From 1ccc6bb7888865b38fcd6234040345a0be66ec1d Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Sun, 21 Jan 2018 09:37:13 +0100
Subject: tracker/pt-base: add static pt_camera_info::get_focal_length

For the Wiimote tracker.

Adjust usages in tracker/pt.

Issue: #718
---
 tracker-pt/ftnoir_tracker_pt.cpp |  8 ++++----
 tracker-pt/point_tracker.cpp     |  4 ++--
 tracker-pt/pt-api.cpp            |  2 +-
 tracker-pt/pt-api.hpp            | 20 +++++++++++---------
 4 files changed, 18 insertions(+), 16 deletions(-)

diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index 05959066..af086e5c 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -59,14 +59,14 @@ void Tracker_PT::run()
 
     while(!isInterruptionRequested())
     {
-        pt_camera_info cam_info;
+        pt_camera_info info;
         bool new_frame = false;
 
         {
             QMutexLocker l(&camera_mtx);
 
             if (camera)
-                std::tie(new_frame, cam_info) = camera->get_frame(*frame);
+                std::tie(new_frame, info) = camera->get_frame(*frame);
         }
 
         if (new_frame)
@@ -76,7 +76,7 @@ void Tracker_PT::run()
             point_extractor->extract_points(*frame, *preview_frame, points);
             point_count = points.size();
 
-            const double fx = cam_info.get_focal_length();
+            const double fx = pt_camera_info::get_focal_length(info.fov, info.res_x, info.res_y);
 
             const bool success = points.size() >= PointModel::N_POINTS;
 
@@ -84,7 +84,7 @@ void Tracker_PT::run()
             {
                 point_tracker.track(points,
                                     PointModel(s),
-                                    cam_info,
+                                    info,
                                     s.dynamic_pose ? s.init_phase_timeout : 0);
                 ever_success = true;
             }
diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp
index 57641d1a..56a029fe 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 pt_camera_info& info)
 {
-    const double fx = info.get_focal_length();
+    const double fx = pt_camera_info::get_focal_length(info.fov, info.res_x, info.res_y);
     PointTracker::PointOrder p;
     p[0] = project(vec3(0,0,0), fx);
     p[1] = project(model.M01, fx);
@@ -205,7 +205,7 @@ void PointTracker::track(const std::vector<vec2>& points,
                          const pt_camera_info& info,
                          int init_phase_timeout)
 {
-    const double fx = info.get_focal_length();
+    const double fx = pt_camera_info::get_focal_length(info.fov, info.res_x, info.res_y);
     PointOrder order;
 
     if (init_phase_timeout > 0 && t.elapsed_ms() > init_phase_timeout)
diff --git a/tracker-pt/pt-api.cpp b/tracker-pt/pt-api.cpp
index d86ef0c6..298f405a 100644
--- a/tracker-pt/pt-api.cpp
+++ b/tracker-pt/pt-api.cpp
@@ -7,7 +7,7 @@ pt_camera_info::pt_camera_info()
 {
 }
 
-double pt_camera_info::get_focal_length() const
+double pt_camera_info::get_focal_length(f fov, int res_x, int res_y)
 {
     const double diag_len = std::sqrt(double(res_x*res_x + res_y*res_y));
     const double aspect_x = res_x / diag_len;
diff --git a/tracker-pt/pt-api.hpp b/tracker-pt/pt-api.hpp
index f2a200d6..1b50bc15 100644
--- a/tracker-pt/pt-api.hpp
+++ b/tracker-pt/pt-api.hpp
@@ -17,8 +17,10 @@
 
 struct OTR_PT_EXPORT pt_camera_info final
 {
+    using f = typename types::f;
+
     pt_camera_info();
-    virtual double get_focal_length() const;
+    static double get_focal_length(f fov, int res_x, int res_y);
 
     double fov = 0;
     double fps = 0;
@@ -30,7 +32,13 @@ struct OTR_PT_EXPORT pt_camera_info final
 
 enum pt_camera_open_status : unsigned { cam_open_error, cam_open_ok_no_change, cam_open_ok_change };
 
-struct OTR_PT_EXPORT pt_frame
+struct OTR_PT_EXPORT pt_pixel_pos_mixin
+{
+    static std::tuple<double, double> to_pixel_pos(double x, double y, int w, int h);
+    static std::tuple<double, double> to_screen_pos(double px, double py, int w, int h);
+};
+
+struct OTR_PT_EXPORT pt_frame : pt_pixel_pos_mixin
 {
     pt_frame();
     virtual ~pt_frame();
@@ -51,13 +59,7 @@ struct OTR_PT_EXPORT pt_frame
     }
 };
 
-struct OTR_PT_EXPORT pt_pixel_pos_mixin
-{
-    static std::tuple<double, double> to_pixel_pos(double x, double y, int w, int h);
-    static std::tuple<double, double> to_screen_pos(double px, double py, int w, int h);
-};
-
-struct OTR_PT_EXPORT pt_preview : pt_frame, pt_pixel_pos_mixin
+struct OTR_PT_EXPORT pt_preview : pt_frame
 {
     virtual pt_preview& operator=(const pt_frame&) = 0;
     virtual QImage get_bitmap() = 0;
-- 
cgit v1.2.3