diff options
Diffstat (limited to 'tracker-pt/point_tracker.cpp')
| -rw-r--r-- | tracker-pt/point_tracker.cpp | 9 |
1 files changed, 3 insertions, 6 deletions
diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp index 4c7ca4be..24edca45 100644 --- a/tracker-pt/point_tracker.cpp +++ b/tracker-pt/point_tracker.cpp @@ -207,9 +207,6 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, f foc // In every iteration step the rotation closer to R_expected is taken mat33 R_expected = mat33::eye(); - static constexpr f pi = constants::pi; - static constexpr f eps = constants::eps; - // initial pose = last (predicted) pose vec3 k; get_row(R_expected, 2, k); @@ -263,14 +260,14 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, f foc // CAVEAT don't change to comparison with an epsilon -sh 20160423 if (JJ0 == II0) { rho = sqrt(fabs(2*IJ0)); - theta = -pi/4; + theta = -M_PI/4; if (IJ0<0) theta *= -1; } else { rho = sqrt(sqrt( (JJ0-II0)*(JJ0-II0) + 4*IJ0*IJ0 )); theta = atan( -2*IJ0 / (JJ0-II0) ); // avoid branch misprediction - theta += (JJ0 - II0 < 0) * pi; + theta += (JJ0 - II0 < 0) * M_PI; theta *= f(.5); } @@ -313,7 +310,7 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, f foc // check for convergence condition const f delta = fabs(epsilon_1 - old_epsilon_1) + fabs(epsilon_2 - old_epsilon_2); - if (!(delta > eps)) + if (!(delta > constants::eps)) break; old_epsilon_1 = epsilon_1; |