From cbc3a7a308d1edde429022a9492eeedce24c5fd9 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Sat, 8 Apr 2017 19:15:25 -0500
Subject: 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.
---
 src/camera.cpp | 1 +
 1 file changed, 1 insertion(+)

(limited to 'src/camera.cpp')

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  ----- */
 
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