rs-pose-apriltag: add comment and alternative to tag pose estimation

humamamouri · Jul 9, 2019 · 69e9407 · 69e9407
1 parent 06e091b
commit 69e9407
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/examples/pose-apriltag/rs-pose-apriltag.cpp b/examples/pose-apriltag/rs-pose-apriltag.cpp
@@ -118,8 +118,9 @@ class apriltag_manager {
         {
             tags.pose_raw[t] = std::shared_ptr<apriltag_pose_t>(new apriltag_pose_t(), apriltag_pose_destory);
 
-            undistort(*(info_.det = tags.get(t)), intr);
-            estimate_tag_pose(&info_, tags.pose_raw[t].get());
+            undistort(*(info_.det = tags.get(t)), intr);                      //recompute tag corners on an undistorted image focal length = 1
+            //estimate_tag_pose(&info_, tags.pose_raw[t].get());              //(alternative) estimate tag pose in camera coordinate
+            estimate_pose_for_tag_homography(&info_, tags.pose_raw[t].get()); //estimate tag pose in camera coordinate
             for(auto c : {1,2,4,5,7,8}){ tags.pose_raw[t]->R->data[c] *= -1; }
 
             tags.pose_in_camera[t] = to_transform(tags.pose_raw[t]->R->data, tags.pose_raw[t]->t->data);