diff options
| -rw-r--r-- | cv/translation-calibrator.cpp | 9 | ||||
| -rw-r--r-- | cv/translation-calibrator.hpp | 2 | ||||
| -rw-r--r-- | tracker-pt/ftnoir_tracker_pt_dialog.cpp | 25 |
3 files changed, 25 insertions, 11 deletions
diff --git a/cv/translation-calibrator.cpp b/cv/translation-calibrator.cpp index cdd573bc..fb150bf9 100644 --- a/cv/translation-calibrator.cpp +++ b/cv/translation-calibrator.cpp @@ -54,12 +54,10 @@ void TranslationCalibrator::update(const cv::Matx33d& R_CM_k, const cv::Vec3d& t y += H_k_T * t_CM_k; } -std::tuple<cv::Vec3f, unsigned> TranslationCalibrator::get_estimate() +std::tuple<cv::Vec3f, cv::Vec3i> TranslationCalibrator::get_estimate() { cv::Vec6f x = P.inv() * y; - qDebug() << "calibrator:" << nsamples << "samples total"; - unsigned values[3] {}; vec* in[] { &used_yaw_poses, &used_pitch_poses, &used_roll_poses }; @@ -71,12 +69,13 @@ std::tuple<cv::Vec3f, unsigned> TranslationCalibrator::get_estimate() values[k]++; } - qDebug() << "samples" + qDebug() << "samples total" << nsamples << "yaw" << values[0] << "pitch" << values[1] << "roll" << values[2]; - return std::make_tuple(cv::Vec3f(-x[0], -x[1], -x[2]), nsamples); + return std::make_tuple(cv::Vec3f(-x[0], -x[1], -x[2]), + cv::Vec3i(values[0], values[1], values[2])); } bool TranslationCalibrator::check_bucket(const cv::Matx33d& R_CM_k) diff --git a/cv/translation-calibrator.hpp b/cv/translation-calibrator.hpp index ae2ed844..d908496a 100644 --- a/cv/translation-calibrator.hpp +++ b/cv/translation-calibrator.hpp @@ -29,7 +29,7 @@ public: void update(const cv::Matx33d& R_CM_k, const cv::Vec3d& t_CM_k); // get the current estimate for t_MH - std::tuple<cv::Vec3f, unsigned> get_estimate(); + std::tuple<cv::Vec3f, cv::Vec3i> get_estimate(); private: bool check_bucket(const cv::Matx33d& R_CM_k); 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); } |