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authorStanislaw Halik <sthalik@misaki.pl>2014-10-26 07:45:39 +0100
committerStanislaw Halik <sthalik@misaki.pl>2014-10-26 07:45:39 +0100
commit1281445a90d43643a1088270e1d4f499ce38457f (patch)
treea5ab1d1c980fcfdccfa79d3350530c74a1cbe253
parent6bb2a053be7a77d26914daee7cd9a13e05454528 (diff)
inverting early caused wrong asymmetric axis selection
-rw-r--r--opentrack/tracker.cpp21
-rw-r--r--opentrack/tracker.h2
2 files changed, 16 insertions, 7 deletions
diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index 96838571..0395365d 100644
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -39,9 +39,9 @@ Tracker::~Tracker()
wait();
}
-double Tracker::map(double pos, Mapping& axis)
+double Tracker::map(double pos, bool invertp, Mapping& axis)
{
- bool altp = (pos < 0) && axis.opts.altp;
+ bool altp = (pos < 0) == !invertp && axis.opts.altp;
axis.curve.setTrackingActive( !altp );
axis.curveAlt.setTrackingActive( altp );
auto& fc = altp ? axis.curveAlt : axis.curve;
@@ -92,12 +92,12 @@ static cv::Matx33d euler_to_rmat(const double* input)
void Tracker::t_compensate(const cv::Matx33d& rmat, const double* xyz, double* output, bool rz)
{
- const double xyz_[3] = { xyz[2], xyz[1], xyz[0] };
+ const double xyz_[3] = { xyz[2], -xyz[1], xyz[0] };
cv::Matx31d tvec(xyz_);
const cv::Matx31d ret = rmat * tvec;
if (!rz)
output[2] = ret(0, 0);
- output[1] = ret(1, 0);
+ output[1] = -ret(1, 0);
output[0] = ret(2, 0);
}
@@ -116,9 +116,18 @@ void Tracker::logic()
else
filtered_pose = final_raw;
+ bool inverts[6] = {
+ m(0).opts.invert,
+ m(1).opts.invert,
+ m(2).opts.invert,
+ m(3).opts.invert,
+ m(4).opts.invert,
+ m(5).opts.invert,
+ };
+
// must invert early as euler_to_rmat's sensitive to sign change
for (int i = 0; i < 6; i++)
- filtered_pose[i] *= m(i).opts.invert ? -1. : 1.;
+ filtered_pose[i] *= inverts[i] ? -1. : 1.;
if (centerp)
{
@@ -146,7 +155,7 @@ void Tracker::logic()
Pose mapped_pose_precomp;
for (int i = 0; i < 6; i++)
- mapped_pose_precomp(i) = map(raw_centered(i), m(i));
+ mapped_pose_precomp(i) = map(raw_centered(i), inverts[i], m(i));
Pose mapped_pose_ = mapped_pose_precomp;
diff --git a/opentrack/tracker.h b/opentrack/tracker.h
index 1d5421c6..1c2d12cd 100644
--- a/opentrack/tracker.h
+++ b/opentrack/tracker.h
@@ -36,7 +36,7 @@ private:
cv::Matx33d r_b;
double t_b[3];
- double map(double pos, Mapping& axis);
+ double map(double pos, bool invertp, Mapping& axis);
void logic();
void t_compensate(const cv::Matx33d& rmat, const double* ypr, double* output, bool rz);