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authorStanislaw Halik <sthalik@misaki.pl>2013-07-28 14:08:42 +0200
committerStanislaw Halik <sthalik@misaki.pl>2013-07-28 14:08:42 +0200
commitf7ebbcc2f6fdc3f835b323d7515a5291daa90481 (patch)
treeb0afb6bd7937c5f39361cf90e2b5c67f9cfa005c /ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
parent0c3c6f34a0b94e1acbf1044efd2d1e5432a7caf3 (diff)
Apply translation compensation for yaw/pitch
Diffstat (limited to 'ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp')
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp5
1 files changed, 3 insertions, 2 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index 171b8df3..200010e8 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -244,6 +244,9 @@ void Tracker::run()
pose[Yaw] = foo[1];
pose[Pitch] = -foo[0];
pose[Roll] = foo[2];
+
+ pose[Yaw] -= atan(pose[TX] / pose[TZ]) * 180 / HT_PI;
+ pose[Pitch] -= atan(pose[TY] / pose[TZ]) * 180 / HT_PI;
}
frame = color.clone();
@@ -252,8 +255,6 @@ void Tracker::run()
bool Tracker::GiveHeadPoseData(double *data)
{
- bool ret = false;
-
QMutexLocker lck(&mtx);
if (frame.rows > 0)