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authorStanislaw Halik <sthalik@misaki.pl>2015-06-06 11:01:48 +0200
committerStanislaw Halik <sthalik@misaki.pl>2015-06-06 11:01:48 +0200
commit1b8d1240d7fdfcf3f1fd322b53a08850fe0e782d (patch)
tree8e6bff2049ae26e8ac6791e66c2b14cb6e3b3a00
parent28694265371386777253f8279752e47c45f471d5 (diff)
aruco: optimize from previous position when estimating pose
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp2
1 files changed, 1 insertions, 1 deletions
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<float>(x4,1)= size + s.headpos_y;
obj_points.at<float>(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<cv::Point2f> roi_projection(4);