diff options
| -rw-r--r-- | tracker-pt/ftnoir_tracker_pt.cpp | 9 |
1 files changed, 0 insertions, 9 deletions
diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp index 7435e6d7..5f88786a 100644 --- a/tracker-pt/ftnoir_tracker_pt.cpp +++ b/tracker-pt/ftnoir_tracker_pt.cpp @@ -178,15 +178,6 @@ void Tracker_PT::data(double *data) alpha = atan2( R(1,0), R(0,0)); gamma = atan2( R(2,1), R(2,2)); -#if 0 - if (t[2] > 1e-4) - { - alpha += copysign(atan(t[0] / t[2]), t[0]); - // pitch is skewed anyway due to only one focal length value - //beta -= copysign(atan(t[1] / t[2]), t[1]); - } -#endif - data[Yaw] = rad2deg * alpha; data[Pitch] = -rad2deg * beta; data[Roll] = rad2deg * gamma; |