diff options
Diffstat (limited to 'tracker-pt/point_tracker.h')
| -rw-r--r-- | tracker-pt/point_tracker.h | 10 |
1 files changed, 4 insertions, 6 deletions
diff --git a/tracker-pt/point_tracker.h b/tracker-pt/point_tracker.h index 00e9278c..77c07125 100644 --- a/tracker-pt/point_tracker.h +++ b/tracker-pt/point_tracker.h @@ -15,7 +15,6 @@ #include "ftnoir_tracker_pt_settings.h" #include <QObject> -#include <QMutex> class Affine { @@ -118,9 +117,9 @@ public: // track the pose using the set of normalized point coordinates (x pos in range -0.5:0.5) // f : (focal length)/(sensor width) // dt : time since last call - void track(const std::vector<cv::Vec2f>& projected_points, const PointModel& model, float f, bool dynamic_pose, int init_phase_timeout); - Affine pose() { QMutexLocker l(&mtx); return X_CM; } - cv::Vec2f project(const cv::Vec3f& v_M, float f); + void track(const std::vector<cv::Vec2d>& projected_points, const PointModel& model, double focal_length, bool dynamic_pose, int init_phase_timeout, int w, int h); + Affine pose() { return X_CM; } + cv::Vec2d project(const cv::Vec3d& v_M, double focal_length); private: // the points in model order struct PointOrder @@ -133,15 +132,14 @@ private: } }; - PointOrder find_correspondences_previous(const std::vector<cv::Vec2f>& points, const PointModel &model, float f); PointOrder find_correspondences(const std::vector<cv::Vec2d>& projected_points, const PointModel &model); + PointOrder find_correspondences_previous(const std::vector<cv::Vec2d>& points, const PointModel &model, double focal_length, int w, int h); bool POSIT(const PointModel& point_model, const PointOrder& order, double focal_length); // The POSIT algorithm, returns the number of iterations Affine X_CM; // trafo from model to camera Timer t; bool init_phase; - QMutex mtx; }; #endif //POINTTRACKER_H |