use levmarq instead of coplanar POSIT implemented in numerically unstable fashion

Signed-off-by: Stanislaw Halik <sthalik@misaki.pl>

1 files changed, 3 insertions, 3 deletions

diff --git a/FTNoIR_Tracker_PT/camera.h b/FTNoIR_Tracker_PT/camera.h
index ea68c387..6768e419 100644
--- a/FTNoIR_Tracker_PT/camera.h
+++ b/FTNoIR_Tracker_PT/camera.h
@@ -25,12 +25,12 @@ void get_camera_device_names(std::vector<std::string>& device_names);
 // ----------------------------------------------------------------------------

 struct CamInfo

 {

-	CamInfo() : res_x(0), res_y(0), fps(0), f(1) {}

+    CamInfo() : res_x(0), res_y(0), fps(0), fov(56) {}

 

 	int res_x;

 	int res_y;

 	int fps;

-	float f;	// (focal length) / (sensor width)

+    float fov;

 };

 

 // ----------------------------------------------------------------------------

@@ -48,7 +48,7 @@ public:
 

         // calls corresponding template methods and reinitializes frame rate calculation

         void set_device_index(int index);

-        void set_f(float f);

+        void set_fov(float f);

         void set_fps(int fps);

         void set_res(int x_res, int y_res);