diff options
Diffstat (limited to 'FTNoIR_Tracker_PT/trans_calib.h')
| -rw-r--r-- | FTNoIR_Tracker_PT/trans_calib.h | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/FTNoIR_Tracker_PT/trans_calib.h b/FTNoIR_Tracker_PT/trans_calib.h index 57b9496c..4024d011 100644 --- a/FTNoIR_Tracker_PT/trans_calib.h +++ b/FTNoIR_Tracker_PT/trans_calib.h @@ -15,7 +15,7 @@ // by recursive least squares /
// kalman filter in information form with identity noise covariance
// measurement equation when head position = t_CH is fixed:
-// (R_CM_k , Id)*(t_MH, -t_CH) = t_CM_k
+// (R_CM_k , Id)*(-t_MH, t_CH) = t_CM_k
class TranslationCalibrator
{
@@ -33,7 +33,7 @@ public: protected:
cv::Matx66f P; // normalized precision matrix = inverse covariance
- cv::Vec6f y; // P*(t_MH, -c)
+ cv::Vec6f y; // P*(-t_MH, t_CH)
};
#endif //TRANSCALIB_H
\ No newline at end of file |