From 0812312b232eb1ed85128d1ae141a4967964fa55 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Sun, 21 Dec 2014 13:30:55 +0100
Subject: fix d_order logic

Issue: #107

The d value was computed using points from camera, not model
coordinates.
---
 ftnoir_tracker_pt/point_tracker.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'ftnoir_tracker_pt')

diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp
index eeb689ce..0f996316 100644
--- a/ftnoir_tracker_pt/point_tracker.cpp
+++ b/ftnoir_tracker_pt/point_tracker.cpp
@@ -79,7 +79,7 @@ PointTracker::PointOrder PointTracker::find_correspondences(const std::vector<cv
     // sort points
     int point_d_order[PointModel::N_POINTS];
     int model_d_order[PointModel::N_POINTS];
-    cv::Vec2f d(points[0][0]-points[1][0], points[0][1]-points[1][1]);
+    cv::Vec2f d(model.M01[0]-model.M02[0], model.M01[1]-model.M02[1]);
     model.get_d_order(points, point_d_order, d);
     // calculate d and d_order for simple freetrack-like point correspondence
     model.get_d_order(std::vector<cv::Vec2f> {
-- 
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