diff options
Diffstat (limited to 'tracker-pt/point_tracker.cpp')
| -rw-r--r-- | tracker-pt/point_tracker.cpp | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp index c4b518a9..f1f968d0 100644 --- a/tracker-pt/point_tracker.cpp +++ b/tracker-pt/point_tracker.cpp @@ -93,7 +93,7 @@ PointTracker::PointOrder PointTracker::find_correspondences_previous(const vec2* const PointModel& model, const pt_camera_info& info) { - const double fx = pt_camera_info::get_focal_length(info.fov, info.res_x, info.res_y); + const f fx = pt_camera_info::get_focal_length(info.fov, info.res_x, info.res_y); PointTracker::PointOrder p; p[0] = project(vec3(0,0,0), fx); p[1] = project(model.M01, fx); @@ -140,7 +140,7 @@ void PointTracker::track(const std::vector<vec2>& points, const pt_camera_info& info, int init_phase_timeout) { - const double fx = pt_camera_info::get_focal_length(info.fov, info.res_x, info.res_y); + const f fx = pt_camera_info::get_focal_length(info.fov, info.res_x, info.res_y); PointOrder order; if (init_phase_timeout <= 0 || t.elapsed_ms() > init_phase_timeout || init_phase) @@ -262,7 +262,7 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order, f foca J_1 = J0 + rho*sin(theta)*model.u; J_2 = J0 - rho*sin(theta)*model.u; - f norm_const = 1/cv::norm(I_1); // all have the same norm + f norm_const = (f)(1/cv::norm(I_1)); // all have the same norm // create rotation matrices I_1 *= norm_const; J_1 *= norm_const; @@ -281,8 +281,8 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order, f foca // pick the rotation solution closer to the expected one // in simple metric d(A,B) = || I - A * B^T || - f R_1_deviation = cv::norm(mat33::eye() - R_expected * R_1.t()); - f R_2_deviation = cv::norm(mat33::eye() - R_expected * R_2.t()); + f R_1_deviation = (f)(cv::norm(mat33::eye() - R_expected * R_1.t())); + f R_2_deviation = (f)(cv::norm(mat33::eye() - R_expected * R_2.t())); if (R_1_deviation < R_2_deviation) R_current = &R_1; |