diff options
Diffstat (limited to 'opentrack/tracker.cpp')
| -rwxr-xr-x | opentrack/tracker.cpp | 14 |
1 files changed, 7 insertions, 7 deletions
diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp index f31e1185..e79d32c1 100755 --- a/opentrack/tracker.cpp +++ b/opentrack/tracker.cpp @@ -55,11 +55,11 @@ void Tracker::t_compensate(const rmat& rmat, const double* xyz, double* output, dmat<3, 1> tvec({ xyz[2], -xyz[0], -xyz[1] }); const dmat<3, 1> ret = rmat * tvec; if (!rz) - output[2] = ret(0, 0); + output[2] = ret(0); else output[2] = xyz[2]; - output[1] = -ret(2, 0); - output[0] = -ret(1, 0); + output[1] = -ret(2); + output[0] = -ret(1); } void Tracker::logic() @@ -95,7 +95,7 @@ void Tracker::logic() for (int i = 0; i < 3; i++) { - raw(i+3) = value(i+3) = mat(i, 0) * r2d; + raw(i+3) = value(i+3) = mat(i) * r2d; raw(i) = value(i) = t_b[i]; } } @@ -127,19 +127,19 @@ void Tracker::logic() { centerp = false; for (int i = 0; i < 3; i++) - t_b[i] = t(i, 0); + t_b[i] = t(i); r_b = r; } { - double tmp[3] = { t(0, 0) - t_b[0], t(1, 0) - t_b[1], t(2, 0) - t_b[2] }; + double tmp[3] = { t(0) - t_b[0], t(1) - t_b[1], t(2) - t_b[2] }; t_compensate(cam, tmp, tmp, false); const rmat m_ = r_b.t() * r; const dmat<3, 1> euler = rmat::rmat_to_euler(m_); for (int i = 0; i < 3; i++) { value(i) = tmp[i]; - value(i+3) = euler(i, 0) * r2d; + value(i+3) = euler(i) * r2d; } } |