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| author | Stanislaw Halik <sthalik@misaki.pl> | 2015-03-13 22:54:23 +0100 |
|---|---|---|
| committer | Stanislaw Halik <sthalik@misaki.pl> | 2015-03-13 22:54:23 +0100 |
| commit | bb33d568f141d85b728c17d2ad2677811e03cd47 (patch) | |
| tree | f1518c33d1dca5089146c4af4a21b5b80aa3d170 | |
| parent | b9d5445341084c3842a2a9380dcd608a8abfc7e0 (diff) | |
pt: swap Y and Z for model center display
Issue: #106
Confirmed by cap calibration video.
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index 6b88884b..f6791615 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -84,8 +84,8 @@ void Tracker::run() { Affine CM = pose(); - cv::Vec3f MH(-s.t_MH_x, s.t_MH_y, s.t_MH_z); - cv::Vec3f p = CM.t - MH; + cv::Vec3f MH(s.t_MH_x, s.t_MH_y, s.t_MH_z); + cv::Vec3f p = CM.t + MH; float fx = get_focal_length(); cv::Vec2f p_(p[0] / p[2] * fx, p[1] / p[2] * fx); |