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-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.cpp9
1 files changed, 5 insertions, 4 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index f6791615..de4c7a41 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -83,11 +83,12 @@ void Tracker::run()
point_tracker.track(points, PointModel(s), get_focal_length(), s.dynamic_pose);
{
- Affine CM = pose();
- cv::Vec3f MH(s.t_MH_x, s.t_MH_y, s.t_MH_z);
- cv::Vec3f p = CM.t + MH;
+ Affine X_CM = pose();
+ Affine X_MH(Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z)); // just copy pasted these lines from below
+ Affine X_GH = X_CM * X_MH;
+ cv::Vec3f p = X_GH.t; // head (center?) position in global space
float fx = get_focal_length();
- cv::Vec2f p_(p[0] / p[2] * fx, p[1] / p[2] * fx);
+ cv::Vec2f p_(p[0] / p[2] * fx, p[1] / p[2] * fx); // projected to screen
points.push_back(p_);
}