From fc2238f7b09ff20c130314acbd93ecfa745faa8e Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Mon, 14 May 2018 17:23:20 +0200 Subject: tracker/aruco: remove some obsolete stuff --- tracker-aruco/ftnoir_tracker_aruco.cpp | 34 +++++++--------------------------- 1 file changed, 7 insertions(+), 27 deletions(-) (limited to 'tracker-aruco/ftnoir_tracker_aruco.cpp') diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp index faa8bb44..5ce52565 100644 --- a/tracker-aruco/ftnoir_tracker_aruco.cpp +++ b/tracker-aruco/ftnoir_tracker_aruco.cpp @@ -227,19 +227,6 @@ void aruco_tracker::clamp_last_roi() last_roi &= cv::Rect(0, 0, color.cols, color.rows); } -cv::Point3f aruco_tracker::rotate_model(float x, float y, settings::rot mode) -{ - cv::Point3f pt(x, y, 0); - - if (mode) - { - const double theta = int(mode) * 90/4. * M_PI/180; - pt.x = x * cos(theta) - y * sin(theta); - pt.y = y * cos(theta) + x * sin(theta); - } - return pt; -} - void aruco_tracker::set_points() { using f = float; @@ -249,12 +236,10 @@ void aruco_tracker::set_points() const int x1=1, x2=2, x3=3, x4=0; - settings::rot mode = s.model_rotation; - - obj_points[x1] = rotate_model(-size, -size, mode); - obj_points[x2] = rotate_model(size, -size, mode); - obj_points[x3] = rotate_model(size, size, mode); - obj_points[x4] = rotate_model(-size, size, mode); + obj_points[x1] = { -size, -size, 0 }; + obj_points[x2] = { size, -size, 0 }; + obj_points[x3] = { size, size, 0 }; + obj_points[x4] = { -size, size, 0 }; for (unsigned i = 0; i < 4; i++) obj_points[i] += cv::Point3f(hx, hy, hz); @@ -341,9 +326,9 @@ void aruco_tracker::set_detector_params() detector.setThresholdParams(adaptive_sizes[adaptive_size_pos], adaptive_thres); #else - detector._thresMethod = aruco::MarkerDetector::CANNY; - int value = adaptive_sizes[adaptive_size_pos]; - detector.setThresholdParams(value, value * 3); + detector._thresMethod = aruco::MarkerDetector::CANNY; + int value = adaptive_sizes[adaptive_size_pos]; + detector.setThresholdParams(value, value * 3); #endif } @@ -480,11 +465,6 @@ aruco_dialog::aruco_dialog() : tie_setting(s.headpos_y, ui.cy); tie_setting(s.headpos_z, ui.cz); - ui.model_rotation->addItem("0", int(settings::rot_zero)); - ui.model_rotation->addItem("+22.5", int(settings::rot_plus)); - ui.model_rotation->addItem("-22.5", int(settings::rot_neg)); - tie_setting(s.model_rotation, ui.model_rotation); - connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK())); connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel())); connect(ui.btn_calibrate, SIGNAL(clicked()), this, SLOT(toggleCalibrate())); -- cgit v1.2.3