diff options
Diffstat (limited to 'ftnoir_tracker_aruco')
| -rw-r--r-- | ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 5 |
1 files changed, 1 insertions, 4 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index d4489638..99ef3271 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -196,8 +196,6 @@ void Tracker::run() int cur_fps = 0; int last_fps = 0; cv::Point2f last_centroid; - const double pitch_eps = 45; - double last_pitch = 0; bool first = true; while (!stop) @@ -338,10 +336,9 @@ void Tracker::run() { cv::Vec3d euler = cv::RQDecomp3x3(rotation_matrix, junk1, junk2); - if (fabs(euler[0] - last_pitch) > pitch_eps || euler[0] - s.marker_pitch < 0) + if (euler[0] - s.marker_pitch < 0) { first = true; - last_pitch = euler[0]; qDebug() << "reset levmarq due to pitch breakage"; } |