Rotation basis algebra for centering

Reported-by: @doveman months ago, many times

Issue: #63
@dbaarda please confirm that- or -whether- it makes any sense.

Issue: #86
It could be either worse or better than before. Please specify.
Sadly, no time to plug the videos as camera input to PT as of yet.

Signed-off-by: Stanislaw Halik <sthalik@misaki.pl>

1 files changed, 1 insertions, 10 deletions

diff --git a/opentrack/pose.hpp b/opentrack/pose.hpp
index 41e984f5..d0aadcd9 100644
--- a/opentrack/pose.hpp
+++ b/opentrack/pose.hpp
@@ -13,7 +13,7 @@ private:
 
     double axes[6];
 public:
-    Pose() : axes {0,0,0, 0,0,0 } {}
+    Pose() : axes {0,0,0, 0,0,0} {}
 
     inline operator double*() { return axes; }
     inline operator const double*() const { return axes; }
@@ -32,13 +32,4 @@ public:
         q.to_euler_degrees(ret(Yaw), ret(Pitch), ret(Roll));
         return ret;
     }
-
-    Pose operator&(const Pose& B) const
-    {
-        const Quat q = quat() * B.quat().inv();
-        Pose ret = fromQuat(q);
-        for (int i = TX; i < TX + 3; i++)
-            ret(i) = axes[i] - B.axes[i];
-        return ret;
-    }
 };