From 219d4f0ee556d1f4304447f9d0c2b34f3762b4f8 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Tue, 28 Mar 2017 11:06:03 +0200 Subject: cv/calibrator: return nsamples, separate pitch/yaw spacing --- cv/translation-calibrator.hpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) (limited to 'cv/translation-calibrator.hpp') 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 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 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; }; -- cgit v1.2.3