aruco: optimize from previous position when estimating pose

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);