diff options
-rw-r--r-- | opentrack/tracker.cpp | 34 |
1 files changed, 16 insertions, 18 deletions
diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp index d0a0b8f2..96838571 100644 --- a/opentrack/tracker.cpp +++ b/opentrack/tracker.cpp @@ -105,24 +105,9 @@ void Tracker::logic() { libs.pTracker->data(newpose); - Pose final_raw_; - if (enabledp) - { for (int i = 0; i < 6; i++) - { - auto& axis = m(i); - int k = axis.opts.src; - if (k < 0 || k >= 6) - { - final_raw_(i) = 0; - continue; - } - // not really raw, after axis remap -sh - final_raw_(i) = newpose[k]; - } - final_raw = final_raw_; - } + final_raw(i) = newpose[i]; Pose filtered_pose; @@ -163,14 +148,27 @@ void Tracker::logic() for (int i = 0; i < 6; i++) mapped_pose_precomp(i) = map(raw_centered(i), m(i)); - Pose mapped_pose = mapped_pose_precomp; + Pose mapped_pose_ = mapped_pose_precomp; if (s.tcomp_p) t_compensate(euler_to_rmat(&mapped_pose_precomp[Yaw]), mapped_pose_precomp, - mapped_pose, + mapped_pose_, s.tcomp_tz); + Pose mapped_pose; + + for (int i = 0; i < 6; i++) + { + auto& axis = m(i); + int k = axis.opts.src; + if (k < 0 || k >= 6) + mapped_pose(i) = 0; + else + mapped_pose(i) = mapped_pose_(i); + } + + libs.pProtocol->pose(mapped_pose); QMutexLocker foo(&mtx); |