diff options
Diffstat (limited to 'cv/translation-calibrator.hpp')
| -rw-r--r-- | cv/translation-calibrator.hpp | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/cv/translation-calibrator.hpp b/cv/translation-calibrator.hpp index 76fb5db9..2bf73839 100644 --- a/cv/translation-calibrator.hpp +++ b/cv/translation-calibrator.hpp @@ -29,7 +29,7 @@ public: void update(const cv::Matx33d& R_CM_k, const cv::Vec3d& t_CM_k); // get the current estimate for t_MH - cv::Vec3f get_estimate(); + std::tuple<cv::Vec3f, unsigned> get_estimate(); private: bool check_bucket(const cv::Matx33d& R_CM_k); @@ -40,10 +40,11 @@ private: // note, bin count's so small we don't need a bloom filter std::vector<bool> used_poses; - static constexpr int spacing_in_degrees = 3; + static constexpr double yaw_spacing_in_degrees = 2.5; + static constexpr double pitch_spacing_in_degrees = 1.5; // this allows allows us up to +-180 for yaw and pitch - static constexpr int bin_count = 361*360 / (spacing_in_degrees*spacing_in_degrees) + 1; + static constexpr int bin_count = 361*360 / (yaw_spacing_in_degrees*pitch_spacing_in_degrees) + 1; unsigned yaw_rdof, pitch_rdof, nsamples; }; |