diff options
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 30 |
1 files changed, 1 insertions, 29 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index 2db5006c..15a60962 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -67,11 +67,6 @@ bool Tracker_PT::get_focal_length(float& ret) return false; } -static inline bool nanp(double value) -{ - return std::isnan(value) || std::isinf(value); -} - void Tracker_PT::run() { #ifdef PT_PERF_LOG @@ -110,8 +105,6 @@ void Tracker_PT::run() if (!get_focal_length(fx)) continue; - Affine X_CM_ = pose(); - if (success) { point_tracker.track(points, PointModel(s), fx, s.dynamic_pose, s.init_phase_timeout); @@ -119,28 +112,7 @@ void Tracker_PT::run() Affine X_CM = pose(); - { - int j = 0; - - for (int i = 0; i < 3; i++) - { - if (nanp(X_CM.t(i))) - goto nannan; - for (; j < 3; j++) - if (nanp(X_CM.R(i, j))) - { -nannan: success = false; - X_CM = X_CM_; - { - QMutexLocker lock(&mutex); - point_tracker.reset(X_CM_); - } - goto nannannan; - } - } - } - -nannannan: ever_success |= success; + ever_success |= success; { Affine X_MH(cv::Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z)); // just copy pasted these lines from below |