diff options
| -rw-r--r-- | tracker-pt/point_tracker.cpp | 7 |
1 files changed, 5 insertions, 2 deletions
diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp index adea578f..35a78777 100644 --- a/tracker-pt/point_tracker.cpp +++ b/tracker-pt/point_tracker.cpp @@ -128,6 +128,7 @@ PointTracker::PointOrder PointTracker::find_correspondences_previous(const std:: point_taken[min_idx] = true; p.points[i] = points[min_idx]; } + return p; } @@ -144,10 +145,12 @@ void PointTracker::track(const std::vector<vec2>& points, const PointModel& mode if (!dynamic_pose || init_phase) order = find_correspondences(points, model); else + { order = find_correspondences_previous(points, model, focal_length); + } - const int iters = POSIT(model, order, focal_length); - init_phase = iters != -1; + POSIT(model, order, focal_length); + init_phase = false; t.start(); } |