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| author | Stanislaw Halik <sthalik@misaki.pl> | 2014-01-07 09:00:57 +0100 |
|---|---|---|
| committer | Stanislaw Halik <sthalik@misaki.pl> | 2014-01-07 09:00:57 +0100 |
| commit | cc4e7e331ba24b260edc44db8b09de274cd658a7 (patch) | |
| tree | dc148e9d9dac994066696cd734bdf0ec4e0f9f75 /ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | |
| parent | a7ea46dca6e791b1c6785e270b5d6fbe42f449dc (diff) | |
pose breaks with negative pitch
Diffstat (limited to 'ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp')
| -rw-r--r-- | ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 2 |
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 0719faac..93b43de7 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -335,7 +335,7 @@ void Tracker::run() { cv::Vec3d euler = cv::RQDecomp3x3(rotation_matrix, junk1, junk2); - if (fabs(euler[0] - last_pitch) > pitch_eps) + if (fabs(euler[0] - last_pitch) > pitch_eps || euler[0] < 0) { first = true; last_pitch = euler[0]; |