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authorStanislaw Halik <sthalik@misaki.pl>2014-12-19 18:57:52 +0100
committerStanislaw Halik <sthalik@misaki.pl>2014-12-19 18:58:51 +0100
commita0f9bec29f95a790b30c72d97b2c45684c63aa4f (patch)
tree8827d1f9728f2cd982dc49bbf66124a28acf37dc
parentb02a27fa4bc6712b761b26420d2f7f86d7c86578 (diff)
tracker: fix typo breaking Z value
Issue: #106 Yaw value was copied as Z value due to typo.
-rw-r--r--opentrack/tracker.cpp7
1 files changed, 4 insertions, 3 deletions
diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index 60ed4c33..31939dea 100644
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -102,10 +102,9 @@ void Tracker::logic()
};
const rmat cam = rmat::euler_to_rmat(off);
rmat r = rmat::euler_to_rmat(&value[Yaw]);
- dmat<3, 1> t { value(0), value(1), value(3) };
+ dmat<3, 1> t { value(0), value(1), value(2) };
r = cam * r;
- t = cam * t;
if (centerp)
{
@@ -116,11 +115,13 @@ void Tracker::logic()
}
{
+ double tmp[3] = { t(0, 0) - t_b[0], t(1, 0) - t_b[1], t(2, 0) - t_b[2] };
+ t_compensate(cam, tmp, tmp, false);
const rmat m_ = r * r_b.t();
const dmat<3, 1> euler = rmat::rmat_to_euler(m_);
for (int i = 0; i < 3; i++)
{
- value(i) = t(i, 0) - t_b[i];
+ value(i) = tmp[i];
value(i+3) = euler(i, 0) * r2d;
}
}