diff options
Diffstat (limited to 'ftnoir_tracker_pt/point_tracker.cpp')
| -rw-r--r-- | ftnoir_tracker_pt/point_tracker.cpp | 10 |
1 files changed, 2 insertions, 8 deletions
diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp index 4780136d..125064bf 100644 --- a/ftnoir_tracker_pt/point_tracker.cpp +++ b/ftnoir_tracker_pt/point_tracker.cpp @@ -95,12 +95,6 @@ PointTracker::PointTracker() X_CM.t[2] = 1000; // default position: 1 m away from cam; } -void PointTracker::reset() -{ - // enter init phase - X_CM = FrameTrafo(); -} - void PointTracker::track(const vector<Vec2f>& points, const PointModel& model) { const PointOrder& order = find_correspondences(points, model); @@ -134,8 +128,8 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_) // initial pose = last (predicted) pose Vec3f k; - get_row(R_expected, 2, k); - float Z0 = std::abs(X_CM.t[2]) < 1e-3 ? 1e3 : X_CM.t[2]; + get_row(R_expected, 2, k); + float Z0 = 1000.f; float old_epsilon_1 = 0; float old_epsilon_2 = 0; |