diff options
Diffstat (limited to 'ftnoir_tracker_pt/point_tracker.h')
| -rw-r--r-- | ftnoir_tracker_pt/point_tracker.h | 10 |
1 files changed, 4 insertions, 6 deletions
diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h index 44bad28e..a1f6f041 100644 --- a/ftnoir_tracker_pt/point_tracker.h +++ b/ftnoir_tracker_pt/point_tracker.h @@ -96,19 +96,17 @@ public: FrameTrafo get_pose() const { return X_CM; } void reset(); -protected: +private: inline cv::Vec2f project(const cv::Vec3f& v_M, float f) { cv::Vec3f v_C = X_CM * v_M; return cv::Vec2f(f*v_C[0]/v_C[2], f*v_C[1]/v_C[2]); } - void find_correspondences(const std::vector<cv::Vec2f>& points, float f); - + void find_correspondences(const std::vector<cv::Vec2f>& points, float f); + int POSIT(float f); // The POSIT algorithm, returns the number of iterations + cv::Vec2f p[PointModel::N_POINTS]; // the points in model order - - int POSIT(float f); // The POSIT algorithm, returns the number of iterations - FrameTrafo X_CM; // trafo from model to camera }; |