diff options
Diffstat (limited to 'ftnoir_tracker_pt/point_tracker.cpp')
| -rw-r--r-- | ftnoir_tracker_pt/point_tracker.cpp | 22 |
1 files changed, 11 insertions, 11 deletions
diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp index d617de19..c08d6d83 100644 --- a/ftnoir_tracker_pt/point_tracker.cpp +++ b/ftnoir_tracker_pt/point_tracker.cpp @@ -14,7 +14,6 @@ #include <QDebug>
using namespace cv;
-using namespace boost;
using namespace std;
const float PI = 3.14159265358979323846f;
@@ -68,26 +67,27 @@ PointModel::PointModel(Vec3f M01, Vec3f M02) get_d_order(points, d_order);
}
+static bool d_vals_sort(const pair<float,int> a, const pair<float,int> b)
+{
+ return a.first < b.first;
+}
+
void PointModel::get_d_order(const std::vector<cv::Vec2f>& points, int d_order[]) const
{
// get sort indices with respect to d scalar product
vector< pair<float,int> > d_vals;
- for (int i = 0; i<points.size(); ++i)
+ for (int i = 0; i<(int)points.size(); ++i)
d_vals.push_back(pair<float, int>(d.dot(points[i]), i));
- struct
- {
- bool operator()(const pair<float, int>& a, const pair<float, int>& b) { return a.first < b.first; }
- } comp;
- sort(d_vals.begin(), d_vals.end(), comp);
+ sort(d_vals.begin(), d_vals.end(), d_vals_sort);
- for (int i = 0; i<points.size(); ++i)
+ for (int i = 0; i<(int)points.size(); ++i)
d_order[i] = d_vals[i].second;
}
// ----------------------------------------------------------------------------
-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)
+PointTracker::PointTracker() : dynamic_pose_resolution(true), dt_reset(1), init_phase(true), dt_valid(0), v_t(0,0,0), v_r(0,0,0)
{
X_CM.t[2] = 1000; // default position: 1 m away from cam;
}
@@ -120,7 +120,7 @@ bool PointTracker::track(const vector<Vec2f>& points, float f, float dt) }
// if there is a pointtracking problem, reset the velocities
- if (!point_model || points.size() != PointModel::N_POINTS)
+ if (!point_model.get() || (int) points.size() != PointModel::N_POINTS)
{
//qDebug()<<"Wrong number of points!";
reset_velocities();
@@ -141,7 +141,7 @@ bool PointTracker::track(const vector<Vec2f>& points, float f, float dt) return false;
}
- int n_iter = POSIT(f);
+ (void) POSIT(f);
//qDebug()<<"Number of POSIT iterations: "<<n_iter;
if (!init_phase)
|