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-rw-r--r--tracker-pt/point_tracker.h5
1 files changed, 4 insertions, 1 deletions
diff --git a/tracker-pt/point_tracker.h b/tracker-pt/point_tracker.h
index 496bcbbe..b867cea4 100644
--- a/tracker-pt/point_tracker.h
+++ b/tracker-pt/point_tracker.h
@@ -68,6 +68,9 @@ private:
// the points in model order
using PointOrder = std::array<vec2, 3>;
+ bool maybe_use_old_point_order(const PointOrder& order, const CamInfo& info);
+ PointOrder prev_order, prev_scaled_order;
+
PointOrder find_correspondences(const vec2* projected_points, const PointModel &model);
PointOrder find_correspondences_previous(const vec2* points, const PointModel &model, const CamInfo& info);
int POSIT(const PointModel& point_model, const PointOrder& order, f focal_length); // The POSIT algorithm, returns the number of iterations
@@ -75,7 +78,7 @@ private:
Affine X_CM; // transform from model to camera
Timer t;
- bool init_phase;
+ bool init_phase, prev_order_valid;
};
} // ns types