diff options
Diffstat (limited to 'ftnoir_tracker_pt/ftnoir_tracker_pt.cpp')
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 3 |
1 files changed, 1 insertions, 2 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index f6017ee0..26550bad 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -80,9 +80,8 @@ void Tracker::run() point_tracker.track(points, PointModel(s), get_focal_length()); { - Affine CM; - pose(&CM); cv::Vec3f MH(s.t_MH_x, s.t_MH_y, s.t_MH_z); + Affine CM = pose(); cv::Vec3f p = CM.t - MH; float fx = get_focal_length(); cv::Vec2f p_(p[0] / p[2] * fx, p[1] / p[2] * fx); |