diff options
Diffstat (limited to 'ftnoir_tracker_pt/point_tracker.cpp')
| -rw-r--r-- | ftnoir_tracker_pt/point_tracker.cpp | 7 |
1 files changed, 3 insertions, 4 deletions
diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp index 3b1a49e2..9f04af30 100644 --- a/ftnoir_tracker_pt/point_tracker.cpp +++ b/ftnoir_tracker_pt/point_tracker.cpp @@ -83,16 +83,15 @@ void PointModel::get_d_order(const std::vector<vec>& points, int d_order[], vec } -// ---------------------------------------------------------------------------- PointTracker::PointTracker() { X_CM.t[2] = 1000; // default position: 1 m away from cam; } -void PointTracker::track(const vector<Vec2f>& points, const PointModel& model) +void PointTracker::track(const vector<Vec2f>& points, const PointModel& model, float f) { const PointOrder& order = find_correspondences(points, model); - POSIT(model, order); + POSIT(model, order, f); } PointTracker::PointOrder PointTracker::find_correspondences(const std::vector<cv::Vec2f>& points, const PointModel& model) @@ -117,7 +116,7 @@ PointTracker::PointOrder PointTracker::find_correspondences(const std::vector<cv return p; } -int PointTracker::POSIT(const PointModel& model, const PointOrder& order_) +int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, float focal_length) { // POSIT algorithm for coplanar points as presented in // [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"] |