From 1b8d1240d7fdfcf3f1fd322b53a08850fe0e782d Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 6 Jun 2015 11:01:48 +0200 Subject: aruco: optimize from previous position when estimating pose --- ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'ftnoir_tracker_aruco') diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index 8188db90..4fa4fffe 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -234,7 +234,7 @@ void Tracker::run() obj_points.at(x4,1)= size + s.headpos_y; obj_points.at(x4,2)= 0 + s.headpos_z; - cv::solvePnP(obj_points, m, intrinsics, dist_coeffs, rvec, tvec, false, cv::SOLVEPNP_ITERATIVE); + cv::solvePnP(obj_points, m, intrinsics, dist_coeffs, rvec, tvec, roi_valid, cv::SOLVEPNP_ITERATIVE); std::vector roi_projection(4); -- cgit v1.2.3