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authorStanislaw Halik <sthalik@misaki.pl>2014-10-25 11:53:07 +0200
committerStanislaw Halik <sthalik@misaki.pl>2014-10-25 11:53:41 +0200
commita3a9d2ffd5a908b0ee3ad9c7812f0c685dc822d0 (patch)
treea3387a5fb7d64e54fded51d8e5bd42e15f2d341e /ftnoir_tracker_pt
parent10268faa526ea4eddc702af4ecd463c87bfe2b53 (diff)
pt: use identity as metric, not last
Issue: #63 Build soon to follow, @FlyingCircus- please test.
Diffstat (limited to 'ftnoir_tracker_pt')
-rw-r--r--ftnoir_tracker_pt/point_tracker.cpp3
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;