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authorStanislaw Halik <sthalik@misaki.pl>2014-01-12 01:44:17 +0100
committerStanislaw Halik <sthalik@misaki.pl>2014-01-12 01:44:17 +0100
commit94226df9ba710ee8bf5a28baeebbb5d470796e24 (patch)
treec7a12ba68107dd3498c0ff6655376d4f5411d164
parentbffc54d3b7f3fae018db7e371b7ee8f4e3d57f6a (diff)
correct aruco min pitch equation
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp4
1 files changed, 2 insertions, 2 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index be5d0f32..cbd9f531 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -284,7 +284,7 @@ void Tracker::run()
m,
cv::Size(5, 5), cv::Size(-1, -1),
cv::TermCriteria(cv::TermCriteria::MAX_ITER | cv::TermCriteria::EPS,
- 10,
+ 20,
1e-2));
const float size = 7;
@@ -338,7 +338,7 @@ void Tracker::run()
{
cv::Vec3d euler = cv::RQDecomp3x3(rotation_matrix, junk1, junk2);
- if (fabs(euler[0] - last_pitch) > pitch_eps || euler[0] < 0)
+ if (fabs(euler[0] - last_pitch) > pitch_eps || euler[0] - s.marker_pitch < 0)
{
first = true;
last_pitch = euler[0];