diff options
Diffstat (limited to 'ftnoir_tracker_pt/ftnoir_tracker_pt.cpp')
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 10 |
1 files changed, 7 insertions, 3 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index 9cfd31eb..04f1b8d9 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -63,15 +63,15 @@ bool Tracker_PT::get_focal_length(float& ret) break; } - const float diag_fov = static_cast<int>(fov_) * pi / 180.f; + const double diag_fov = static_cast<int>(fov_) * pi / 180.f; QMutexLocker l(&camera_mtx); CamInfo info; const bool res = camera.get_info(info); if (res) { const int w = info.res_x, h = info.res_y; - const double diag = sqrt(w * w + h * h)/w; - const double fov = 2.*atan(tan(diag_fov/2.0)/sqrt(1. + diag*diag)); + const double diag = sqrt(1. + h/(double)w * h/(double)w); + const double fov = 2.*atan(tan(diag_fov/2.0)/diag); ret = .5 / tan(.5 * fov); return true; } @@ -105,6 +105,10 @@ void Tracker_PT::run() QMutexLocker lock(&mutex); std::vector<cv::Vec2f> points = point_extractor.extract_points(frame); + + // blobs are sorted in order of circularity + if (points.size() > PointModel::N_POINTS) + points.resize(PointModel::N_POINTS); bool success = points.size() == PointModel::N_POINTS; |