diff options
Diffstat (limited to 'tracker-pt/ftnoir_tracker_pt.cpp')
| -rw-r--r-- | tracker-pt/ftnoir_tracker_pt.cpp | 12 |
1 files changed, 4 insertions, 8 deletions
diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp index 877b58fd..80227a39 100644 --- a/tracker-pt/ftnoir_tracker_pt.cpp +++ b/tracker-pt/ftnoir_tracker_pt.cpp @@ -19,8 +19,7 @@ //----------------------------------------------------------------------------- Tracker_PT::Tracker_PT() - : mutex(QMutex::Recursive), - commands(0), + : commands(0), video_widget(NULL), video_frame(NULL), ever_success(false) @@ -94,29 +93,26 @@ void Tracker_PT::run() if (new_frame && !frame.empty()) { - QMutexLocker lock(&mutex); - std::vector<cv::Vec2f> points = point_extractor.extract_points(frame); // blobs are sorted in order of circularity if (points.size() > PointModel::N_POINTS) points.resize(PointModel::N_POINTS); - bool success = points.size() == PointModel::N_POINTS; - float fx; if (!get_focal_length(fx)) continue; + + const bool success = points.size() == PointModel::N_POINTS; if (success) { point_tracker.track(points, PointModel(s), fx, s.dynamic_pose, s.init_phase_timeout); + ever_success = true; } Affine X_CM = pose(); - ever_success |= success; - { Affine X_MH(cv::Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z)); // just copy pasted these lines from below Affine X_GH = X_CM * X_MH; |