Merge branch 'feature/gui2' of gitlab.utu.fi:nicolas.pope/ftl into feature/gui2

applications/gui2/src/modules/calibration/extrinsic.cpp

@@ -348,25 +348,28 @@ std::vector<T> flatten(const std::vector<typename std::vector<T>> &in) {
 }
 
 void ExtrinsicCalibration::run() {
-	while(!running_.exchange(true)) { setCapture(false); } running_ = false;
+	if (running_.exchange(true)) { return; }
 
+	future_ = ftl::pool.push([this](int id) {
 		auto path = points_.visibility().shortestPath(0);
 		auto points = points_.getPoints({0, 1}, 0);
 
-	cv::Mat R, t, E, F;
+		cv::Mat R, t;
 		auto K1 = cameras_[0].calib.intrinsic.matrix();
 		auto K2 = cameras_[1].calib.intrinsic.matrix();
 		auto dist1 = cameras_[0].calib.intrinsic.distCoeffs.Mat();
 		auto dist2 = cameras_[1].calib.intrinsic.distCoeffs.Mat();
 		auto size = cameras_[0].calib.intrinsic.resolution;
 		auto object = calib_object_->object();
+		auto points3d = std::vector<cv::Point3d>();
+
 		try {
 			/*float rms = cv::stereoCalibrate(s_object, s_points1, s_points2,
 				K1, dist1, K2, dist2, size, R, t, E, F, cv::CALIB_FIX_INTRINSIC,
 				cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 15, 1.0e-6));
 			*/
-		/*float rms = ftl::calibration::calibratePair
-			(K1, dist1, K2, dist2, points[0], points[1], object, R, t, points3d);*/
+			float rms = ftl::calibration::calibratePair
+				(K1, dist1, K2, dist2, points[0], points[1], object, R, t, points3d);
 			LOG(INFO) << R;
 			LOG(INFO) << t;
 			//LOG(INFO) << "error (RMS): " << rms;
@@ -376,7 +379,9 @@ void ExtrinsicCalibration::run() {
 		catch (std::exception &ex) {
 			LOG(ERROR) << ex.what();
 		}
-	return;
+
+		running_ = false;
+	});
 }
 
 ftl::calibration::CalibrationData::Calibration ExtrinsicCalibration::getCalibration(CameraID id) {