1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
|
#include "pt-api.hpp"
#include "cv/numeric.hpp"
using namespace numeric_types;
pt_camera_info::pt_camera_info() = default;
f pt_camera_info::get_focal_length(f fov, int res_x, int res_y)
{
const f diag_len = std::sqrt(f(res_x*res_x + res_y*res_y));
const f aspect_x = res_x / diag_len;
//const double aspect_y = res_y / diag_len;
const f diag_fov = fov * pi/180;
const f fov_x = 2*std::atan(std::tan(diag_fov*f{.5}) * aspect_x);
//const double fov_y = 2*atan(tan(diag_fov*.5) * aspect_y);
const f fx = f{.5} / std::tan(fov_x * f{.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); }
}
pt_camera::pt_camera() = default;
pt_camera::~pt_camera() = default;
pt_runtime_traits::pt_runtime_traits() = default;
pt_runtime_traits::~pt_runtime_traits() = default;
pt_point_extractor::pt_point_extractor() = default;
pt_point_extractor::~pt_point_extractor() = default;
f pt_point_extractor::threshold_radius_value(int w, int h, int threshold)
{
f cx = w / f{640}, cy = h / f{480};
const f min_radius = f{1.75} * cx;
const f max_radius = f{15} * cy;
const f radius = std::fmax(f{0}, (max_radius-min_radius) * threshold / f(255) + min_radius);
return radius;
}
std::tuple<f, f> pt_pixel_pos_mixin::to_pixel_pos(f x, f y, int w, int h)
{
return std::make_tuple(w*(x+f{.5}), f{.5}*(h - 2*y*w));
}
std::tuple<f, f> pt_pixel_pos_mixin::to_screen_pos(f px, f py, int w, int h)
{
px *= w/(w-f{1}); py *= h/(h-f{1});
return std::make_tuple((px - w/f{2})/w, -(py - h/f{2})/w);
}
pt_frame::pt_frame() = default;
pt_frame::~pt_frame() = default;
|
