diff options
Diffstat (limited to 'ftnoir_tracker_pt/point_tracker.h')
| -rw-r--r-- | ftnoir_tracker_pt/point_tracker.h | 7 |
1 files changed, 5 insertions, 2 deletions
diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h index 3b9573ff..935e2eaa 100644 --- a/ftnoir_tracker_pt/point_tracker.h +++ b/ftnoir_tracker_pt/point_tracker.h @@ -15,7 +15,7 @@ # include <memory> #endif #include <vector> - +#include "opentrack/timer.hpp" #include "ftnoir_tracker_pt_settings.h" #include <QObject> @@ -119,7 +119,7 @@ public: // track the pose using the set of normalized point coordinates (x pos in range -0.5:0.5) // f : (focal length)/(sensor width) // dt : time since last call - void track(const std::vector<cv::Vec2f>& projected_points, const PointModel& model, float f, bool dynamic_pose); + void track(const std::vector<cv::Vec2f>& projected_points, const PointModel& model, float f, bool dynamic_pose, int init_phase_timeout); Affine pose() const { return X_CM; } cv::Vec2f project(const cv::Vec3f& v_M, float f); private: @@ -139,6 +139,9 @@ private: int POSIT(const PointModel& point_model, const PointOrder& order, float focal_length); // The POSIT algorithm, returns the number of iterations Affine X_CM; // trafo from model to camera + + Timer t; + bool init_phase; }; #endif //POINTTRACKER_H |