From 85aa1942a789c3df99a3a5b1a87485cc050be28e Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Fri, 24 Oct 2014 04:55:35 +0200 Subject: 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 --- opentrack/pose.hpp | 11 +---------- 1 file changed, 1 insertion(+), 10 deletions(-) (limited to 'opentrack/pose.hpp') 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; - } }; -- cgit v1.2.3