diff options
Diffstat (limited to 'ftnoir_tracker_pt')
| -rw-r--r-- | ftnoir_tracker_pt/point_tracker.cpp | 20 |
1 files changed, 8 insertions, 12 deletions
diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp index 5735c081..f83ff437 100644 --- a/ftnoir_tracker_pt/point_tracker.cpp +++ b/ftnoir_tracker_pt/point_tracker.cpp @@ -79,13 +79,9 @@ void PointModel::get_d_order(const std::vector<cv::Vec2f>& points, int d_order[] {
// get sort indices with respect to d scalar product
vector< pair<float,int> > d_vals;
- for (int i = 0; i<points.size(); ++i)
+ for (unsigned i = 0; i<points.size(); ++i)
d_vals.push_back(pair<float, int>(d.dot(points[i]), i));
- struct
- {
- bool operator()(const pair<float, int>& a, const pair<float, int>& b) { return a.first < b.first; }
- } comp;
std::sort(d_vals.begin(),
d_vals.end(),
#ifdef OPENTRACK_API
@@ -95,19 +91,19 @@ void PointModel::get_d_order(const std::vector<cv::Vec2f>& points, int d_order[] #endif
);
- for (int i = 0; i<points.size(); ++i)
+ for (unsigned i = 0; i<points.size(); ++i)
d_order[i] = d_vals[i].second;
}
// ----------------------------------------------------------------------------
-PointTracker::PointTracker()
- : init_phase(true),
+PointTracker::PointTracker() :
+ dynamic_pose_resolution(true),
+ dt_reset(1),
+ init_phase(true),
dt_valid(0),
- dt_reset(1),
v_t(0,0,0),
- v_r(0,0,0),
- dynamic_pose_resolution(true)
+ v_r(0,0,0)
{
X_CM.t[2] = 1000; // default position: 1 m away from cam;
}
@@ -168,7 +164,7 @@ bool PointTracker::track(const vector<Vec2f>& points, float f, float dt) return false;
}
- int n_iter = POSIT(f);
+ (void) POSIT(f);
//qDebug()<<"Number of POSIT iterations: "<<n_iter;
if (!init_phase)
|