diff options
Diffstat (limited to 'tracker-pt/point_tracker.h')
| -rw-r--r-- | tracker-pt/point_tracker.h | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/tracker-pt/point_tracker.h b/tracker-pt/point_tracker.h index 5576b41b..9530c338 100644 --- a/tracker-pt/point_tracker.h +++ b/tracker-pt/point_tracker.h @@ -70,7 +70,7 @@ public: PointModel(settings_pt& s); void set_model(settings_pt& s); - void get_d_order(const std::vector<vec2>& points, int* d_order, const vec2& d) const; + void get_d_order(const vec2* points, unsigned* d_order, const vec2& d) const; }; // ---------------------------------------------------------------------------- @@ -87,13 +87,14 @@ public: void track(const std::vector<vec2>& projected_points, const PointModel& model, f focal_length, bool dynamic_pose, int init_phase_timeout, int w, int h); Affine pose() { return X_CM; } vec2 project(const vec3& v_M, f focal_length); + vec2 project(const vec3& v_M, f focal_length, const Affine& X_CM); private: // the points in model order using PointOrder = std::array<vec2, 3>; - PointOrder find_correspondences(const std::vector<vec2>& projected_points, const PointModel &model); - PointOrder find_correspondences_previous(const std::vector<vec2>& points, const PointModel &model, f focal_length, int w, int h); + PointOrder find_correspondences(const vec2* projected_points, const PointModel &model); + PointOrder find_correspondences_previous(const vec2* points, const PointModel &model, f focal_length, int w, int h); int POSIT(const PointModel& point_model, const PointOrder& order, f focal_length); // The POSIT algorithm, returns the number of iterations Affine X_CM; // trafo from model to camera |