copy centering code from 2.2

Issue: #106

Signs of XYZ are the same, it turns out. It's the display value
that needs adjusting. Tested on @FlyingCircus- video.

2 files changed, 5 insertions, 5 deletions

diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 26550bad..c26af007 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -80,8 +80,8 @@ void Tracker::run()
                 point_tracker.track(points, PointModel(s), get_focal_length());
             
             {
-                cv::Vec3f MH(s.t_MH_x, s.t_MH_y, s.t_MH_z);
                 Affine CM = pose();
+                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);
@@ -161,11 +161,11 @@ void Tracker::data(THeadPoseData *data)
 
     Affine X_CM = point_tracker.pose();
 
-    Affine X_MH(Matx33f::eye(), cv::Vec3f(-s.t_MH_x, s.t_MH_y, s.t_MH_z));
+    Affine X_MH(Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z));
     Affine X_GH = X_CM * X_MH;
 
-    Matx33f R = X_GH.R;
-    Vec3f   t = X_GH.t;
+    Matx33f R = X_GH.R * X_MH.R.t();
+    Vec3f   t = X_GH.t - X_MH.t;
 
     // translate rotation matrix from opengl (G) to roll-pitch-yaw (E) frame
     // -z -> x, y -> z, x -> -y
diff --git a/ftnoir_tracker_pt/trans_calib.cpp b/ftnoir_tracker_pt/trans_calib.cpp
index e6a56e36..2994eb48 100644
--- a/ftnoir_tracker_pt/trans_calib.cpp
+++ b/ftnoir_tracker_pt/trans_calib.cpp
@@ -40,5 +40,5 @@ void TranslationCalibrator::update(const Matx33f& R_CM_k, const Vec3f& t_CM_k)
 Vec3f TranslationCalibrator::get_estimate()
 {
 	Vec6f x = P.inv() * y;
-	return Vec3f(x[0], -x[1], -x[2]);
+	return Vec3f(-x[0], -x[1], -x[2]);
 }