current best quatviz result (6)

2 files changed, 3 insertions, 3 deletions

diff --git a/src/main.h b/src/main.h
index 5159eb7..e477b69 100644
--- a/src/main.h
+++ b/src/main.h
@@ -37,8 +37,8 @@
 #define ACCBIASY 0.01465135
 #define ACCBIASZ -1*-0.00709229
 
-#define CANOECENTER 0.92            /* center of gravity of canoe  */
-#define CANOEHEIGHT -0.41
+#define CANOECENTER 0.82            /* center of gravity of canoe  */
+#define CANOEHEIGHT -0.46
 //#define CANOEHEIGHT -0.75
 #define DOWNSAMPLE 1            /*  */
 #define HEIGHT_FROM_ATTITUDE    /* use the attitude to measure the height */
diff --git a/src/vision.cpp b/src/vision.cpp
index 4b5ce98..b189dbd 100644
--- a/src/vision.cpp
+++ b/src/vision.cpp
@@ -51,7 +51,7 @@ Vision::open ( const char *fn, const Camera &cam )
     cv::undistort( unbayered, undistorted, cam.K(1), cam.d(1));
     undistorted.convertTo(original, CV_32FC3);
     cv::cvtColor(original, gray, CV_BGR2GRAY);
-    display = unbayered.clone();
+    display = undistorted.clone();
     return ;
 }		/* -----  end of method Vision::open  ----- */