diff options
Diffstat (limited to 'tracker-pt')
| -rw-r--r-- | tracker-pt/point_tracker.cpp | 29 |
1 files changed, 18 insertions, 11 deletions
diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp index 13d1ab79..a68e83eb 100644 --- a/tracker-pt/point_tracker.cpp +++ b/tracker-pt/point_tracker.cpp @@ -50,6 +50,9 @@ void PointModel::set_model(const pt_settings& s) { switch (s.active_model_panel) { + default: + eval_once(qDebug() << "pt: wrong model type selected"); + [[fallthrough]]; case Clip: M01 = vec3(0, s.clip_ty, -s.clip_tz); M02 = vec3(0, -s.clip_by, -s.clip_bz); @@ -76,7 +79,7 @@ void PointModel::get_d_order(const vec2* points, unsigned* d_order, const vec2& d_vals[i] = t(d.dot(points[i]), i); std::sort(d_vals, - d_vals + 3u, + d_vals + 3, [](const t& a, const t& b) { return a.first < b.first; }); for (unsigned i = 0; i < cnt; ++i) @@ -134,6 +137,9 @@ PointTracker::PointOrder PointTracker::find_correspondences_previous(const vec2* bool PointTracker::maybe_use_old_pose(const PointOrder& order, const pt_camera_info& info) { + if ((int)info.res_x == 0 || (int)info.res_y == 0) + return false; + constexpr f std_width = 640, std_height = 480; PointOrder scaled_order; @@ -160,7 +166,7 @@ bool PointTracker::maybe_use_old_pose(const PointOrder& order, const pt_camera_i sum += std::sqrt(tmp.dot(tmp)); } - // CAVEAT don't increase too much, it visibly loses precision + // CAVEAT don't increase too much, visibly loses precision constexpr f max_dist = f(.04 * PointModel::N_POINTS); // whether previous positions fit current data @@ -246,22 +252,24 @@ void PointTracker::track(const std::vector<vec2>& points, PointTracker::PointOrder PointTracker::find_correspondences(const vec2* points, const PointModel& model) { + constexpr unsigned cnt = PointModel::N_POINTS; // We do a simple freetrack-like sorting in the init phase... - unsigned point_d_order[PointModel::N_POINTS]; - unsigned model_d_order[PointModel::N_POINTS]; + unsigned point_d_order[cnt]; + unsigned model_d_order[cnt]; // calculate d and d_order for simple freetrack-like point correspondence vec2 d(model.M01[0]-model.M02[0], model.M01[1]-model.M02[1]); // sort points model.get_d_order(points, point_d_order, d); - vec2 pts[PointModel::N_POINTS] { - vec2(0, 0), - vec2(model.M01[0], model.M01[1]), - vec2(model.M02[0], model.M02[1]) + vec2 pts[cnt] { + { 0, 0 }, + { model.M01[0], model.M01[1] }, + { model.M02[0], model.M02[1] }, }; model.get_d_order(pts, model_d_order, d); + // set correspondences PointOrder p; - for (unsigned i = 0; i < PointModel::N_POINTS; ++i) + for (unsigned i = 0; i < cnt; ++i) p[model_d_order[i]] = points[point_d_order[i]]; return p; @@ -289,8 +297,7 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order, f foca f old_epsilon_1 = 0; f old_epsilon_2 = 0; - f epsilon_1 = 1; - f epsilon_2 = 1; + f epsilon_1, epsilon_2; vec3 I0, J0; vec2 I0_coeff, J0_coeff; |