diff options
Diffstat (limited to 'tracker-pt/ftnoir_tracker_pt.cpp')
| -rw-r--r-- | tracker-pt/ftnoir_tracker_pt.cpp | 13 |
1 files changed, 12 insertions, 1 deletions
diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp index 374120f4..49159ac8 100644 --- a/tracker-pt/ftnoir_tracker_pt.cpp +++ b/tracker-pt/ftnoir_tracker_pt.cpp @@ -103,6 +103,11 @@ void Tracker_PT::run() if (new_frame && !frame_.empty()) { + CamInfo cam_info; + + if (!camera.get_info(cam_info)) + continue; + point_extractor.extract_points(frame_, points); point_count = points.size(); @@ -115,7 +120,13 @@ void Tracker_PT::run() if (success) { - point_tracker.track(points, PointModel(s), fx, s.dynamic_pose, s.init_phase_timeout); + point_tracker.track(points, + PointModel(s), + fx, + s.dynamic_pose, + s.init_phase_timeout, + cam_info.res_x, + cam_info.res_y); ever_success = true; } |