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| author | Martin Miller | 2017-04-08 19:15:25 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-04-08 19:15:25 -0500 |
| commit | cbc3a7a308d1edde429022a9492eeedce24c5fd9 (patch) | |
| tree | 3afb83f95dcc944696be16d93bec9cd425937148 /src/camera.cpp | |
| parent | 728cc9930cbea478ca732b6c19bab275ef50c6d0 (diff) | |
| download | refslam-cbc3a7a308d1edde429022a9492eeedce24c5fd9.zip refslam-cbc3a7a308d1edde429022a9492eeedce24c5fd9.tar.gz | |
Add code to perform a guided measurement.
The Vision class can template match in a search region. The search
region result is masked by an ellipse related to the S matrix of the
feature.
Diffstat (limited to 'src/camera.cpp')
| -rw-r--r-- | src/camera.cpp | 1 |
1 files changed, 1 insertions, 0 deletions
diff --git a/src/camera.cpp b/src/camera.cpp index 7e1c1b3..415bf35 100644 --- a/src/camera.cpp +++ b/src/camera.cpp @@ -182,6 +182,7 @@ Camera::body2img ( const Vector3d &xb ) const Vector3d xc,xi; xc = Rc2b().transpose()*xb; xi = K()*xc; + xi /= xi[2]; return xi; } /* ----- end of method Camera::body2img ----- */ |