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authorStanislaw Halik <sthalik@misaki.pl>2013-10-26 23:25:39 +0200
committerStanislaw Halik <sthalik@misaki.pl>2013-10-27 01:05:52 +0200
commite5712bbc76b2f970169a7778edd0d8c9e84bae9e (patch)
tree1c1bb829774b1ee36f9d0fc9ae05d2aa77e8ef6a
parent5f643fa61aa4b5701de758010531ae227c6a202c (diff)
aruco fix reprojection not showing
Signed-off-by: Stanislaw Halik <sthalik@misaki.pl>
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp9
1 files changed, 4 insertions, 5 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index 7ad80b46..1a638198 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -243,7 +243,7 @@ void Tracker::run()
3);
}
- cv::circle(frame, last_centroid, 4, cv::Scalar(0, 0, 0), -1);
+ cv::circle(frame, last_centroid, 7, cv::Scalar(255, 255, 0), -1);
auto time = cv::getTickCount();
@@ -321,13 +321,12 @@ void Tracker::run()
error += std::sqrt(x * x + y * y);
}
- reprojection.clear();
- reprojection.resize(1);
+ std::vector<cv::Point2f> repr2;
std::vector<cv::Point3f> centroid;
centroid.push_back(cv::Point3f(0, 0, 0));
- cv::projectPoints(centroid, rvec, tvec, intrinsics, dist_coeffs, reprojection);
+ cv::projectPoints(centroid, rvec, tvec, intrinsics, dist_coeffs, repr2);
- last_centroid = reprojection[0];
+ last_centroid = repr2[0];
//pose[Yaw] -= atan(pose[TX] / pose[TZ]) * 180 / HT_PI;
//pose[Pitch] -= atan(pose[TY] / pose[TZ]) * 180 / HT_PI;