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Fix aruco board «reference point» determination

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This commit is contained in:
Oleg Kalachev
2017-12-19 03:57:50 +03:00
parent 23b9bb8bea
commit 094f96b096
1 changed files with 2 additions and 2 deletions
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4
aruco_pose/src/aruco_pose.cpp
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@@ -157,8 +157,8 @@ cv::Point3f ArucoPose::getObjPointsCenter(cv::Mat objPoints) {
for (int i = 0; i < objPoints.rows; i++) {
max_x = std::max(max_x, objPoints.at<float>(i, 0));
max_y = std::max(max_y, objPoints.at<float>(i, 1));
min_x = std::min(max_x, objPoints.at<float>(i, 0));
min_y = std::min(max_y, objPoints.at<float>(i, 1));
min_x = std::min(min_x, objPoints.at<float>(i, 0));
min_y = std::min(min_y, objPoints.at<float>(i, 1));
}
cv::Point3f res((min_x + max_x) / 2, (min_y + max_y) / 2, 0);
return res;