Changed centering algorithm to use proper matrix algebra.

Cleaned up T6DOF structure.
Updated vc_9 project files.


git-svn-id: svn+ssh://svn.code.sf.net/p/facetracknoir/code@169 19e81ba0-9b1a-49c3-bd6c-561e1906d5fb

1 files changed, 9 insertions, 44 deletions

diff --git a/FTNoIR_Tracker_Base/ftnoir_tracker_types.h b/FTNoIR_Tracker_Base/ftnoir_tracker_types.h
index 93007b54..ace7a6e3 100644
--- a/FTNoIR_Tracker_Base/ftnoir_tracker_types.h
+++ b/FTNoIR_Tracker_Base/ftnoir_tracker_types.h
@@ -24,6 +24,7 @@
 *********************************************************************************/

 /*

 	Modifications (last one on top):

+		20120924 - C14: Moved T6DOF to separate file (not pulic interface)

 		20110415 - WVR: Added overloaded operator - and -=

 */

 #ifndef FTNOIR_TRACKER_TYPES_H

@@ -34,53 +35,17 @@
 //

 #pragma pack(push, 2)

 struct THeadPoseData {

-	double x, y, z, yaw, pitch, roll;

-	long frame_number;

-};

-#pragma pack(pop)

 

-//

-// Structure to hold all 6 DOF's

-//

-class T6DOF {

-public:

-	T6DOF( double x, double y, double z, 

-		   double yaw, double pitch, double roll ) {

-		position.x = x;

-		position.y = y;

-		position.z = z;

-		position.yaw = yaw;

-		position.pitch = pitch;

-		position.roll = roll;

-	}

+	THeadPoseData()

+		: x(0.0), y(0.0), z(0.0), yaw(0.0), pitch(0.0), roll(0.0), frame_number(0) {}

 

-	void initHeadPoseData(){

-		position.x = 0.0f;

-		position.y = 0.0f;

-		position.z = 0.0f;

-		position.yaw = 0.0f;

-		position.pitch = 0.0f;

-		position.roll = 0.0f;

-		position.frame_number = 0;

-	}

-	T6DOF operator-( T6DOF &other ) {

-		return T6DOF(position.x - other.position.x, position.y - other.position.y, position.z - other.position.z,

-			         position.yaw - other.position.yaw, position.pitch - other.position.pitch, position.roll - other.position.roll);

-	}

-	T6DOF operator-=( T6DOF &other ) {

-		return T6DOF(position.x - other.position.x, position.y - other.position.y, position.z - other.position.z,

-			         position.yaw - other.position.yaw, position.pitch - other.position.pitch, position.roll - other.position.roll);

-	}

-	T6DOF operator+( T6DOF &other ) {

-		return T6DOF(position.x + other.position.x, position.y + other.position.y, position.z + other.position.z,

-			         position.yaw + other.position.yaw, position.pitch + other.position.pitch, position.roll + other.position.roll);

-	}

-	T6DOF operator+=( T6DOF &other ) {

-		return T6DOF(position.x + other.position.x, position.y + other.position.y, position.z + other.position.z,

-			         position.yaw + other.position.yaw, position.pitch + other.position.pitch, position.roll + other.position.roll);

-	}

+	THeadPoseData(double x, double y, double z, 

+		double yaw, double pitch, double roll ) 

+		: x(x), y(y), z(z), yaw(yaw), pitch(pitch), roll(roll), frame_number(0) {}

 

-	THeadPoseData position;

+	double x, y, z, yaw, pitch, roll;

+	long frame_number;

 };

+#pragma pack(pop)

 

 #endif // FTNOIR_TRACKER_TYPES_H