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authorStanislaw Halik <sthalik@misaki.pl>2016-07-31 11:46:16 +0200
committerStanislaw Halik <sthalik@misaki.pl>2016-07-31 11:46:16 +0200
commitcfb2495a4ba7b7dda8b73d9897c9cf5c75abbd83 (patch)
tree738fc550780bdb405fa9048b0f09995e20418f02 /tracker-pt/ftnoir_tracker_pt.cpp
parent3e12d7ff6cea9e90ace691bc2470f2182299f1e2 (diff)
tracker/pt: use max distance for dynamic pose
Diffstat (limited to 'tracker-pt/ftnoir_tracker_pt.cpp')
-rw-r--r--tracker-pt/ftnoir_tracker_pt.cpp13
1 files changed, 12 insertions, 1 deletions
diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index 374120f4..49159ac8 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -103,6 +103,11 @@ void Tracker_PT::run()
if (new_frame && !frame_.empty())
{
+ CamInfo cam_info;
+
+ if (!camera.get_info(cam_info))
+ continue;
+
point_extractor.extract_points(frame_, points);
point_count = points.size();
@@ -115,7 +120,13 @@ void Tracker_PT::run()
if (success)
{
- point_tracker.track(points, PointModel(s), fx, s.dynamic_pose, s.init_phase_timeout);
+ point_tracker.track(points,
+ PointModel(s),
+ fx,
+ s.dynamic_pose,
+ s.init_phase_timeout,
+ cam_info.res_x,
+ cam_info.res_y);
ever_success = true;
}