From 2de1c44a994fb72142ef020546efcd22ac8c6a83 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Sun, 12 Oct 2014 16:10:23 +0200
Subject: aruco cleanup, experimental contrast fix

---
 ftnoir_tracker_aruco/trans_calib.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'ftnoir_tracker_aruco/trans_calib.cpp')

diff --git a/ftnoir_tracker_aruco/trans_calib.cpp b/ftnoir_tracker_aruco/trans_calib.cpp
index b1f956b4..369de449 100644
--- a/ftnoir_tracker_aruco/trans_calib.cpp
+++ b/ftnoir_tracker_aruco/trans_calib.cpp
@@ -21,9 +21,9 @@ void TranslationCalibrator::reset()
 	y = Vec6f(0,0,0, 0,0,0);
 }
 
-void TranslationCalibrator::update(const Matx33f& R_CM_k, const Vec3f& t_CM_k)
+void TranslationCalibrator::update(const Matx33d& R_CM_k, const Vec3d& t_CM_k)
 {
-	Matx<float, 6,3> H_k_T = Matx<float, 6,3>::zeros();
+	Matx<double, 6,3> H_k_T = Matx<double, 6,3>::zeros();
 	for (int i=0; i<3; ++i) {
 		for (int j=0; j<3; ++j) {
 			H_k_T(i,j) = R_CM_k(j,i);
-- 
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