diff options
Diffstat (limited to 'ftnoir_tracker_pt')
| -rw-r--r-- | ftnoir_tracker_pt/point_tracker.h | 6 |
1 files changed, 0 insertions, 6 deletions
diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h index f9e2d9b9..ec852286 100644 --- a/ftnoir_tracker_pt/point_tracker.h +++ b/ftnoir_tracker_pt/point_tracker.h @@ -93,12 +93,6 @@ private: typedef struct { cv::Vec2f points[PointModel::N_POINTS]; } PointOrder; static constexpr float focal_length = 1.0f; - inline cv::Vec2f project(const cv::Vec3f& v_M) - { - cv::Vec3f v_C = X_CM * v_M; - return cv::Vec2f(focal_length*v_C[0]/v_C[2], focal_length*v_C[1]/v_C[2]); - } - PointOrder find_correspondences(const std::vector<cv::Vec2f>& projected_points, const PointModel &model); int POSIT(const PointModel& point_model, const PointOrder& order); // The POSIT algorithm, returns the number of iterations |