remove hack of passing fov/w/h as member vars

1 files changed, 2 insertions, 6 deletions

diff --git a/FTNoIR_Tracker_PT/point_tracker.h b/FTNoIR_Tracker_PT/point_tracker.h
index ac43489e..741d5af4 100644
--- a/FTNoIR_Tracker_PT/point_tracker.h
+++ b/FTNoIR_Tracker_PT/point_tracker.h
@@ -98,16 +98,12 @@ public:
 

 	FrameTrafo get_pose() const { return X_CM; }

 	void reset();

-    float fov;

-    int _w, _h;

-

 protected:

-    cv::Vec2f project(const cv::Vec3f& v_M)

+    cv::Vec2f project(const cv::Vec3f& v_M, float fov, int w, int h)

 	{

         if (!rvec.empty() && !tvec.empty() && fov > 0)

         {

             const float HT_PI = 3.1415926535;

-            const int w = _w, h = _h;

             const float focal_length_w = 0.5 * w / tan(fov * HT_PI / 180);

             const float focal_length_h = 0.5 * h / tan(fov * h / w * HT_PI / 180.0);

 

@@ -126,7 +122,7 @@ protected:
         return cv::Vec2f();

 	}

 

-    bool find_correspondences(const std::vector<cv::Vec2f>& points);

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

 

 	cv::Vec2f p[PointModel::N_POINTS];	// the points in model order

 	cv::Vec2f p_exp[PointModel::N_POINTS];	// the expected point positions