Don't use axes as class/struct members. Use an array instead, and iterate over them where applicable.

2 files changed, 8 insertions, 8 deletions

diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 96017d52..654e9924 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -192,7 +192,7 @@ void Tracker::paint_widget() {
     }

 }

 

-bool Tracker::GiveHeadPoseData(THeadPoseData *data)

+bool Tracker::GiveHeadPoseData(double *data)

 {

 	const float rad2deg = 180.0/3.14159265;

 	const float deg2rad = 1.0/rad2deg;

@@ -217,13 +217,13 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data)
 

 		// get translation(s)

 		if (bEnableX) {

-			data->x = t[0] / 10.0;	// convert to cm

+            data[TX] = t[0] / 10.0;	// convert to cm

 		}

 		if (bEnableY) {

-			data->y = t[1] / 10.0;

+            data[TY] = t[1] / 10.0;

 		}

 		if (bEnableZ) {

-			data->z = t[2] / 10.0;

+            data[TZ] = t[2] / 10.0;

 		}

 

 		// translate rotation matrix from opengl (G) to roll-pitch-yaw (R) frame

@@ -241,13 +241,13 @@ bool Tracker::GiveHeadPoseData(THeadPoseData *data)
 		gamma = atan2( R(2,1), R(2,2));		

 

 		if (bEnableYaw) {

-			data->yaw   = rad2deg * alpha;

+            data[RX]   = rad2deg * alpha;

 		}

 		if (bEnablePitch) {

-            data->pitch = rad2deg * beta;

+            data[RY] = rad2deg * beta;

 		}

 		if (bEnableRoll) {

-			data->roll  = rad2deg * gamma;

+            data[RZ]  = rad2deg * gamma;

 		}

 	}

 	return true;

diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
index 49881b69..014cab76 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
@@ -33,7 +33,7 @@ public:
 

 	// ITracker interface

     void StartTracker(QFrame* videoFrame);

-	bool GiveHeadPoseData(THeadPoseData *data);

+    bool GiveHeadPoseData(double *data);

 

 	void refreshVideo();