From a3a9d2ffd5a908b0ee3ad9c7812f0c685dc822d0 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 25 Oct 2014 11:53:07 +0200 Subject: pt: use identity as metric, not last Issue: #63 Build soon to follow, @FlyingCircus- please test. --- ftnoir_tracker_pt/point_tracker.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) (limited to 'ftnoir_tracker_pt') diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp index 8a633c5d..2bffdbb8 100644 --- a/ftnoir_tracker_pt/point_tracker.cpp +++ b/ftnoir_tracker_pt/point_tracker.cpp @@ -169,8 +169,7 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_) // The expected rotation used for resolving the ambiguity in POSIT: // In every iteration step the rotation closer to R_expected is taken - Matx33f R_expected; - R_expected = X_CM.R; // later we want to be close to the last (predicted) rotation + Matx33f R_expected = Matx33f::eye(); // initial pose = last (predicted) pose Vec3f k; -- cgit v1.2.3