From 267010ba42b00cfd1ecc73c86d99c647ff191175 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Wed, 8 Jan 2014 19:40:06 +0100 Subject: use levmarq instead of coplanar POSIT implemented in numerically unstable fashion Signed-off-by: Stanislaw Halik --- FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp') 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& 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(static_cast(s.cam_roll)); point_extractor.threshold_val = s.threshold; point_extractor.threshold_secondary_val = s.threshold_secondary; -- cgit v1.2.3