diff options
| -rw-r--r-- | ftnoir_tracker_pt/point_tracker.cpp | 14 | ||||
| -rw-r--r-- | ftnoir_tracker_pt/point_tracker.h | 1 |
2 files changed, 7 insertions, 8 deletions
diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp index 640d4528..3b1a49e2 100644 --- a/ftnoir_tracker_pt/point_tracker.cpp +++ b/ftnoir_tracker_pt/point_tracker.cpp @@ -6,7 +6,6 @@ */ #include "point_tracker.h" -#include <opencv2/imgproc/imgproc.hpp> #include <vector> #include <algorithm> @@ -52,10 +51,6 @@ PointModel::PointModel(Vec3f M01, Vec3f M02) float s12 = M01.dot(M02); float s22 = M02.dot(M02); P = 1.0/(s11*s22-s12*s12) * Matx22f(s22, -s12, -s12, s11); - - cv::Vec6f line; - cv::fitLine(std::vector<cv::Point3f>{M01, M02}, line, CV_DIST_L1, 0, 1e-2, 1e-4); - d = cv::Vec3f(line[0], line[1], line[3]); } #ifdef OPENTRACK_API @@ -106,9 +101,14 @@ PointTracker::PointOrder PointTracker::find_correspondences(const std::vector<cv // sort points int point_d_order[PointModel::N_POINTS]; int model_d_order[PointModel::N_POINTS]; - model.get_d_order(points, point_d_order, cv::Vec2f(points[0][0]-points[1][0], points[0][1]-points[1][1])); + model.get_d_order(points, point_d_order, + cv::Vec2f(points[0][0]-points[1][0], points[0][1]-points[1][1])); // calculate d and d_order for simple freetrack-like point correspondence - model.get_d_order(std::vector<cv::Vec3f>{ Vec3f{0,0,0}, model.M01, model.M02 }, model_d_order, model.d); + model.get_d_order(std::vector<cv::Vec3f>{ Vec3f{0,0,0}, model.M01, model.M02 }, + model_d_order, + cv::Vec3f(model.M01[0]-model.M02[0], + model.M01[1]-model.M02[1], + model.M01[2]-model.M02[2])); // set correspondences PointOrder p; for (int i=0; i<PointModel::N_POINTS; ++i) diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h index c6e73f71..f9bba311 100644 --- a/ftnoir_tracker_pt/point_tracker.h +++ b/ftnoir_tracker_pt/point_tracker.h @@ -72,7 +72,6 @@ private: cv::Vec3f u; // unit vector perpendicular to M01,M02-plane cv::Matx22f P; - cv::Vec3f d; template<typename vec> void get_d_order(const std::vector<vec>& points, int* d_order, vec d) const; |