diff options
Diffstat (limited to 'ftnoir_tracker_pt/ftnoir_tracker_pt.cpp')
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 18 |
1 files changed, 5 insertions, 13 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index 9b3795b9..a32288f4 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -66,7 +66,6 @@ void Tracker::run() { QMutexLocker lock(&mutex); - frame = frame_rotation.rotate_frame(frame); const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame); for (auto p : points) { @@ -119,22 +118,15 @@ void Tracker::apply_inner() camera.set_device_index(s.cam_index); camera.set_res(s.cam_res_x, s.cam_res_y); camera.set_fps(s.cam_fps); - frame_rotation.rotation = static_cast<RotationType>(static_cast<int>(s.cam_roll)); point_extractor.threshold_val = s.threshold; point_extractor.threshold_secondary_val = s.threshold_secondary; point_extractor.min_size = s.min_point_size; point_extractor.max_size = s.max_point_size; t_MH = cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z); - R_GC = Matx33f( cos(deg2rad*s.cam_yaw), 0, sin(deg2rad*s.cam_yaw), - 0, 1, 0, - -sin(deg2rad*s.cam_yaw), 0, cos(deg2rad*s.cam_yaw)); - R_GC = R_GC * Matx33f( 1, 0, 0, - 0, cos(deg2rad*s.cam_pitch), sin(deg2rad*s.cam_pitch), - 0, -sin(deg2rad*s.cam_pitch), cos(deg2rad*s.cam_pitch)); - - FrameTrafo X_MH(Matx33f::eye(), t_MH); - X_GH_0 = R_GC * X_MH; - qDebug()<<"Tracker::apply ends"; + R_GC = cv::Matx33f::eye(); + FrameTrafo X_MH(Matx33f::eye(), t_MH); + X_GH_0 = R_GC * X_MH; + qDebug()<<"Tracker::apply ends"; } void Tracker::reset() @@ -145,7 +137,7 @@ void Tracker::reset() void Tracker::center() { - point_tracker.reset(); // we also do a reset here since there is no reset shortkey yet + point_tracker.reset(); QMutexLocker lock(&mutex); FrameTrafo X_CM_0 = point_tracker.pose(); FrameTrafo X_MH(Matx33f::eye(), t_MH); |