use levmarq instead of coplanar POSIT implemented in numerically unstable fashion

Signed-off-by: Stanislaw Halik <sthalik@misaki.pl>

1 files changed, 2 insertions, 2 deletions

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
index 6bcad861..a3e8919b 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
@@ -84,7 +84,7 @@ void Tracker::run()
         {

             frame = frame_rotation.rotate_frame(frame);

             const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, false);

-            tracking_valid = point_tracker.track(points, camera.get_info().f, dt);

+            tracking_valid = point_tracker.track(points, camera.get_info().fov, dt, frame.cols, frame.rows, t_MH);

             video_widget->update_image(frame);

         }

 #ifdef PT_PERF_LOG

@@ -104,7 +104,7 @@ void Tracker::apply(settings& s)
     camera.set_device_index(s.cam_index);

     camera.set_res(s.cam_res_x, s.cam_res_y);

     camera.set_fps(s.cam_fps);

-    camera.set_f(s.cam_f);

+    camera.set_fov(s.cam_fov);

     frame_rotation.rotation = static_cast<RotationType>(static_cast<int>(s.cam_roll));

     point_extractor.threshold_val = s.threshold;

     point_extractor.threshold_secondary_val = s.threshold_secondary;