Merge remote-tracking branch 'upstream/unstable' into unstable

6 files changed, 24 insertions, 12 deletions

diff --git a/tracker-pt/FTNoIR_PT_Controls.ui b/tracker-pt/FTNoIR_PT_Controls.ui
index 62b49747..8d044654 100644
--- a/tracker-pt/FTNoIR_PT_Controls.ui
+++ b/tracker-pt/FTNoIR_PT_Controls.ui
@@ -250,7 +250,7 @@
              </sizepolicy>
             </property>
             <property name="text">
-             <string>Dynamic pose resolution</string>
+             <string>Dynamic pose (for caps only, never clips)</string>
             </property>
            </widget>
           </item>
diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index f4e60bba..938acc1c 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -92,8 +92,6 @@ void Tracker_PT::run()
                                     s.dynamic_pose ? s.init_phase_timeout : 0);
                 ever_success = true;
             }
-            else
-                point_tracker.invalidate_pose();
 
             {
                 Affine X_CM;
diff --git a/tracker-pt/ftnoir_tracker_pt_dialog.cpp b/tracker-pt/ftnoir_tracker_pt_dialog.cpp
index c2079c27..ee80fe6f 100644
--- a/tracker-pt/ftnoir_tracker_pt_dialog.cpp
+++ b/tracker-pt/ftnoir_tracker_pt_dialog.cpp
@@ -104,16 +104,31 @@ void TrackerDialog_PT::startstop_trans_calib(bool start)
         qDebug() << "pt: stopping translation calibration";
         {
             cv::Vec3f tmp;
-            unsigned nsamples;
+            cv::Vec3i nsamples;
             std::tie(tmp, nsamples) = trans_calib.get_estimate();
             s.t_MH_x = int(tmp[0]);
             s.t_MH_y = int(tmp[1]);
             s.t_MH_z = int(tmp[2]);
 
-            static constexpr unsigned min_samples = 80;
-            const QString sample_feedback = nsamples >= min_samples
-                ? tr("%1 samples. Over %2, good!").arg(nsamples).arg(min_samples)
-                : tr("%1 samples. Try for at least %2 for a precise calibration.").arg(nsamples).arg(min_samples);
+            static constexpr unsigned min_yaw_samples = 15;
+            static constexpr unsigned min_pitch_samples = 15;
+            static constexpr unsigned min_samples = min_yaw_samples+min_pitch_samples;
+
+            // Don't bother counting roll samples. Roll calibration is hard enough
+            // that it's a hidden unsupported feature anyway.
+
+            const QString sample_feedback = progn(
+                if (nsamples[0] < min_yaw_samples)
+                    return tr("%1 yaw samples. Yaw more to %2 samples for stable calibration.")
+                        .arg(nsamples[0]).arg(min_yaw_samples);
+                if (nsamples[1] < min_pitch_samples)
+                    return tr("%1 pitch samples. Pitch more to %2 samples for stable calibration.")
+                        .arg(nsamples[1]).arg(min_pitch_samples);
+
+                const unsigned nsamples_total = nsamples[0] + nsamples[1];
+
+                return tr("%1 samples. Over %2, good!").arg(nsamples_total).arg(min_samples);
+            );
 
             ui.sample_count_display->setText(sample_feedback);
         }
diff --git a/tracker-pt/ftnoir_tracker_pt_settings.h b/tracker-pt/ftnoir_tracker_pt_settings.h
index d890bbd2..79c1e103 100644
--- a/tracker-pt/ftnoir_tracker_pt_settings.h
+++ b/tracker-pt/ftnoir_tracker_pt_settings.h
@@ -62,7 +62,7 @@ struct settings_pt : opts
         cap_z(b, "cap-z", 100),
         fov(b, "camera-fov", 56),
         dynamic_pose(b, "dynamic-pose-resolution", true),
-        init_phase_timeout(b, "init-phase-timeout", 500),
+        init_phase_timeout(b, "init-phase-timeout", 250),
         auto_threshold(b, "automatic-threshold", true)
     {}
 };
diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp
index 4022cbb2..73745d8f 100644
--- a/tracker-pt/point_tracker.cpp
+++ b/tracker-pt/point_tracker.cpp
@@ -162,7 +162,7 @@ bool PointTracker::maybe_use_old_point_order(const PointOrder& order, const CamI
     }
 
     // CAVEAT don't increase too much, it visibly loses precision
-    static constexpr f max_dist = f(.35);
+    static constexpr f max_dist = f(.2);
 
     const bool validp = sum < max_dist;
 
@@ -178,7 +178,7 @@ bool PointTracker::maybe_use_old_point_order(const PointOrder& order, const CamI
     {
         static Timer tt;
         static int cnt1 = 0, cnt2 = 0;
-        if (tt.elapsed_ms() >= 5000)
+        if (tt.elapsed_ms() >= 1000)
         {
             tt.start();
             if (cnt1 + cnt2)
diff --git a/tracker-pt/point_tracker.h b/tracker-pt/point_tracker.h
index b867cea4..a25c1458 100644
--- a/tracker-pt/point_tracker.h
+++ b/tracker-pt/point_tracker.h
@@ -62,7 +62,6 @@ public:
     Affine pose() { return X_CM; }
     vec2 project(const vec3& v_M, f focal_length);
     vec2 project(const vec3& v_M, f focal_length, const Affine& X_CM);
-    void invalidate_pose() { X_CM = Affine(); }
 
 private:
     // the points in model order