diff options
| -rw-r--r-- | facetracknoir/ftnoir_curves.ui | 4 | ||||
| -rw-r--r-- | facetracknoir/tracker.cpp | 9 |
2 files changed, 7 insertions, 6 deletions
diff --git a/facetracknoir/ftnoir_curves.ui b/facetracknoir/ftnoir_curves.ui index 87c449ba..77df9a20 100644 --- a/facetracknoir/ftnoir_curves.ui +++ b/facetracknoir/ftnoir_curves.ui @@ -746,7 +746,7 @@ <rect>
<x>10</x>
<y>140</y>
- <width>211</width>
+ <width>291</width>
<height>81</height>
</rect>
</property>
@@ -782,7 +782,7 @@ <string notr="true"/>
</property>
<property name="text">
- <string>Reverse Z axis</string>
+ <string>Disable Z axis compensation</string>
</property>
</widget>
</item>
diff --git a/facetracknoir/tracker.cpp b/facetracknoir/tracker.cpp index 0c5501d4..590d44bf 100644 --- a/facetracknoir/tracker.cpp +++ b/facetracknoir/tracker.cpp @@ -53,7 +53,6 @@ static void get_curve(double pos, double& out, THeadPoseDOF& axis) { static void t_compensate(double* input, double* output, bool rz)
{
- double z = rz ? -1 : 1;
const auto H = input[Yaw] * M_PI / 180;
const auto P = input[Pitch] * M_PI / 180;
const auto B = input[Roll] * M_PI / 180;
@@ -62,8 +61,8 @@ static void t_compensate(double* input, double* output, bool rz) const auto sinH = sin(H);
const auto cosP = cos(P);
const auto sinP = sin(P);
- const auto cosB = cos(B * z);
- const auto sinB = sin(B * z);
+ const auto cosB = cos(B);
+ const auto sinB = sin(B);
double foo[] = {
cosH * cosB - sinH * sinP * sinB,
@@ -81,7 +80,9 @@ static void t_compensate(double* input, double* output, bool rz) const cv::Mat tvec(3, 1, CV_64F, input);
cv::Mat ret = rmat * tvec;
- for (int i = 0; i < 3; i++)
+ const int max = !rz ? 3 : 2;
+
+ for (int i = 0; i < max; i++)
output[i] = ret.at<double>(i);
}
|