From 77914e2aa25623a237a58b7c80f712129cbb2b55 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 17 Oct 2023 09:15:51 +0200
Subject: Uncommenting pose estimation optimisation

---
 src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
index 8600690..edae927 100644
--- a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
+++ b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
@@ -376,9 +376,9 @@ class ArUcoMarkersGroup():
         success, rvec, tvec = cv2.solvePnP(numpy.array(places_corners_3d), numpy.array(markers_corners_2d), numpy.array(K), numpy.array(D), flags=cv2.SOLVEPNP_SQPNP)
 
         # Refine pose estimation using Gauss-Newton optimisation
-        #if success :
+        if success :
 
-            #rvec, tvec = cv2.solvePnPRefineVVS(numpy.array(places_corners_3d), numpy.array(markers_corners_2d), numpy.array(K), numpy.array(D), rvec, tvec)
+            rvec, tvec = cv2.solvePnPRefineVVS(numpy.array(places_corners_3d), numpy.array(markers_corners_2d), numpy.array(K), numpy.array(D), rvec, tvec)
 
         self._translation = tvec.T
         self._rotation = rvec.T
-- 
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