diff options
Diffstat (limited to 'tracker-pt/ftnoir_tracker_pt.cpp')
| -rw-r--r-- | tracker-pt/ftnoir_tracker_pt.cpp | 6 |
1 files changed, 4 insertions, 2 deletions
diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp index 2862efdb..0b012a5e 100644 --- a/tracker-pt/ftnoir_tracker_pt.cpp +++ b/tracker-pt/ftnoir_tracker_pt.cpp @@ -78,7 +78,7 @@ void Tracker_PT::run() point_extractor.extract_points(frame, preview_frame, points); point_count = points.size(); - f fx; + double fx; cam_info.get_focal_length(fx); const bool success = points.size() >= PointModel::N_POINTS; @@ -91,6 +91,8 @@ void Tracker_PT::run() s.dynamic_pose ? s.init_phase_timeout : 0); ever_success = true; } + else + point_tracker.invalidate_pose(); { Affine X_CM; @@ -102,7 +104,7 @@ void Tracker_PT::run() Affine X_MH(mat33::eye(), vec3(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; vec3 p = X_GH.t; // head (center?) position in global space - vec2 p_(p[0] / p[2] * fx, p[1] / p[2] * fx); // projected to screen + vec2 p_((p[0] * fx) / p[2], (p[1] * fx) / p[2]); // projected to screen static constexpr int len = 9; |