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authorStanislaw Halik <sthalik@misaki.pl>2014-10-12 16:10:23 +0200
committerStanislaw Halik <sthalik@misaki.pl>2014-10-12 16:10:23 +0200
commit2de1c44a994fb72142ef020546efcd22ac8c6a83 (patch)
tree34551a02053a354a834e085b09ba274785159edd /ftnoir_tracker_aruco/trans_calib.cpp
parenta63156fc2cddccf03c2e2959df50a2bcc0585f2a (diff)
aruco cleanup, experimental contrast fix
Diffstat (limited to 'ftnoir_tracker_aruco/trans_calib.cpp')
-rw-r--r--ftnoir_tracker_aruco/trans_calib.cpp4
1 files changed, 2 insertions, 2 deletions
diff --git a/ftnoir_tracker_aruco/trans_calib.cpp b/ftnoir_tracker_aruco/trans_calib.cpp
index b1f956b4..369de449 100644
--- a/ftnoir_tracker_aruco/trans_calib.cpp
+++ b/ftnoir_tracker_aruco/trans_calib.cpp
@@ -21,9 +21,9 @@ void TranslationCalibrator::reset()
y = Vec6f(0,0,0, 0,0,0);
}
-void TranslationCalibrator::update(const Matx33f& R_CM_k, const Vec3f& t_CM_k)
+void TranslationCalibrator::update(const Matx33d& R_CM_k, const Vec3d& t_CM_k)
{
- Matx<float, 6,3> H_k_T = Matx<float, 6,3>::zeros();
+ Matx<double, 6,3> H_k_T = Matx<double, 6,3>::zeros();
for (int i=0; i<3; ++i) {
for (int j=0; j<3; ++j) {
H_k_T(i,j) = R_CM_k(j,i);