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-rw-r--r--ftnoir_tracker_pt/point_tracker.h10
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
};