pt: drop nan check

Bug cause was different

1 files changed, 1 insertions, 29 deletions

diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 2db5006c..15a60962 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -67,11 +67,6 @@ bool Tracker_PT::get_focal_length(float& ret)
     return false;
 }
 
-static inline bool nanp(double value)
-{
-    return std::isnan(value) || std::isinf(value);
-}
-
 void Tracker_PT::run()
 {
 #ifdef PT_PERF_LOG
@@ -110,8 +105,6 @@ void Tracker_PT::run()
             if (!get_focal_length(fx))
                 continue;
 
-            Affine X_CM_ = pose();
-            
             if (success)
             {
                 point_tracker.track(points, PointModel(s), fx, s.dynamic_pose, s.init_phase_timeout);
@@ -119,28 +112,7 @@ void Tracker_PT::run()
             
             Affine X_CM = pose();
 
-            {
-                int j = 0;
-                
-                for (int i = 0; i < 3; i++)
-                {
-                    if (nanp(X_CM.t(i)))
-                        goto nannan;
-                    for (; j < 3; j++)
-                        if (nanp(X_CM.R(i, j)))
-                        {
-nannan:                     success = false;
-                            X_CM = X_CM_;
-                            {
-                                QMutexLocker lock(&mutex);
-                                point_tracker.reset(X_CM_);
-                            }
-                            goto nannannan;
-                        }
-                }
-            }
-            
-nannannan:  ever_success |= success;
+            ever_success |= success;
 
             {
                 Affine X_MH(cv::Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z)); // just copy pasted these lines from below