From c2b5f86e85698068bd92de0e59e4f7b90c04cd60 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 12 Jan 2014 18:50:44 +0100 Subject: remove fisheye correction based on wrong focal length --- ftnoir_tracker_aruco/aruco-trackercontrols.ui | 341 ++++++++++++-------------- ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 7 - ftnoir_tracker_aruco/ftnoir_tracker_aruco.h | 4 +- 3 files changed, 164 insertions(+), 188 deletions(-) diff --git a/ftnoir_tracker_aruco/aruco-trackercontrols.ui b/ftnoir_tracker_aruco/aruco-trackercontrols.ui index 59d3f69c..03975390 100644 --- a/ftnoir_tracker_aruco/aruco-trackercontrols.ui +++ b/ftnoir_tracker_aruco/aruco-trackercontrols.ui @@ -10,7 +10,7 @@ 0 0 615 - 353 + 326 @@ -32,176 +32,7 @@ 7 - - - - - - - - Default - - - - - 30 - - - - - 60 - - - - - 120 - - - - - 180 - - - - - - - - Frames per second - - - - - - - Recommended! - - - - - - - - 0 - 0 - - - - <html><head/><body><p>The ARUCO Library has been developed by the Ava group of the Univeristy of Cordoba, Spain</p><p>Rafael Muñoz Salinas &lt;<a href="mailto:rmsalinas@uco.es"><span style=" text-decoration: underline; color:#0057ae;">rmsalinas@uco.es</span></a>&gt;</p><p>&lt;<a href="https://github.com/rmsalinas/aruco"><span style=" text-decoration: underline; color:#0057ae;">https://github.com/rmsalinas/aruco</span></a>&gt;</p></body></html> - - - Qt::RichText - - - Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop - - - true - - - 4 - - - true - - - Qt::LinksAccessibleByKeyboard|Qt::LinksAccessibleByMouse|Qt::TextBrowserInteraction|Qt::TextSelectableByKeyboard|Qt::TextSelectableByMouse - - - - - - - - - - 35.000000000000000 - - - 180.000000000000000 - - - 52.000000000000000 - - - - - - - Camera name - - - - - - - Red channel only - - - - - - - Horizontal FOV - - - - - - - - 640x480 - - - - - 320x240 - - - - - 320x200 - - - - - Default (not recommended!) - - - - - - - - QDialogButtonBox::Cancel|QDialogButtonBox::Ok - - - - - - - Resolution - - - - - - - -180.000000000000000 - - - 180.000000000000000 - - - - - - - Marker pitch - - - - + Head position @@ -348,17 +179,172 @@ - - + + + + Frames per second + + + + + + + + + + + Default + + + + + 30 + + + + + 60 + + + + + 120 + + + + + 180 + + + + + + - Check if yaw/X interconnect + Recommended! - - + + - Fisheye correction + Camera name + + + + + + + + + + 35.000000000000000 + + + 180.000000000000000 + + + 52.000000000000000 + + + + + + + + 0 + 0 + + + + <html><head/><body><p>The ARUCO Library has been developed by the Ava group of the Univeristy of Cordoba, Spain</p><p>Rafael Muñoz Salinas &lt;<a href="mailto:rmsalinas@uco.es"><span style=" text-decoration: underline; color:#0057ae;">rmsalinas@uco.es</span></a>&gt;</p><p>&lt;<a href="https://github.com/rmsalinas/aruco"><span style=" text-decoration: underline; color:#0057ae;">https://github.com/rmsalinas/aruco</span></a>&gt;</p></body></html> + + + Qt::RichText + + + Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop + + + true + + + 4 + + + true + + + Qt::LinksAccessibleByKeyboard|Qt::LinksAccessibleByMouse|Qt::TextBrowserInteraction|Qt::TextSelectableByKeyboard|Qt::TextSelectableByMouse + + + + + + + Red channel only + + + + + + + + 640x480 + + + + + 320x240 + + + + + 320x200 + + + + + Default (not recommended!) + + + + + + + + Horizontal FOV + + + + + + + QDialogButtonBox::Cancel|QDialogButtonBox::Ok + + + + + + + -180.000000000000000 + + + 180.000000000000000 + + + + + + + Resolution + + + + + + + Marker pitch @@ -371,7 +357,6 @@ resolution red_only marker_pitch - fisheye_correction cx cy cz diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index 77f794b9..9d484775 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -353,12 +353,6 @@ void Tracker::run() pose[Yaw] = euler[1]; pose[Pitch] = -euler[0]; pose[Roll] = euler[2]; - - if (s.fisheye_correction) - { - pose[Yaw] -= atan(pose[TX] / pose[TZ]) * 180 / HT_PI; - pose[Pitch] -= atan(pose[TY] / pose[TZ]) * 180 / HT_PI; - } } std::vector repr2; @@ -482,7 +476,6 @@ TrackerControls::TrackerControls() tie_setting(s.headpos_z, ui.cz); tie_setting(s.red_only, ui.red_only); tie_setting(s.marker_pitch, ui.marker_pitch); - tie_setting(s.fisheye_correction, ui.fisheye_correction); connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK())); connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel())); ui.cameraName->addItems(get_camera_names()); diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h index e32e304a..4cab84b5 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h @@ -28,7 +28,6 @@ struct settings { value red_only; value eyaw, epitch, eroll, ex, ey, ez; value marker_pitch; - value fisheye_correction; settings() : b(bundle("aruco-tracker")), fov(b, "field-of-view", 56), @@ -45,8 +44,7 @@ struct settings { ex(b, "enable-x", true), ey(b, "enable-y", true), ez(b, "enable-z", true), - marker_pitch(b, "marker-pitch", 0), - fisheye_correction(b, "fisheye-correction", false) + marker_pitch(b, "marker-pitch", 0) {} }; -- cgit v1.2.3