diff options
| -rw-r--r-- | ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 6 |
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; } } } |