From cc4e7e331ba24b260edc44db8b09de274cd658a7 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Tue, 7 Jan 2014 09:00:57 +0100 Subject: pose breaks with negative pitch --- ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp') diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index 0719faac..93b43de7 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -335,7 +335,7 @@ void Tracker::run() { cv::Vec3d euler = cv::RQDecomp3x3(rotation_matrix, junk1, junk2); - if (fabs(euler[0] - last_pitch) > pitch_eps) + if (fabs(euler[0] - last_pitch) > pitch_eps || euler[0] < 0) { first = true; last_pitch = euler[0]; -- cgit v1.2.3