diff options
Diffstat (limited to 'tracker-pt')
| -rw-r--r-- | tracker-pt/camera.cpp | 5 | ||||
| -rw-r--r-- | tracker-pt/camera.h | 2 | ||||
| -rw-r--r-- | tracker-pt/ftnoir_tracker_pt.cpp | 3 | ||||
| -rw-r--r-- | tracker-pt/point_extractor.cpp | 2 | ||||
| -rw-r--r-- | tracker-pt/point_tracker.cpp | 5 |
5 files changed, 8 insertions, 9 deletions
diff --git a/tracker-pt/camera.cpp b/tracker-pt/camera.cpp index 5e00499c..263d6617 100644 --- a/tracker-pt/camera.cpp +++ b/tracker-pt/camera.cpp @@ -22,7 +22,7 @@ QString Camera::get_active_name() const return active_name; } -void CamInfo::get_focal_length(double& fx) const +double CamInfo::get_focal_length() const { const double diag_len = sqrt(double(res_x*res_x + res_y*res_y)); const double aspect_x = res_x / diag_len; @@ -30,7 +30,8 @@ void CamInfo::get_focal_length(double& fx) const const double diag_fov = fov * M_PI/180; const double fov_x = 2*atan(tan(diag_fov*.5) * aspect_x); //const double fov_y = 2*atan(tan(diag_fov*.5) * aspect_y); - fx = .5 / tan(fov_x * .5); + const double fx = .5 / tan(fov_x * .5); + return fx; //fy = .5 / tan(fov_y * .5); //static bool once = false; if (!once) { once = true; qDebug() << "f" << ret << "fov" << (fov * 180/M_PI); } } diff --git a/tracker-pt/camera.h b/tracker-pt/camera.h index 449a2d3f..388b9234 100644 --- a/tracker-pt/camera.h +++ b/tracker-pt/camera.h @@ -25,7 +25,7 @@ struct CamInfo final { CamInfo() : fov(0), fps(0), res_x(0), res_y(0), idx(-1) {} - void get_focal_length(double& fx) const; + double get_focal_length() const; double fov; double fps; diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp index befb2d84..7b573060 100644 --- a/tracker-pt/ftnoir_tracker_pt.cpp +++ b/tracker-pt/ftnoir_tracker_pt.cpp @@ -80,8 +80,7 @@ void Tracker_PT::run() point_extractor.extract_points(frame, preview_frame, points); point_count = points.size(); - double fx; - cam_info.get_focal_length(fx); + const double fx = cam_info.get_focal_length(); const bool success = points.size() >= PointModel::N_POINTS; diff --git a/tracker-pt/point_extractor.cpp b/tracker-pt/point_extractor.cpp index d17bd6cd..e68aa132 100644 --- a/tracker-pt/point_extractor.cpp +++ b/tracker-pt/point_extractor.cpp @@ -382,7 +382,7 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame } end: - std::sort(blobs.begin(), blobs.end(), [](const blob& b1, const blob& b2) -> bool { return b2.brightness < b1.brightness; }); + std::sort(blobs.begin(), blobs.end(), [](const blob& b1, const blob& b2) { return b2.brightness < b1.brightness; }); const int W = frame.cols; const int H = frame.rows; diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp index ae873ef6..b87c38d1 100644 --- a/tracker-pt/point_tracker.cpp +++ b/tracker-pt/point_tracker.cpp @@ -92,7 +92,7 @@ PointTracker::PointOrder PointTracker::find_correspondences_previous(const vec2* const PointModel& model, const CamInfo& info) { - double fx; info.get_focal_length(fx); + const double fx = info.get_focal_length(); PointTracker::PointOrder p; p[0] = project(vec3(0,0,0), fx); p[1] = project(model.M01, fx); @@ -205,8 +205,7 @@ void PointTracker::track(const std::vector<vec2>& points, const CamInfo& info, int init_phase_timeout) { - double fx; - info.get_focal_length(fx); + const double fx = info.get_focal_length(); PointOrder order; if (init_phase_timeout > 0 && t.elapsed_ms() > init_phase_timeout) |