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| author | Stanislaw Halik <sthalik@misaki.pl> | 2015-01-05 21:50:42 +0100 |
|---|---|---|
| committer | Stanislaw Halik <sthalik@misaki.pl> | 2015-01-05 21:50:42 +0100 |
| commit | 33bc85bbcdcc08da6c722614ad2f1493771351dc (patch) | |
| tree | 0961d313c6c6b7cd8ead82863edb2c2a7d5812c6 /ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | |
| parent | d72be0dbb5b0278e40476dd4fa967eaa22f48ca3 (diff) | |
pt: change pose() prototype
Return a pose, don't copy it to passed param
Diffstat (limited to 'ftnoir_tracker_pt/ftnoir_tracker_pt.cpp')
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 3 |
1 files changed, 1 insertions, 2 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index f6017ee0..26550bad 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -80,9 +80,8 @@ void Tracker::run() point_tracker.track(points, PointModel(s), get_focal_length()); { - Affine CM; - pose(&CM); cv::Vec3f MH(s.t_MH_x, s.t_MH_y, s.t_MH_z); + Affine CM = pose(); cv::Vec3f p = CM.t - MH; float fx = get_focal_length(); cv::Vec2f p_(p[0] / p[2] * fx, p[1] / p[2] * fx); |