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-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp12
-rw-r--r--ftnoir_tracker_aruco/trans_calib.cpp2
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp6
3 files changed, 10 insertions, 10 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index b86e035c..81cfb895 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -457,10 +457,18 @@ void TrackerControls::toggleCalibrate()
{
if (!calib_timer.isActive())
{
+ s.headpos_x = 0;
+ s.headpos_y = 0;
+ s.headpos_z = 0;
calibrator.reset();
calib_timer.start();
} else {
cleanupCalib();
+
+ auto pos = calibrator.get_estimate();
+ s.headpos_x = pos(0);
+ s.headpos_y = pos(1);
+ s.headpos_z = pos(2);
}
}
@@ -478,10 +486,6 @@ void TrackerControls::update_tracker_calibration()
cv::Vec3d t;
tracker->getRT(r, t);
calibrator.update(r, t);
- auto pos = calibrator.get_estimate() * .1;
- s.headpos_x = pos(0);
- s.headpos_y = pos(1);
- s.headpos_z = pos(2);
}
}
diff --git a/ftnoir_tracker_aruco/trans_calib.cpp b/ftnoir_tracker_aruco/trans_calib.cpp
index 369de449..03b25e6b 100644
--- a/ftnoir_tracker_aruco/trans_calib.cpp
+++ b/ftnoir_tracker_aruco/trans_calib.cpp
@@ -40,5 +40,5 @@ void TranslationCalibrator::update(const Matx33d& R_CM_k, const Vec3d& t_CM_k)
Vec3f TranslationCalibrator::get_estimate()
{
Vec6f x = P.inv() * y;
- return Vec3f(x[0], x[1], x[2]);
+ return Vec3f(-x[0], -x[1], -x[2]);
}
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
index 98dbfb7b..635e21c5 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
@@ -89,7 +89,7 @@ void TrackerDialog::startstop_trans_calib(bool start)
}
else
{
- qDebug()<<"TrackerDialog:: Stoppping translation calibration";
+ qDebug()<<"TrackerDialog:: Stopping translation calibration";
trans_calib_running = false;
{
auto tmp = trans_calib.get_estimate();
@@ -139,10 +139,6 @@ void TrackerDialog::trans_calib_step()
Affine X_CM;
tracker->pose(&X_CM);
trans_calib.update(X_CM.R, X_CM.t);
- cv::Vec3f t_MH = trans_calib.get_estimate();
- s.t_MH_x = t_MH[0];
- s.t_MH_y = t_MH[1];
- s.t_MH_z = t_MH[2];
}
}