modelec/detection_pot
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send only the x and z coordinate to the server

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ackimixs
2024-04-09 13:48:35 +02:00
parent b021e975b4
commit cf9103537b
2 changed files with 1 additions and 2 deletions
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2
aruco/ArucoDetector.cpp
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@@ -208,7 +208,7 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
cv::Mat rotaEuler = (cv::Mat_<double>(3, 1) << roll, pitch, yaw);
// Apply the homogeneous transformation to tvec
cv::Mat translat = (cv::Mat_<double>(4, 1) << tvec.at<double>(2, 0) + 10 /*+ 91 TODO camera is not at the center*/ /* TODO la pince n'est pas au millieu non plus*/, tvec.at<double>(1, 0) /* + TODO HAUTEUR CAMERA */, (tvec.at<double>(0, 0)), 1);
cv::Mat translat = (cv::Mat_<double>(4, 1) << tvec.at<double>(2, 0) + 20 /*+ 91 TODO camera is not at the center*/ /* TODO la pince n'est pas au millieu non plus*/, tvec.at<double>(1, 0) /* + TODO HAUTEUR CAMERA */, (tvec.at<double>(0, 0)), 1);
cv::Mat transformedTvec = (transformationMatrix * translat);

1
tcp/MyClient.cpp
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@@ -31,7 +31,6 @@ void MyClient::handleMessage(const std::string& message)
res += std::to_string(tag.id) + ",";
res += tag.name + ",";
res += std::to_string(pos.first.at<double>(0, 0)) + ",";
res += std::to_string(pos.first.at<double>(1, 0)) + ",";
res += std::to_string(pos.first.at<double>(2, 0)) + ",";
}
}