Adapt Z distance to reach

lagadic · Sep 18, 2024 · e356fae · e356fae
1 parent a710e8b
commit e356fae
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/example/servo-afma6/servoAfma6AprilTagIBVS.cpp b/example/servo-afma6/servoAfma6AprilTagIBVS.cpp
@@ -235,7 +235,7 @@ int main(int argc, char **argv)
     vpHomogeneousMatrix cd_M_c, c_M_o, o_M_o;
 
     // Desired pose used to compute the desired features
-    vpHomogeneousMatrix cd_M_o(vpTranslationVector(0, 0, opt_tagSize * 3), // 3 times tag with along camera z axis
+    vpHomogeneousMatrix cd_M_o(vpTranslationVector(0, 0, opt_tagSize * 3.5), // 3.5 times tag with along camera z axis
                                vpThetaUVector(vpMath::rad(10), vpMath::rad(3), vpMath::rad(5)));
     if (!detector.isZAlignedWithCameraAxis()) {
       vpHomogeneousMatrix oprim_M_o = { 1,  0,  0, 0,

diff --git a/example/servo-afma6/servoAfma6AprilTagPBVS.cpp b/example/servo-afma6/servoAfma6AprilTagPBVS.cpp
@@ -234,7 +234,7 @@ int main(int argc, char **argv)
     vpHomogeneousMatrix cd_M_c, c_M_o, o_M_o;
 
     // Desired pose to reach
-    vpHomogeneousMatrix cd_M_o(vpTranslationVector(0, 0, opt_tagSize * 3), // 3 times tag with along camera z axis
+    vpHomogeneousMatrix cd_M_o(vpTranslationVector(0, 0, opt_tagSize * 3.5), // 3.5 times tag with along camera z axis
                                vpThetaUVector(vpMath::rad(10), vpMath::rad(3), vpMath::rad(5)));
     if (!detector.isZAlignedWithCameraAxis()) {
       vpHomogeneousMatrix oprim_M_o = { 1,  0,  0, 0,