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author | Stanislaw Halik <sthalik@misaki.pl> | 2015-10-18 09:32:46 +0200 |
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committer | Stanislaw Halik <sthalik@misaki.pl> | 2015-10-18 09:32:46 +0200 |
commit | c89a1d04630cf7e334fa36b01c9240f0bc0b82c6 (patch) | |
tree | 062baf4ef7756ea3fd862908d0b0a3b1fed5ddf7 /ftnoir_tracker_pt/point_tracker.h | |
parent | de79ef90a6a16854709ecf7bfe8b713c4b5d382a (diff) |
pt: use previous pose on NaN result from POSIT
This will reset dynamic pose resolution if the error persists.
Diffstat (limited to 'ftnoir_tracker_pt/point_tracker.h')
-rw-r--r-- | ftnoir_tracker_pt/point_tracker.h | 4 |
1 files changed, 4 insertions, 0 deletions
diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h index cdcf2998..fd002948 100644 --- a/ftnoir_tracker_pt/point_tracker.h +++ b/ftnoir_tracker_pt/point_tracker.h @@ -118,6 +118,10 @@ public: void track(const std::vector<cv::Vec2f>& projected_points, const PointModel& model, float f, bool dynamic_pose, int init_phase_timeout); Affine pose() const { return X_CM; } cv::Vec2f project(const cv::Vec3f& v_M, float f); + void reset(const Affine& pose) + { + X_CM = pose; + } private: // the points in model order struct PointOrder |