From d6b5f94670a7c32d9ca21df57c792f7c5fe1aa03 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Mon, 25 Jul 2016 11:47:37 +0200 Subject: tracker/pt: fix dynamic pose Issue: #386 --- tracker-pt/point_tracker.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) (limited to 'tracker-pt') diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp index adea578f..35a78777 100644 --- a/tracker-pt/point_tracker.cpp +++ b/tracker-pt/point_tracker.cpp @@ -128,6 +128,7 @@ PointTracker::PointOrder PointTracker::find_correspondences_previous(const std:: point_taken[min_idx] = true; p.points[i] = points[min_idx]; } + return p; } @@ -144,10 +145,12 @@ void PointTracker::track(const std::vector& points, const PointModel& mode if (!dynamic_pose || init_phase) order = find_correspondences(points, model); else + { order = find_correspondences_previous(points, model, focal_length); + } - const int iters = POSIT(model, order, focal_length); - init_phase = iters != -1; + POSIT(model, order, focal_length); + init_phase = false; t.start(); } -- cgit v1.2.3