diff options
| -rw-r--r-- | ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 8 |
1 files changed, 1 insertions, 7 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index 99ef3271..ee20a9c4 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -278,12 +278,6 @@ void Tracker::run() if (markers.size() == 1 && markers[0].size() == 4) { const auto& m = markers.at(0); - cv::cornerSubPix(grayscale, - m, - cv::Size(5, 5), cv::Size(-1, -1), - cv::TermCriteria(cv::TermCriteria::MAX_ITER | cv::TermCriteria::EPS, - 5, - 1e-4)); const float size = 40; const double p = s.marker_pitch; @@ -336,7 +330,7 @@ void Tracker::run() { cv::Vec3d euler = cv::RQDecomp3x3(rotation_matrix, junk1, junk2); - if (euler[0] - s.marker_pitch < 0) + if (fabs(euler[0]) + fabs(s.marker_pitch) > 60) { first = true; qDebug() << "reset levmarq due to pitch breakage"; |