diff options
| author | Stanislaw Halik <sthalik@misaki.pl> | 2013-12-09 00:53:26 +0100 |
|---|---|---|
| committer | Stanislaw Halik <sthalik@misaki.pl> | 2013-12-09 00:53:26 +0100 |
| commit | 81e2c265c795d9eda41ebed6550e1f7954db9bc5 (patch) | |
| tree | d480137524d5898318ae1b741361a19fea081cea | |
| parent | eb42ffe30d51aa44ac0bebe0d5a04a6a13bbd789 (diff) | |
move translation compensation to its own function
Signed-off-by: Stanislaw Halik <sthalik@misaki.pl>
| -rw-r--r-- | facetracknoir/tracker.cpp | 65 |
1 files changed, 34 insertions, 31 deletions
diff --git a/facetracknoir/tracker.cpp b/facetracknoir/tracker.cpp index 6c48b17a..b65ccde8 100644 --- a/facetracknoir/tracker.cpp +++ b/facetracknoir/tracker.cpp @@ -50,6 +50,39 @@ static void get_curve(double pos, double& out, THeadPoseDOF& axis) { out += axis.zero;
}
+static void t_compensate(double* input, double* output)
+{
+ const auto H = input[Yaw] * M_PI / 180;
+ const auto P = input[Pitch] * M_PI / 180;
+ const auto B = input[Roll] * M_PI / 180;
+
+ const auto cosH = cos(H);
+ const auto sinH = sin(H);
+ const auto cosP = cos(P);
+ const auto sinP = sin(P);
+ const auto cosB = cos(B);
+ const auto sinB = sin(B);
+
+ double foo[] = {
+ cosH * cosB - sinH * sinP * sinB,
+ - sinB * cosP,
+ sinH * cosB + cosH * sinP * sinB,
+ cosH * sinB + sinH * sinP * cosB,
+ cosB * cosP,
+ sinB * sinH - cosH * sinP * cosB,
+ - sinH * cosP,
+ - sinP,
+ cosH * cosP,
+ };
+
+ cv::Mat rmat(3, 3, CV_64F, foo);
+ const cv::Mat tvec(3, 1, CV_64F, input);
+ cv::Mat ret = rmat * tvec;
+
+ for (int i = 0; i < 3; i++)
+ output[i] = ret.at<double>(i);
+}
+
/** QThread run method @override **/
void Tracker::run() {
T6DOF offset_camera, gameoutput_camera, target_camera;
@@ -129,37 +162,7 @@ void Tracker::run() { }
if (compensate)
- {
- const auto H = output_camera.axes[Yaw] * M_PI / 180;
- const auto P = output_camera.axes[Pitch] * M_PI / 180;
- const auto B = output_camera.axes[Roll] * M_PI / 180;
-
- const auto cosH = cos(H);
- const auto sinH = sin(H);
- const auto cosP = cos(P);
- const auto sinP = sin(P);
- const auto cosB = cos(B);
- const auto sinB = sin(B);
-
- double foo[] = {
- cosH * cosB - sinH * sinP * sinB,
- - sinB * cosP,
- sinH * cosB + cosH * sinP * sinB,
- cosH * sinB + sinH * sinP * cosB,
- cosB * cosP,
- sinB * sinH - cosH * sinP * cosB,
- - sinH * cosP,
- - sinP,
- cosH * cosP,
- };
-
- cv::Mat rmat(3, 3, CV_64F, foo);
- cv::Mat tvec(3, 1, CV_64F, output_camera.axes);
- cv::Mat ret = rmat * tvec;
-
- for (int i = 0; i < 3; i++)
- output_camera.axes[i] = ret.at<double>(i);
- }
+ t_compensate(output_camera.axes, output_camera.axes);
if (Libraries->pProtocol) {
gameoutput_camera = output_camera;
|