1 files changed, 9 insertions, 9 deletions
diff --git a/FTNoIR_Tracker_PT/point_tracker.h b/FTNoIR_Tracker_PT/point_tracker.h
index 823d75c0..e05e8f98 100644
--- a/FTNoIR_Tracker_PT/point_tracker.h
+++ b/FTNoIR_Tracker_PT/point_tracker.h
@@ -21,11 +21,11 @@
 class FrameTrafo
 {
 public:
-    FrameTrafo() : R(cv::Matx33d::eye()), t(0,0,0) {}
-    FrameTrafo(const cv::Matx33d& R, const cv::Vec3d& t) : R(R),t(t) {}
+	FrameTrafo() : R(cv::Matx33f::eye()), t(0,0,0) {}
+	FrameTrafo(const cv::Matx33f& R, const cv::Vec3f& t) : R(R),t(t) {}
 
-    cv::Matx33d R;
-    cv::Vec3d t;
+	cv::Matx33f R;
+	cv::Vec3f t;
 };
 
 inline FrameTrafo operator*(const FrameTrafo& X, const FrameTrafo& Y)
@@ -33,17 +33,17 @@ inline FrameTrafo operator*(const FrameTrafo& X, const FrameTrafo& Y)
 	return FrameTrafo(X.R*Y.R, X.R*Y.t + X.t);
 }
 
-inline FrameTrafo operator*(const cv::Matx33d& X, const FrameTrafo& Y)
+inline FrameTrafo operator*(const cv::Matx33f& X, const FrameTrafo& Y)
 {
 	return FrameTrafo(X*Y.R, X*Y.t);
 }
 
-inline FrameTrafo operator*(const FrameTrafo& X, const cv::Matx33d& Y)
+inline FrameTrafo operator*(const FrameTrafo& X, const cv::Matx33f& Y)
 {
 	return FrameTrafo(X.R*Y, X.t);
 }
 
-inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3d& v)
+inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3f& v)
 {
 	return X.R*v + X.t;
 }
@@ -90,7 +90,7 @@ public:
 	// track the pose using the set of normalized point coordinates (x pos in range -0.5:0.5)
 	// f : (focal length)/(sensor width)
 	// dt : time since last call
-    bool track(const std::vector<cv::Vec2f>& points, float fov, float dt, int w, int h);
+    bool track(const std::vector<cv::Vec2f>& points, float fov, float dt, int w, int h, const cv::Vec3f &headpos);
 	boost::shared_ptr<PointModel> point_model;
 
 	bool dynamic_pose_resolution;
@@ -136,7 +136,7 @@ protected:
 	void reset_velocities();
 
 	
-    void POSIT(float fov, int w, int h);  // The POSIT algorithm, returns the number of iterations
+    void POSIT(float fov, int w, int h, const cv::Vec3f &headpos);  // The POSIT algorithm, returns the number of iterations
 
 	bool init_phase;
 	float dt_valid;	// time since last valid tracking result