cv/calibrator: return distinct sample count for all DOF

2 files changed, 5 insertions, 6 deletions

diff --git a/cv/translation-calibrator.cpp b/cv/translation-calibrator.cpp
index cdd573bc..fb150bf9 100644
--- a/cv/translation-calibrator.cpp
+++ b/cv/translation-calibrator.cpp
@@ -54,12 +54,10 @@ void TranslationCalibrator::update(const cv::Matx33d& R_CM_k, const cv::Vec3d& t
     y += H_k_T * t_CM_k;
 }
 
-std::tuple<cv::Vec3f, unsigned> TranslationCalibrator::get_estimate()
+std::tuple<cv::Vec3f, cv::Vec3i> TranslationCalibrator::get_estimate()
 {
     cv::Vec6f x = P.inv() * y;
 
-    qDebug() << "calibrator:" << nsamples << "samples total";
-
     unsigned values[3] {};
     vec* in[] { &used_yaw_poses, &used_pitch_poses, &used_roll_poses };
 
@@ -71,12 +69,13 @@ std::tuple<cv::Vec3f, unsigned> TranslationCalibrator::get_estimate()
                 values[k]++;
     }
 
-    qDebug() << "samples"
+    qDebug() << "samples total" << nsamples
              << "yaw" << values[0]
              << "pitch" << values[1]
              << "roll" << values[2];
 
-    return std::make_tuple(cv::Vec3f(-x[0], -x[1], -x[2]), nsamples);
+    return std::make_tuple(cv::Vec3f(-x[0], -x[1], -x[2]),
+                           cv::Vec3i(values[0], values[1], values[2]));
 }
 
 bool TranslationCalibrator::check_bucket(const cv::Matx33d& R_CM_k)
diff --git a/cv/translation-calibrator.hpp b/cv/translation-calibrator.hpp
index ae2ed844..d908496a 100644
--- a/cv/translation-calibrator.hpp
+++ b/cv/translation-calibrator.hpp
@@ -29,7 +29,7 @@ public:
     void update(const cv::Matx33d& R_CM_k, const cv::Vec3d& t_CM_k);
 
     // get the current estimate for t_MH
-    std::tuple<cv::Vec3f, unsigned> get_estimate();
+    std::tuple<cv::Vec3f, cv::Vec3i> get_estimate();
 
 private:
     bool check_bucket(const cv::Matx33d& R_CM_k);