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-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.cpp7
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.h1
-rw-r--r--ftnoir_tracker_pt/point_tracker.cpp10
-rw-r--r--ftnoir_tracker_pt/point_tracker.h2
4 files changed, 2 insertions, 18 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 6248b225..3afb7fa7 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -109,7 +109,6 @@ void Tracker::apply_inner()
settings* tmp = new_settings.exchange(nullptr);
if (tmp == nullptr)
return;
- reset();
auto& s = *tmp;
qDebug()<<"Tracker:: Applying settings";
@@ -130,12 +129,6 @@ void Tracker::apply_inner()
qDebug()<<"Tracker::apply ends";
}
-void Tracker::reset()
-{
- QMutexLocker lock(&mutex);
- point_tracker.reset();
-}
-
void Tracker::start_tracker(QFrame *parent_window)
{
this->video_frame = parent_window;
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
index f7520c45..4161bd48 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
@@ -43,7 +43,6 @@ public:
void apply(settings& s);
void apply_inner();
- void reset(); // reset the trackers internal state variables
void pose(FrameTrafo* X_CM) { QMutexLocker lock(&mutex); *X_CM = point_tracker.pose(); }
int get_n_points() { QMutexLocker lock(&mutex); return point_extractor.get_points().size(); }
diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp
index 4780136d..125064bf 100644
--- a/ftnoir_tracker_pt/point_tracker.cpp
+++ b/ftnoir_tracker_pt/point_tracker.cpp
@@ -95,12 +95,6 @@ PointTracker::PointTracker()
X_CM.t[2] = 1000; // default position: 1 m away from cam;
}
-void PointTracker::reset()
-{
- // enter init phase
- X_CM = FrameTrafo();
-}
-
void PointTracker::track(const vector<Vec2f>& points, const PointModel& model)
{
const PointOrder& order = find_correspondences(points, model);
@@ -134,8 +128,8 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_)
// initial pose = last (predicted) pose
Vec3f k;
- get_row(R_expected, 2, k);
- float Z0 = std::abs(X_CM.t[2]) < 1e-3 ? 1e3 : X_CM.t[2];
+ get_row(R_expected, 2, k);
+ float Z0 = 1000.f;
float old_epsilon_1 = 0;
float old_epsilon_2 = 0;
diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h
index 9489659e..be9e83ad 100644
--- a/ftnoir_tracker_pt/point_tracker.h
+++ b/ftnoir_tracker_pt/point_tracker.h
@@ -88,8 +88,6 @@ public:
// dt : time since last call
void track(const std::vector<cv::Vec2f>& projected_points, const PointModel& model);
FrameTrafo pose() const { return X_CM; }
- void reset();
-
private:
// the points in model order
typedef struct { cv::Vec2f points[PointModel::N_POINTS]; } PointOrder;