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authorStanislaw Halik <sthalik@misaki.pl>2013-10-27 11:11:02 +0100
committerStanislaw Halik <sthalik@misaki.pl>2013-10-27 11:11:02 +0100
commitbc4e25f2cc8f7763ca42c892adaad9325fdc25b3 (patch)
treea11a54d54144cb44e9a22b2e6fc6de6ab2b6eaf7
parent0038b0435334c56070bff84a2ec6c7ccfff7d062 (diff)
compensation v2: don't rotate on pure translation
-rw-r--r--facetracknoir/tracker.cpp5
1 files changed, 3 insertions, 2 deletions
diff --git a/facetracknoir/tracker.cpp b/facetracknoir/tracker.cpp
index 83f60356..43db732e 100644
--- a/facetracknoir/tracker.cpp
+++ b/facetracknoir/tracker.cpp
@@ -131,8 +131,6 @@ void Tracker::run() {
const double yi = mainApp->axis(Yaw).invert;
const double pi = mainApp->axis(Pitch).invert;
const double ri = mainApp->axis(Roll).invert;
- output_camera.axes[Yaw] += atan2(target_camera2.axes[TX] * yi, target_camera2.axes[TZ]);
- output_camera.axes[Pitch] += atan2(target_camera2.axes[TY] * pi, target_camera2.axes[TZ]);
const auto H = output_camera.axes[Yaw] * M_PI / 180 * yi;
const auto P = output_camera.axes[Pitch] * M_PI / 180 * pi;
const auto B = output_camera.axes[Roll] * M_PI / 180 * ri;
@@ -164,6 +162,9 @@ void Tracker::run() {
for (int i = 0; i < 3; i++)
output_camera.axes[i] = ret.at<double>(i);
+
+ output_camera.axes[Yaw] += atan2(output_camera.axes[TZ], output_camera.axes[TX]) * yi;
+ output_camera.axes[Pitch] -= atan2(output_camera.axes[TZ], output_camera.axes[TY]) * pi;
}
if (Libraries->pProtocol) {