diff options
Diffstat (limited to 'FTNoIR_Tracker_PT/point_tracker.cpp')
| -rw-r--r-- | FTNoIR_Tracker_PT/point_tracker.cpp | 4 |
1 files changed, 3 insertions, 1 deletions
diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index 03914bb4..d617de19 100644 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -87,7 +87,7 @@ void PointModel::get_d_order(const std::vector<cv::Vec2f>& points, int d_order[] // ----------------------------------------------------------------------------
-PointTracker::PointTracker() : init_phase(true), dt_valid(0), dt_reset(1), v_t(0,0,0), v_r(0,0,0)
+PointTracker::PointTracker() : init_phase(true), dt_valid(0), dt_reset(1), v_t(0,0,0), v_r(0,0,0), dynamic_pose_resolution(true)
{
X_CM.t[2] = 1000; // default position: 1 m away from cam;
}
@@ -109,6 +109,8 @@ void PointTracker::reset_velocities() bool PointTracker::track(const vector<Vec2f>& points, float f, float dt)
{
+ if (!dynamic_pose_resolution) init_phase = true;
+
dt_valid += dt;
// if there was no valid tracking result for too long, do a reset
if (dt_valid > dt_reset)
|