Just put everything new in. Conflict resolution will be later

1 files changed, 11 insertions, 11 deletions

diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp
index d617de19..c08d6d83 100644
--- a/ftnoir_tracker_pt/point_tracker.cpp
+++ b/ftnoir_tracker_pt/point_tracker.cpp
@@ -14,7 +14,6 @@
 #include <QDebug>

 

 using namespace cv;

-using namespace boost;

 using namespace std;

 

 const float PI = 3.14159265358979323846f;

@@ -68,26 +67,27 @@ PointModel::PointModel(Vec3f M01, Vec3f M02)
 	get_d_order(points, d_order);

 }

 

+static bool d_vals_sort(const pair<float,int> a, const pair<float,int> b)

+{

+    return a.first < b.first;

+}

+

 void PointModel::get_d_order(const std::vector<cv::Vec2f>& points, int d_order[]) const

 {

 	// get sort indices with respect to d scalar product

 	vector< pair<float,int> > d_vals;

-	for (int i = 0; i<points.size(); ++i)

+    for (int i = 0; i<(int)points.size(); ++i)

 		d_vals.push_back(pair<float, int>(d.dot(points[i]), i));

 

-	struct

-	{

-		bool operator()(const pair<float, int>& a, const pair<float, int>& b) { return a.first < b.first; }

-	} comp;

-	sort(d_vals.begin(), d_vals.end(), comp);

+    sort(d_vals.begin(), d_vals.end(), d_vals_sort);

 

-	for (int i = 0; i<points.size(); ++i)

+    for (int i = 0; i<(int)points.size(); ++i)

 		d_order[i] = d_vals[i].second;

 }

 

 

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

-PointTracker::PointTracker() : init_phase(true), dt_valid(0), dt_reset(1), v_t(0,0,0), v_r(0,0,0), dynamic_pose_resolution(true)

+PointTracker::PointTracker() : dynamic_pose_resolution(true), dt_reset(1), init_phase(true), dt_valid(0), v_t(0,0,0), v_r(0,0,0)

 {

 	X_CM.t[2] = 1000;	// default position: 1 m away from cam;

 }

@@ -120,7 +120,7 @@ bool PointTracker::track(const vector<Vec2f>& points, float f, float dt)
 	}

 

 	// if there is a pointtracking problem, reset the velocities

-	if (!point_model || points.size() != PointModel::N_POINTS) 

+    if (!point_model.get() || (int) points.size() != PointModel::N_POINTS)

 	{

 		//qDebug()<<"Wrong number of points!";

 		reset_velocities();

@@ -141,7 +141,7 @@ bool PointTracker::track(const vector<Vec2f>& points, float f, float dt)
 		return false;

 	}

 

-	int n_iter = POSIT(f);

+    (void) POSIT(f);

 	//qDebug()<<"Number of POSIT iterations: "<<n_iter;

 

 	if (!init_phase)