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ackimixs
2024-04-08 21:13:40 +02:00
parent f206c08ecf
commit dc358276e9
1 changed files with 1 additions and 1 deletions
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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) + 91, 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) /*+ 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);