diff options
| -rw-r--r-- | tracker-pt/point_tracker.cpp | 27 | ||||
| -rw-r--r-- | tracker-pt/point_tracker.h | 11 |
2 files changed, 12 insertions, 26 deletions
diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp index 24edca45..7873a010 100644 --- a/tracker-pt/point_tracker.cpp +++ b/tracker-pt/point_tracker.cpp @@ -34,11 +34,6 @@ static void set_row(mat33& m, int i, const vec3& v) m(i,2) = v[2]; } -static bool d_vals_sort(const std::pair<f,int> a, const std::pair<f,int> b) -{ - return a.first < b.first; -} - PointModel::PointModel(settings_pt& s) { set_model(s); @@ -75,15 +70,15 @@ void PointModel::set_model(settings_pt& s) void PointModel::get_d_order(const std::vector<vec2>& points, int* d_order, const vec2& d) const { // fit line to orthographically projected points - std::vector<std::pair<f,int>> d_vals; + using t = std::pair<f,int>; + std::vector<t> d_vals; // get sort indices with respect to d scalar product for (unsigned i = 0; i < PointModel::N_POINTS; ++i) d_vals.push_back(std::pair<f, int>(d.dot(points[i]), i)); std::sort(d_vals.begin(), d_vals.end(), - d_vals_sort - ); + [](const t& a, const t& b) { return a.first < b.first; }); for (unsigned i = 0; i < PointModel::N_POINTS; ++i) d_order[i] = d_vals[i].second; @@ -101,9 +96,9 @@ PointTracker::PointOrder PointTracker::find_correspondences_previous(const std:: int h) { PointTracker::PointOrder p; - p.points[0] = project(vec3(0,0,0), focal_length); - p.points[1] = project(model.M01, focal_length); - p.points[2] = project(model.M02, focal_length); + p[0] = project(vec3(0,0,0), focal_length); + p[1] = project(model.M01, focal_length); + p[2] = project(model.M02, focal_length); const int diagonal = int(std::sqrt(w*w + h*h)); static constexpr int div = 100; @@ -121,7 +116,7 @@ PointTracker::PointOrder PointTracker::find_correspondences_previous(const std:: // find closest point to projected model point i for (unsigned j=0; j<PointModel::N_POINTS; ++j) { - vec2 d = p.points[i]-points[j]; + vec2 d = p[i]-points[j]; f sdist = d.dot(d); if (sdist < min_sdist || j==0) { @@ -139,7 +134,7 @@ PointTracker::PointOrder PointTracker::find_correspondences_previous(const std:: return find_correspondences(points, model); } point_taken[min_idx] = true; - p.points[i] = points[min_idx]; + p[i] = points[min_idx]; } return p; @@ -192,12 +187,12 @@ PointTracker::PointOrder PointTracker::find_correspondences(const std::vector<ve // set correspondences PointOrder p; for (unsigned i = 0; i < PointModel::N_POINTS; ++i) - p.points[model_d_order[i]] = points[point_d_order[i]]; + p[model_d_order[i]] = points[point_d_order[i]]; return p; } -int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, f focal_length) +int PointTracker::POSIT(const PointModel& model, const PointOrder& order, f focal_length) { // POSIT algorithm for coplanar points as presented in // [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"] @@ -226,8 +221,6 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, f foc static constexpr int max_iter = 100; - const vec2* order = order_.points; - using std::sqrt; using std::atan; using std::cos; diff --git a/tracker-pt/point_tracker.h b/tracker-pt/point_tracker.h index c35c6128..5576b41b 100644 --- a/tracker-pt/point_tracker.h +++ b/tracker-pt/point_tracker.h @@ -16,6 +16,7 @@ using namespace pt_types; #include <opencv2/core/core.hpp> #include <memory> #include <vector> +#include <array> #include <QObject> class Affine final @@ -89,15 +90,7 @@ public: private: // the points in model order - struct PointOrder - { - vec2 points[PointModel::N_POINTS]; - PointOrder() - { - for (unsigned i = 0; i < PointModel::N_POINTS; i++) - points[i] = vec2(0, 0); - } - }; + using PointOrder = std::array<vec2, 3>; PointOrder find_correspondences(const std::vector<vec2>& projected_points, const PointModel &model); PointOrder find_correspondences_previous(const std::vector<vec2>& points, const PointModel &model, f focal_length, int w, int h); |