diff options
| -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; |