diff options
| -rw-r--r-- | cv/translation-calibrator.cpp | 1 | ||||
| -rw-r--r-- | logic/tracker.cpp | 6 | ||||
| -rw-r--r-- | tracker-pt/point_extractor.h | 4 |
3 files changed, 5 insertions, 6 deletions
diff --git a/cv/translation-calibrator.cpp b/cv/translation-calibrator.cpp index fb150bf9..fb465f3c 100644 --- a/cv/translation-calibrator.cpp +++ b/cv/translation-calibrator.cpp @@ -97,7 +97,6 @@ bool TranslationCalibrator::check_bucket(const cv::Matx33d& R_CM_k) if (yaw_k < used_yaw_poses.size() && pitch_k < used_pitch_poses.size() && roll_k < used_roll_poses.size()) - { used_yaw_poses[yaw_k]++; used_pitch_poses[pitch_k]++; diff --git a/logic/tracker.cpp b/logic/tracker.cpp index d979b0b2..b834715a 100644 --- a/logic/tracker.cpp +++ b/logic/tracker.cpp @@ -214,19 +214,19 @@ void Tracker::logic() } { - rmat rotation; + rmat rotation = scaled_rotation.rotation; euler_t pos = euler_t(&value[TX]) - t_center; switch (s.center_method) { // inertial case 0: - rotation = scaled_rotation.rot_center * scaled_rotation.rotation; + rotation = scaled_rotation.rot_center * rotation; break; // camera default: case 1: - rotation = scaled_rotation.rotation * scaled_rotation.rot_center; + rotation = rotation * scaled_rotation.rot_center; t_compensate(real_rotation.rot_center, pos, pos, false, false, false); break; diff --git a/tracker-pt/point_extractor.h b/tracker-pt/point_extractor.h index 193c06dc..8fd521c3 100644 --- a/tracker-pt/point_extractor.h +++ b/tracker-pt/point_extractor.h @@ -12,11 +12,11 @@ #include "camera.h" #include "cv/numeric.hpp" +#include <vector> + #include <opencv2/core.hpp> #include <opencv2/imgproc.hpp> -#include <vector> - namespace pt_impl { using namespace types; |