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authorStanislaw Halik <sthalik@misaki.pl>2015-07-20 14:29:02 +0200
committerStanislaw Halik <sthalik@misaki.pl>2015-07-20 14:29:02 +0200
commit56dd856405ebf26f8243880035fed2dd688b14a6 (patch)
tree9098f67afb93e7d95f7043a2c909d2f39a1e9c10 /ftnoir_tracker_pt/point_tracker.cpp
parent0c1b4510b3f7a744cc4cad94e0d4dde45925269d (diff)
for now remove calibration support
PT tracker returns garbage when calibrating, Z is zero. Maybe can be reverted and fixed later.
Diffstat (limited to 'ftnoir_tracker_pt/point_tracker.cpp')
-rw-r--r--ftnoir_tracker_pt/point_tracker.cpp9
1 files changed, 2 insertions, 7 deletions
diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp
index f141fe36..b4283d37 100644
--- a/ftnoir_tracker_pt/point_tracker.cpp
+++ b/ftnoir_tracker_pt/point_tracker.cpp
@@ -259,14 +259,9 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, float
X_CM.t[1] = order[0][1] * Z0/focal_length;
X_CM.t[2] = Z0;
- return i;
+ //qDebug() << "iter:" << i;
- //Rodrigues(X_CM.R, r);
- //qDebug()<<"iter: "<<i;
- //qDebug()<<"t: "<<X_CM.t[0]<<' '<<X_CM.t[1]<<' '<<X_CM.t[2];
- //Vec3f r;
- //
- //qDebug()<<"r: "<<r[0]<<' '<<r[1]<<' '<<r[2]<<'\n';
+ return i;
}
cv::Vec2f PointTracker::project(const cv::Vec3f& v_M, float f)