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authorStanislaw Halik <sthalik@misaki.pl>2014-01-11 16:27:09 +0100
committerStanislaw Halik <sthalik@misaki.pl>2014-01-11 16:27:09 +0100
commit7217cf5ac2191c92c956c88f012282882593bfc4 (patch)
treea82a5fc88aee6b1a57d00d78f7e5730153c7b336
parent9e9d76b68996840d264f7c8760d7879c2cc8781c (diff)
fix translation estimation
-rw-r--r--FTNoIR_Tracker_PT/point_tracker.cpp8
1 files changed, 5 insertions, 3 deletions
diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp
index a881da62..2dd89aed 100644
--- a/FTNoIR_Tracker_PT/point_tracker.cpp
+++ b/FTNoIR_Tracker_PT/point_tracker.cpp
@@ -240,9 +240,11 @@ void PointTracker::POSIT(float fov, int w, int h)
obj_points.push_back(point_model->M01);
obj_points.push_back(point_model->M02);
- img_points.push_back(p[0]);
- img_points.push_back(p[1]);
- img_points.push_back(p[2]);
+ for (int i = 0; i < 3; i++)
+ {
+ auto p2 = cv::Point(p[i][0] * w + w/2, p[i][1] * h + h/2);
+ img_points.push_back(p2);
+ }
const float HT_PI = 3.1415926535;