diff options
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 11 | ||||
| -rw-r--r-- | ftnoir_tracker_pt/point_extractor.cpp | 3 |
2 files changed, 8 insertions, 6 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index d166ad01..07370f84 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -59,7 +59,7 @@ float Tracker_PT::get_focal_length() static constexpr double pi = 3.1415926f; const double diag = sqrt(w * w + h * h)/w, diag_fov = static_cast<int>(s.fov) * pi / 180.; const double fov = 2.*atan(tan(diag_fov/2.0)/sqrt(1. + diag*diag)); - return w*.5 / tan(.5 * fov); + return .5 / tan(.5 * fov); } void Tracker_PT::run() @@ -112,17 +112,18 @@ void Tracker_PT::run() for (unsigned i = 0; i < points.size(); i++) { auto& p = points[i]; + auto p2 = cv::Point(p[0] * frame.cols + frame.cols/2, -p[1] * frame.cols + frame.rows/2); cv::Scalar color(0, 255, 0); if (i == points.size()-1) color = cv::Scalar(0, 0, 255); cv::line(frame, - cv::Point(p[0] - 20, p[1]), - cv::Point(p[0] + 20, p[1]), + cv::Point(p2.x - 20, p2.y), + cv::Point(p2.x + 20, p2.y), color, 4); cv::line(frame, - cv::Point(p[0], p[1] - 20), - cv::Point(p[0], p[1] + 20), + cv::Point(p2.x, p2.y - 20), + cv::Point(p2.x, p2.y + 20), color, 4); } diff --git a/ftnoir_tracker_pt/point_extractor.cpp b/ftnoir_tracker_pt/point_extractor.cpp index cc9dbce1..e81e3aa0 100644 --- a/ftnoir_tracker_pt/point_extractor.cpp +++ b/ftnoir_tracker_pt/point_extractor.cpp @@ -211,7 +211,8 @@ std::vector<Vec2f> PointExtractor::extract_points(Mat& frame) for (auto& b : simple_blob::merge(blobs)) { auto pos = b.effective_pos(); - points.push_back(pos); + Vec2f p((pos[0] - W/2)/W, -(pos[1] - H/2)/W); + points.push_back(p); } vector<Mat> channels_; |