diff options
Diffstat (limited to 'tracker-pt/point_tracker.cpp')
| -rw-r--r-- | tracker-pt/point_tracker.cpp | 12 |
1 files changed, 8 insertions, 4 deletions
diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp index 701c1961..96a75ea8 100644 --- a/tracker-pt/point_tracker.cpp +++ b/tracker-pt/point_tracker.cpp @@ -6,6 +6,10 @@ */ #include "point_tracker.h" + +#include "ftnoir_tracker_pt_settings.h" +using namespace pt_types; + #include "compat/nan.hpp" #include <vector> @@ -14,9 +18,6 @@ #include <QDebug> -using mat33 = pt_types::mat33; -using vec3 = pt_types::vec3; -using f = pt_types::f; constexpr unsigned PointModel::N_POINTS; static void get_row(const mat33& m, int i, vec3& v) @@ -206,6 +207,9 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, f foc // In every iteration step the rotation closer to R_expected is taken mat33 R_expected = mat33::eye(); + static constexpr f pi = constants::pi; + static constexpr f eps = constants::eps; + // initial pose = last (predicted) pose vec3 k; get_row(R_expected, 2, k); @@ -349,7 +353,7 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, f foc return i; } -pt_types::vec2 PointTracker::project(const vec3& v_M, f focal_length) +vec2 PointTracker::project(const vec3& v_M, f focal_length) { vec3 v_C = X_CM * v_M; return vec2(focal_length*v_C[0]/v_C[2], focal_length*v_C[1]/v_C[2]); |