buffer flush

1 files changed, 9 insertions, 9 deletions

diff --git a/FTNoIR_Tracker_PT/point_tracker.h b/FTNoIR_Tracker_PT/point_tracker.h
index e05e8f98..823d75c0 100644
--- a/FTNoIR_Tracker_PT/point_tracker.h
+++ b/FTNoIR_Tracker_PT/point_tracker.h
@@ -21,11 +21,11 @@
 class FrameTrafo

 {

 public:

-	FrameTrafo() : R(cv::Matx33f::eye()), t(0,0,0) {}

-	FrameTrafo(const cv::Matx33f& R, const cv::Vec3f& t) : R(R),t(t) {}

+    FrameTrafo() : R(cv::Matx33d::eye()), t(0,0,0) {}

+    FrameTrafo(const cv::Matx33d& R, const cv::Vec3d& t) : R(R),t(t) {}

 

-	cv::Matx33f R;

-	cv::Vec3f t;

+    cv::Matx33d R;

+    cv::Vec3d t;

 };

 

 inline FrameTrafo operator*(const FrameTrafo& X, const FrameTrafo& Y)

@@ -33,17 +33,17 @@ inline FrameTrafo operator*(const FrameTrafo& X, const FrameTrafo& Y)
 	return FrameTrafo(X.R*Y.R, X.R*Y.t + X.t);

 }

 

-inline FrameTrafo operator*(const cv::Matx33f& X, const FrameTrafo& Y)

+inline FrameTrafo operator*(const cv::Matx33d& X, const FrameTrafo& Y)

 {

 	return FrameTrafo(X*Y.R, X*Y.t);

 }

 

-inline FrameTrafo operator*(const FrameTrafo& X, const cv::Matx33f& Y)

+inline FrameTrafo operator*(const FrameTrafo& X, const cv::Matx33d& Y)

 {

 	return FrameTrafo(X.R*Y, X.t);

 }

 

-inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3f& v)

+inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3d& v)

 {

 	return X.R*v + X.t;

 }

@@ -90,7 +90,7 @@ 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

-    bool track(const std::vector<cv::Vec2f>& points, float fov, float dt, int w, int h, const cv::Vec3f &headpos);

+    bool track(const std::vector<cv::Vec2f>& points, float fov, float dt, int w, int h);

 	boost::shared_ptr<PointModel> point_model;

 

 	bool dynamic_pose_resolution;

@@ -136,7 +136,7 @@ protected:
 	void reset_velocities();

 

 	

-    void POSIT(float fov, int w, int h, const cv::Vec3f &headpos);  // The POSIT algorithm, returns the number of iterations

+    void POSIT(float fov, int w, int h);  // The POSIT algorithm, returns the number of iterations

 

 	bool init_phase;

 	float dt_valid;	// time since last valid tracking result