summaryrefslogtreecommitdiffhomepage
path: root/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
diff options
context:
space:
mode:
authorStanislaw Halik <sthalik@misaki.pl>2015-03-13 22:54:23 +0100
committerStanislaw Halik <sthalik@misaki.pl>2015-03-13 22:54:23 +0100
commitbb33d568f141d85b728c17d2ad2677811e03cd47 (patch)
treef1518c33d1dca5089146c4af4a21b5b80aa3d170 /ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
parentb9d5445341084c3842a2a9380dcd608a8abfc7e0 (diff)
pt: swap Y and Z for model center display
Issue: #106 Confirmed by cap calibration video.
Diffstat (limited to 'ftnoir_tracker_pt/ftnoir_tracker_pt.cpp')
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.cpp4
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);