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Diffstat (limited to 'tracker-pt/ftnoir_tracker_pt.cpp')
-rw-r--r--tracker-pt/ftnoir_tracker_pt.cpp57
1 files changed, 11 insertions, 46 deletions
diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index 31d3cb14..33a40825 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -23,7 +23,7 @@ Tracker_PT::Tracker_PT() :
commands(0),
ever_success(false)
{
- connect(s.b.get(), SIGNAL(saving()), this, SLOT(apply_settings()));
+ connect(s.b.get(), SIGNAL(saving()), this, SLOT(apply_settings()), Qt::DirectConnection);
}
Tracker_PT::~Tracker_PT()
@@ -47,35 +47,6 @@ void Tracker_PT::reset_command(Command command)
commands &= ~command;
}
-bool Tracker_PT::get_focal_length(f& ret)
-{
- QMutexLocker l(&camera_mtx);
- CamInfo info;
- const bool res = camera.get_info(info);
- if (res)
- {
- using std::tan;
- using std::atan;
- using std::sqrt;
-
- const double w = info.res_x, h = info.res_y;
-#if 0
- const double diag = sqrt(w/h*w/h + h/w*h/w);
- const double diag_fov = static_cast<int>(s.fov) * M_PI / 180.;
- const double fov = 2.*atan(tan(diag_fov/2.)/diag);
- ret = .5 / tan(.5 * fov);
-#else
- const double diag_fov = s.fov * M_PI/180;
- const double aspect = w / sqrt(w*w + h*h);
- const double fov = 2*atan(tan(diag_fov*.5) * aspect);
- ret = .5 / tan(fov * .5);
- //static bool once = false; if (!once) { once = true; qDebug() << "f" << ret << "fov" << (fov * 180/M_PI); }
-#endif
- return true;
- }
- return false;
-}
-
void Tracker_PT::run()
{
cv::setNumThreads(0);
@@ -93,30 +64,27 @@ void Tracker_PT::run()
{
const double dt = time.elapsed_seconds();
time.start();
+ CamInfo cam_info;
bool new_frame;
{
QMutexLocker l(&camera_mtx);
- new_frame = camera.get_frame(dt, &frame);
- if (frame.rows != frame_.rows || frame.cols != frame_.cols)
- frame_ = cv::Mat(frame.rows, frame.cols, CV_8UC3);
+ new_frame = camera.get_frame(dt, frame, cam_info);
+ if (new_frame)
+ {
+ if (frame.rows != frame_.rows || frame.cols != frame_.cols)
+ frame_ = cv::Mat(frame.rows, frame.cols, CV_8UC3);
+ }
frame.copyTo(frame_);
}
if (new_frame && !frame_.empty())
{
- CamInfo cam_info;
-
- if (!camera.get_info(cam_info))
- continue;
-
point_extractor.extract_points(frame_, points);
point_count = points.size();
f fx;
-
- if (!get_focal_length(fx))
- continue;
+ cam_info.get_focal_length(fx);
const bool success = points.size() >= PointModel::N_POINTS;
@@ -124,11 +92,8 @@ void Tracker_PT::run()
{
point_tracker.track(points,
PointModel(s),
- fx,
- s.dynamic_pose,
- s.init_phase_timeout,
- cam_info.res_x,
- cam_info.res_y);
+ cam_info,
+ s.dynamic_pose ? s.init_phase_timeout : 0);
ever_success = true;
}