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| author | Stanislaw Halik <sthalik@misaki.pl> | 2014-10-25 11:53:07 +0200 |
|---|---|---|
| committer | Stanislaw Halik <sthalik@misaki.pl> | 2014-10-25 11:53:41 +0200 |
| commit | a3a9d2ffd5a908b0ee3ad9c7812f0c685dc822d0 (patch) | |
| tree | a3387a5fb7d64e54fded51d8e5bd42e15f2d341e /ftnoir_tracker_pt/point_tracker.cpp | |
| parent | 10268faa526ea4eddc702af4ecd463c87bfe2b53 (diff) | |
pt: use identity as metric, not last
Issue: #63
Build soon to follow, @FlyingCircus- please test.
Diffstat (limited to 'ftnoir_tracker_pt/point_tracker.cpp')
| -rw-r--r-- | ftnoir_tracker_pt/point_tracker.cpp | 3 |
1 files changed, 1 insertions, 2 deletions
diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp index 8a633c5d..2bffdbb8 100644 --- a/ftnoir_tracker_pt/point_tracker.cpp +++ b/ftnoir_tracker_pt/point_tracker.cpp @@ -169,8 +169,7 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_) // The expected rotation used for resolving the ambiguity in POSIT: // In every iteration step the rotation closer to R_expected is taken - Matx33f R_expected; - R_expected = X_CM.R; // later we want to be close to the last (predicted) rotation + Matx33f R_expected = Matx33f::eye(); // initial pose = last (predicted) pose Vec3f k; |