summaryrefslogtreecommitdiffhomepage
path: root/ftnoir_tracker_aruco
diff options
context:
space:
mode:
Diffstat (limited to 'ftnoir_tracker_aruco')
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp8
1 files changed, 1 insertions, 7 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index 99ef3271..ee20a9c4 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -278,12 +278,6 @@ void Tracker::run()
if (markers.size() == 1 && markers[0].size() == 4) {
const auto& m = markers.at(0);
- cv::cornerSubPix(grayscale,
- m,
- cv::Size(5, 5), cv::Size(-1, -1),
- cv::TermCriteria(cv::TermCriteria::MAX_ITER | cv::TermCriteria::EPS,
- 5,
- 1e-4));
const float size = 40;
const double p = s.marker_pitch;
@@ -336,7 +330,7 @@ void Tracker::run()
{
cv::Vec3d euler = cv::RQDecomp3x3(rotation_matrix, junk1, junk2);
- if (euler[0] - s.marker_pitch < 0)
+ if (fabs(euler[0]) + fabs(s.marker_pitch) > 60)
{
first = true;
qDebug() << "reset levmarq due to pitch breakage";