From 56dd856405ebf26f8243880035fed2dd688b14a6 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Mon, 20 Jul 2015 14:29:02 +0200
Subject: for now remove calibration support

PT tracker returns garbage when calibrating, Z is zero. Maybe can be
reverted and fixed later.
---
 ftnoir_tracker_pt/point_tracker.cpp | 9 ++-------
 1 file changed, 2 insertions(+), 7 deletions(-)

(limited to 'ftnoir_tracker_pt/point_tracker.cpp')

diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp
index f141fe36..b4283d37 100644
--- a/ftnoir_tracker_pt/point_tracker.cpp
+++ b/ftnoir_tracker_pt/point_tracker.cpp
@@ -259,14 +259,9 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, float
 	X_CM.t[1] = order[0][1] * Z0/focal_length;
 	X_CM.t[2] = Z0;
 
-	return i;
+    //qDebug() << "iter:" << i;
 
-	//Rodrigues(X_CM.R, r);
-	//qDebug()<<"iter: "<<i;
-	//qDebug()<<"t: "<<X_CM.t[0]<<' '<<X_CM.t[1]<<' '<<X_CM.t[2];
-	//Vec3f r;
-	//
-	//qDebug()<<"r: "<<r[0]<<' '<<r[1]<<' '<<r[2]<<'\n';
+	return i;
 }
 
 cv::Vec2f PointTracker::project(const cv::Vec3f& v_M, float f)
-- 
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