diff options
Diffstat (limited to 'ftnoir_tracker_pt/ftnoir_tracker_pt.cpp')
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 9 |
1 files changed, 8 insertions, 1 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index 05e7b067..3abaa35e 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -48,6 +48,13 @@ void Tracker::reset_command(Command command) commands &= ~command; } +float Tracker::get_focal_length() +{ + static constexpr float pi = 3.1415926f; + const float fov = static_cast<int>(s.fov) * pi / 180.f; + return 0.5f / tan(0.5f * fov); +} + void Tracker::run() { #ifdef PT_PERF_LOG @@ -85,7 +92,7 @@ void Tracker::run() 4); } if (points.size() == PointModel::N_POINTS) - point_tracker.track(points, model); + point_tracker.track(points, model, get_focal_length()); video_widget->update_image(frame); } #ifdef PT_PERF_LOG |