diff options
| author | Stanislaw Halik <sthalik@misaki.pl> | 2014-01-07 09:00:57 +0100 |
|---|---|---|
| committer | Stanislaw Halik <sthalik@misaki.pl> | 2014-01-07 09:00:57 +0100 |
| commit | cc4e7e331ba24b260edc44db8b09de274cd658a7 (patch) | |
| tree | dc148e9d9dac994066696cd734bdf0ec4e0f9f75 /FTNoIR_Tracker_PT | |
| parent | a7ea46dca6e791b1c6785e270b5d6fbe42f449dc (diff) | |
pose breaks with negative pitch
Diffstat (limited to 'FTNoIR_Tracker_PT')
| -rw-r--r-- | FTNoIR_Tracker_PT/point_tracker.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index 8b508897..dfefdaf8 100644 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -267,8 +267,8 @@ int PointTracker::POSIT(float f) // initial pose = last (predicted) pose
Vec3f k;
- get_row(X_CM.R, 2, k);
- float Z0 = X_CM.t[2];
+ get_row(R_expected, 2, k);
+ float Z0 = init_phase ? 1000 : X_CM.t[2];
float old_epsilon_1 = 0;
float old_epsilon_2 = 0;
|