1 files changed, 9 insertions, 8 deletions
diff --git a/tracker-pt/point_tracker.h b/tracker-pt/point_tracker.h
index 70c7a9fc..7492b4eb 100644
--- a/tracker-pt/point_tracker.h
+++ b/tracker-pt/point_tracker.h
@@ -11,14 +11,11 @@
 #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_impl {
@@ -46,7 +43,7 @@ struct PointModel final
     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);
 };
 
 // ----------------------------------------------------------------------------
@@ -60,7 +57,12 @@ 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);
+    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);
@@ -70,14 +72,13 @@ private:
     // the points in model order
     using PointOrder = std::array<vec2, 3>;
 
-    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);
     // 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
     Affine X_CM_expected;
-    PointOrder prev_positions;
     Timer t;
     bool init_phase = true;
 };