From b253d56527365a729c0249918f6c9477893a717e Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Sun, 22 Oct 2017 07:58:42 +0200
Subject: tracker/pt: return focal length directly

---
 tracker-pt/camera.cpp            | 5 +++--
 tracker-pt/camera.h              | 2 +-
 tracker-pt/ftnoir_tracker_pt.cpp | 3 +--
 tracker-pt/point_extractor.cpp   | 2 +-
 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)
-- 
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