diff options
author | Stanislaw Halik <sthalik@misaki.pl> | 2015-06-06 11:01:48 +0200 |
---|---|---|
committer | Stanislaw Halik <sthalik@misaki.pl> | 2015-06-06 11:01:48 +0200 |
commit | 1b8d1240d7fdfcf3f1fd322b53a08850fe0e782d (patch) | |
tree | 8e6bff2049ae26e8ac6791e66c2b14cb6e3b3a00 /ftnoir_tracker_aruco | |
parent | 28694265371386777253f8279752e47c45f471d5 (diff) |
aruco: optimize from previous position when estimating pose
Diffstat (limited to 'ftnoir_tracker_aruco')
-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 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); |