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lhark 2016-05-23 14:58:04 +02:00
parent 3dbe6d1925
commit 5cd1718a3b
1 changed files with 10 additions and 0 deletions
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src/papillon.cpp
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@ -120,6 +120,9 @@ class Traite_image {
Mat T(2, 3, CV_32FC1);
T = estimateRigidTransform(prev_corner2, cur_corner2, false); // false = rigid transform, no scaling/shearing
double dx = T.at<double>(0,2);
double dy = T.at<double>(1,2);
double da = atan2(T.at<double>(1,0), T.at<double>(0,0));
// cv::Mat H = cv::Mat(3,3,T.type());
// H.at<double>(0,0) = T.at<double>(0,0);
// H.at<double>(0,1) = T.at<double>(0,1);
@ -133,6 +136,13 @@ class Traite_image {
// H.at<double>(2,1) = 0.0;
// H.at<double>(2,2) = 1.0;
T.at<double>(0,0) = cos(da);
T.at<double>(0,1) = -sin(da);
T.at<double>(1,0) = sin(da);
T.at<double>(1,1) = cos(da);
T.at<double>(0,2) = dx;
T.at<double>(1,2) = dy;
// in rare cases no transform is found. We'll just use the last known good transform.
if(T.data == NULL) {