diff options
Diffstat (limited to 'FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp')
| -rw-r--r-- | FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp | 38 |
1 files changed, 30 insertions, 8 deletions
diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp index 13522863..412d35d4 100644 --- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp @@ -109,7 +109,16 @@ void Tracker::apply(const TrackerSettings& settings) sleep_time = settings.sleep_time;
point_tracker.dt_reset = settings.reset_time / 1000.0;
draw_frame = settings.video_widget;
+
+ bEnableRoll = settings.bEnableRoll;
+ bEnablePitch = settings.bEnablePitch;
+ bEnableYaw = settings.bEnableYaw;
+ bEnableX = settings.bEnableX;
+ bEnableY = settings.bEnableY;
+ bEnableZ = settings.bEnableZ;
+
t_MH = settings.t_MH;
+ qDebug()<<"Tracker::apply ends";
}
void Tracker::reset()
@@ -189,12 +198,19 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data) Matx33f R = X_CH.R * X_CH_0.R.t();
Vec3f t = X_CH.t - X_CH_0.t;
- // get translation
- data->x = t[0] / 10.0; // convert to cm
- data->y = t[1] / 10.0;
- data->z = t[2] / 10.0;
+ // get translation(s)
+ if (bEnableX) {
+ data->x = t[0] / 10.0; // convert to cm
+ }
- // translate rotatation matrix from opengl (G) to roll-pitch-yaw (R) frame
+ if (bEnableY) {
+ data->y = t[1] / 10.0;
+ }
+ if (bEnableZ) {
+ data->z = t[2] / 10.0;
+ }
+
+ // translate rotation matrix from opengl (G) to roll-pitch-yaw (R) frame
// -z -> x, y -> z, x -> -y
Matx33f R_RG( 0, 0,-1,
-1, 0, 0,
@@ -208,9 +224,15 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data) alpha = atan2( R(1,0), R(0,0));
gamma = atan2( R(2,1), R(2,2));
- data->yaw = rad2deg * alpha;
- data->pitch = -rad2deg * beta; // this is what ftnoir expects?
- data->roll = rad2deg * gamma;
+ if (bEnableYaw) {
+ data->yaw = rad2deg * alpha;
+ }
+ if (bEnablePitch) {
+ data->pitch = -rad2deg * beta; // this is what ftnoir expects?
+ }
+ if (bEnableRoll) {
+ data->roll = rad2deg * gamma;
+ }
}
return true;
}
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