B(00) A(01) A(02) A(03) A(04) A(05) },
+        { A(10) B(11) A(12) A(13) A(14) A(15) },
+        { A(20) A(21) B(22) A(23) A(24) A(25) },
+        { A(30) A(31) A(32) B(33) A(34) A(35) },
+        { A(40) A(41) A(42) A(43) B(44) A(45) },
+        { A(50) A(51) A(52) A(53) A(54) B(55) },
+    };
+
+#undef M
+#undef A
+#undef B
+#undef XSTR
+
     settings_pt() :
         opts("tracker-pt"),
         camera_name(b, "camera-name", ""),