pt: change pose() prototype

Return a pose, don't copy it to passed param

3 files changed, 3 insertions, 5 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);
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
index 8e4d58ee..14be5c7f 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
@@ -42,7 +42,7 @@ public:
     void start_tracker(QFrame* parent_window) override;
     void data(double* data) override;
 
-    void pose(Affine* X_CM) { QMutexLocker lock(&mutex); *X_CM = point_tracker.pose(); }
+    Affine pose() { QMutexLocker lock(&mutex); return point_tracker.pose(); }
     int  get_n_points() { QMutexLocker lock(&mutex); return point_extractor.get_points().size(); }
     void get_cam_info(CamInfo* info) { QMutexLocker lock(&mutex); *info = camera.get_info(); }
 public slots:
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
index 635e21c5..8c896203 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
@@ -136,8 +136,7 @@ void TrackerDialog::trans_calib_step()
 {
     if (tracker)
     {
-        Affine X_CM;
-        tracker->pose(&X_CM);
+        Affine X_CM = tracker->pose();
         trans_calib.update(X_CM.R, X_CM.t);
     }
 }