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authorStanislaw Halik <sthalik@misaki.pl>2013-10-25 14:09:11 +0200
committerStanislaw Halik <sthalik@misaki.pl>2013-10-25 14:09:11 +0200
commit1a51dff438a5a5ec14b3d31ab081f818c422266f (patch)
tree606753c39552c449c361a5d640dea1ab17d6fb4c
parent3831edae9a45d65f6636767d6f6c53378e036b06 (diff)
remove kludgy compensation
Signed-off-by: Stanislaw Halik <sthalik@misaki.pl>
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp6
1 files changed, 3 insertions, 3 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index 25273f35..43ffc717 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -254,7 +254,7 @@ void Tracker::run()
cv::Rodrigues(rvec, rotation_matrix);
cv::Vec3d foo = cv::RQDecomp3x3(rotation_matrix, junk1, junk2);
-
+
QMutexLocker lck(&mtx);
for (int i = 0; i < 3; i++)
@@ -264,8 +264,8 @@ void Tracker::run()
pose[Pitch] = -foo[0];
pose[Roll] = foo[2];
- pose[Yaw] -= atan(pose[TX] / pose[TZ]) * 180 / HT_PI;
- pose[Pitch] -= atan(pose[TY] / pose[TZ]) * 180 / HT_PI;
+ //pose[Yaw] -= atan(pose[TX] / pose[TZ]) * 180 / HT_PI;
+ //pose[Pitch] -= atan(pose[TY] / pose[TZ]) * 180 / HT_PI;
}
}
}