1 files changed, 21 insertions, 20 deletions

diff --git a/tracker-pt/point_tracker.h b/tracker-pt/point_tracker.h
index 5e741c75..7492b4eb 100644
--- a/tracker-pt/point_tracker.h
+++ b/tracker-pt/point_tracker.h
@@ -11,28 +11,25 @@
 #include "cv/affine.hpp"
 #include "cv/numeric.hpp"
 #include "pt-api.hpp"
+#include "point-filter.hpp"
 
-#include <cstddef>
-#include <memory>
 #include <vector>
 #include <array>
 
-#include <opencv2/core.hpp>
-
 #include <QObject>
 
-namespace pt_module {
+namespace pt_impl {
 
 // ----------------------------------------------------------------------------
 // Describes a 3-point model
 // nomenclature as in
 // [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"]
 
-using namespace types;
+using namespace numeric_types;
 
 struct PointModel final
 {
-    static constexpr inline unsigned N_POINTS = 3;
+    static constexpr unsigned N_POINTS = 3;
 
     vec3 M01;      // M01 in model frame
     vec3 M02;      // M02 in model frame
@@ -43,10 +40,10 @@ struct PointModel final
 
     enum Model { Clip, Cap, Custom };
 
-    PointModel(const pt_settings& s);
+    explicit PointModel(const pt_settings& s);
     void set_model(const pt_settings& s);
 
-    void get_d_order(const vec2* points, unsigned* d_order, const vec2& d) const;
+    static void get_d_order(const vec2* points, unsigned* d_order, const vec2& d);
 };
 
 // ----------------------------------------------------------------------------
@@ -60,8 +57,13 @@ public:
     // track the pose using the set of normalized point coordinates (x pos in range -0.5:0.5)
     // f : (focal length)/(sensor width)
     // dt : time since last call
-    void track(const std::vector<vec2>& projected_points, const PointModel& model, const pt_camera_info& info, int init_phase_timeout);
-    Affine pose() { return X_CM; }
+    void track(const std::vector<vec2>& projected_points,
+               const PointModel& model,
+               const pt_camera_info& info,
+               int init_phase_timeout,
+               point_filter& filter,
+               f deadzone_amount);
+    Affine pose() const { return X_CM; }
     vec2 project(const vec3& v_M, f focal_length);
     vec2 project(const vec3& v_M, f focal_length, const Affine& X_CM);
     void reset_state();
@@ -70,19 +72,18 @@ private:
     // the points in model order
     using PointOrder = std::array<vec2, 3>;
 
-    bool maybe_use_old_point_order(const PointOrder& order, const pt_camera_info& info);
-
-    PointOrder find_correspondences(const vec2* projected_points, const PointModel &model);
+    static PointOrder find_correspondences(const vec2* projected_points, const PointModel &model);
     PointOrder find_correspondences_previous(const vec2* points, const PointModel &model, const pt_camera_info& info);
-    int POSIT(const PointModel& point_model, const PointOrder& order, f focal_length);  // The POSIT algorithm, returns the number of iterations
+    // The POSIT algorithm, returns the number of iterations
+    int POSIT(const PointModel& point_model, const PointOrder& order, f focal_length);
 
-    Affine X_CM; // transform from model to camera
-    PointOrder prev_order, prev_scaled_order;
+    Affine X_CM;  // transform from model to camera
+    Affine X_CM_expected;
     Timer t;
-    bool init_phase = true, prev_order_valid = false;
+    bool init_phase = true;
 };
 
 } // ns pt_impl
 
-using pt_module::PointTracker;
-using pt_module::PointModel;
+using PointTracker = pt_impl::PointTracker;
+using PointModel = pt_impl::PointModel;