diff options
Diffstat (limited to 'src/vision.cpp')
| -rw-r--r-- | src/vision.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/vision.cpp b/src/vision.cpp index 07f292f..4b5ce98 100644 --- a/src/vision.cpp +++ b/src/vision.cpp @@ -149,9 +149,6 @@ Vision::acquireFeatures ( const Camera &cam, vector<measurement_t> &z, const vec cv::goodFeaturesToTrack(gray, corners, 20, 0.1, 50, mask); for (auto i=corners.begin(); i!=corners.end(); ++i) { - measurement_t m; - m.id = _id++; - m.z_type = MONO; Vector3d xi; xi << i->x, i->y, 1.; bool tooClose = false; @@ -163,6 +160,9 @@ Vision::acquireFeatures ( const Camera &cam, vector<measurement_t> &z, const vec } } if (tooClose) continue; + measurement_t m; + m.id = _id++; + m.z_type = MONO; m.source = cam.img2body(xi); m.reflection << 0,0,1; getTemplate(m.patch,xi); |