diff options
| -rw-r--r-- | ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index be5d0f32..cbd9f531 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -284,7 +284,7 @@ void Tracker::run() m, cv::Size(5, 5), cv::Size(-1, -1), cv::TermCriteria(cv::TermCriteria::MAX_ITER | cv::TermCriteria::EPS, - 10, + 20, 1e-2)); const float size = 7; @@ -338,7 +338,7 @@ void Tracker::run() { cv::Vec3d euler = cv::RQDecomp3x3(rotation_matrix, junk1, junk2); - if (fabs(euler[0] - last_pitch) > pitch_eps || euler[0] < 0) + if (fabs(euler[0] - last_pitch) > pitch_eps || euler[0] - s.marker_pitch < 0) { first = true; last_pitch = euler[0]; |