diff options
Diffstat (limited to 'cv/translation-calibrator.hpp')
| -rw-r--r-- | cv/translation-calibrator.hpp | 16 |
1 files changed, 9 insertions, 7 deletions
diff --git a/cv/translation-calibrator.hpp b/cv/translation-calibrator.hpp index 2bf73839..40ba19e9 100644 --- a/cv/translation-calibrator.hpp +++ b/cv/translation-calibrator.hpp @@ -20,7 +20,7 @@ class TranslationCalibrator { public: - TranslationCalibrator(unsigned yaw_rdof, unsigned pitch_rdof); + TranslationCalibrator(unsigned yaw_rdof, unsigned pitch_rdof, unsigned roll_rdof); // reset the calibration process void reset(); @@ -33,18 +33,20 @@ public: private: bool check_bucket(const cv::Matx33d& R_CM_k); + static int get_index(int yaw, int pitch, int roll); cv::Matx66f P; // normalized precision matrix = inverse covariance cv::Vec6f y; // P*(-t_MH, t_CH) - // note, bin count's so small we don't need a bloom filter - std::vector<bool> used_poses; + using vec = std::vector<unsigned>; + + vec used_yaw_poses; + vec used_pitch_poses; + vec used_roll_poses; static constexpr double yaw_spacing_in_degrees = 2.5; static constexpr double pitch_spacing_in_degrees = 1.5; + static constexpr double roll_spacing_in_degrees = 3.5; - // this allows allows us up to +-180 for yaw and pitch - static constexpr int bin_count = 361*360 / (yaw_spacing_in_degrees*pitch_spacing_in_degrees) + 1; - - unsigned yaw_rdof, pitch_rdof, nsamples; + unsigned yaw_rdof, pitch_rdof, roll_rdof, nsamples; }; |