diff options
| -rw-r--r-- | facetracknoir/facetracknoir.cpp | 3 | ||||
| -rw-r--r-- | facetracknoir/facetracknoir.h | 3 | ||||
| -rw-r--r-- | facetracknoir/rotation.cpp | 15 | ||||
| -rw-r--r-- | facetracknoir/rotation.h | 54 | ||||
| -rw-r--r-- | facetracknoir/tracker_types.cpp | 2 |
5 files changed, 31 insertions, 46 deletions
diff --git a/facetracknoir/facetracknoir.cpp b/facetracknoir/facetracknoir.cpp index 623b16b2..aa072401 100644 --- a/facetracknoir/facetracknoir.cpp +++ b/facetracknoir/facetracknoir.cpp @@ -683,7 +683,8 @@ void FaceTrackNoIR::startTracker( ) { //
tracker->setInvertAxis(Yaw, ui.chkInvertYaw->isChecked() );
tracker->setInvertAxis(Pitch, ui.chkInvertPitch->isChecked() );
- tracker->setInvertAxis(Roll, ui.chkInvertRoll->isChecked() ); tracker->setInvertAxis(TX, ui.chkInvertX->isChecked() );
+ tracker->setInvertAxis(Roll, ui.chkInvertRoll->isChecked() );
+ tracker->setInvertAxis(TX, ui.chkInvertX->isChecked() );
tracker->setInvertAxis(TY, ui.chkInvertY->isChecked() );
tracker->setInvertAxis(TZ, ui.chkInvertZ->isChecked() );
diff --git a/facetracknoir/facetracknoir.h b/facetracknoir/facetracknoir.h index a6d99165..fd9c06a7 100644 --- a/facetracknoir/facetracknoir.h +++ b/facetracknoir/facetracknoir.h @@ -186,7 +186,8 @@ private: void setInvertAxis( Axis axis, int invert );
void setInvertYaw(int invert) {
- setInvertAxis(Yaw, invert); }
+ setInvertAxis(Yaw, invert);
+ }
void setInvertPitch(int invert) {
setInvertAxis(Pitch, invert);
}
diff --git a/facetracknoir/rotation.cpp b/facetracknoir/rotation.cpp deleted file mode 100644 index 1a6e1e8e..00000000 --- a/facetracknoir/rotation.cpp +++ /dev/null @@ -1,15 +0,0 @@ -/* Copyright (c) 2012 Patrick Ruoff
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- */
-
-#include "rotation.h"
-
-
-
-// ----------------------------------------------------------------------------
-
-
-
diff --git a/facetracknoir/rotation.h b/facetracknoir/rotation.h index 1e472cf2..a1500969 100644 --- a/facetracknoir/rotation.h +++ b/facetracknoir/rotation.h @@ -12,12 +12,12 @@ class Rotation {
public:
- Rotation() : w(1.0),x(0.0),y(0.0),z(0.0) {}
+ Rotation() : a(1.0),b(0.0),c(0.0),d(0.0) {}
Rotation(double yaw, double pitch, double roll) { fromEuler(yaw, pitch, roll); }
- Rotation(double x, double y, double z, double w) : x(x),y(y),z(z),w(w) {}
+ Rotation(double a, double b, double c, double d) : a(a),b(b),c(c),d(d) {}
Rotation inv(){ // inverse
- return Rotation(-x,-y,-z, w);
+ return Rotation(a,-b,-c,-d);
}
@@ -25,48 +25,46 @@ public: // see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
void fromEuler(double yaw, double pitch, double roll)
{
- // Assuming the angles are in radians.
- double c1 = cos(yaw);
- double s1 = sin(yaw);
- double c2 = cos(roll);
- double s2 = sin(roll);
- double c3 = cos(pitch);
- double s3 = sin(pitch);
- w = sqrt(1.0 + c1 * c2 + c1*c3 - s1 * s2 * s3 + c2*c3) / 2.0;
- double w4 = (4.0 * w);
- x = (c2 * s3 + c1 * s3 + s1 * s2 * c3) / w4 ;
- y = (s1 * c2 + s1 * c3 + c1 * s2 * s3) / w4 ;
- z = (-s1 * s3 + c1 * s2 * c3 +s2) / w4 ;
+ double sin_phi = sin(roll/2.0);
+ double cos_phi = cos(roll/2.0);
+ double sin_the = sin(pitch/2.0);
+ double cos_the = cos(pitch/2.0);
+ double sin_psi = sin(yaw/2.0);
+ double cos_psi = cos(yaw/2.0);
+
+ a = cos_phi*cos_the*cos_psi + sin_phi*sin_the*sin_psi;
+ b = sin_phi*cos_the*cos_psi - cos_phi*sin_the*sin_psi;
+ c = cos_phi*sin_the*cos_psi + sin_phi*cos_the*sin_psi;
+ d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi;
}
void toEuler(double& yaw, double& pitch, double& roll)
{
-
- yaw = atan2(2.0*(y*w - x*z), 1.0 - 2.0*(y*y + z*z));
- roll = asin(2.0*(x*y + z*w));
- pitch = atan2(2.0*(x*w - y*z), 1.0 - 2.0*(x*x + z*z));
+ roll = atan2(2.0*(a*b + c*d), 1.0 - 2.0*(b*b + c*c));
+ pitch = asin(2.0*(a*c - b*d));
+ yaw = atan2(2.0*(a*d + b*c), 1.0 - 2.0*(c*c + d*d));
}
/* const Rotation operator*(const Rotation& A, const Rotation& B)
{
- return Rotation(A.w*B.w - A.x*B.x - A.y*B.y - A.z*B.z, // quaternion multiplication
- A.w*B.x + A.x*B.w + A.y*B.z - A.z*B.y,
- A.w*B.y - A.x*B.z + A.y*B.w + A.z*B.x,
- A.w*B.z + A.x*B.y - A.y*B.x + A.z*B.w);
+ return Rotation(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d, // quaternion multiplication
+ A.a*B.b + A.b*B.a + A.c*B.d - A.d*B.c,
+ A.a*B.c - A.b*B.d + A.c*B.a + A.d*B.b,
+ A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a);
}*/
const Rotation operator*(const Rotation& B)
{
const Rotation& A = *this;
- return Rotation(A.w*B.w - A.x*B.x - A.y*B.y - A.z*B.z, // quaternion multiplication
- A.w*B.x + A.x*B.w + A.y*B.z - A.z*B.y,
- A.w*B.y - A.x*B.z + A.y*B.w + A.z*B.x,
- A.w*B.z + A.x*B.y - A.y*B.x + A.z*B.w);
+ return Rotation(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d, // quaternion multiplication
+ A.a*B.b + A.b*B.a + A.c*B.d - A.d*B.c,
+ A.a*B.c - A.b*B.d + A.c*B.a + A.d*B.b,
+ A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a);
}
protected:
- double w,x,y,z; // quaternion coefficients
+ double a,b,c,d; // quaternion coefficients
};
diff --git a/facetracknoir/tracker_types.cpp b/facetracknoir/tracker_types.cpp index 89a06d7e..11adc985 100644 --- a/facetracknoir/tracker_types.cpp +++ b/facetracknoir/tracker_types.cpp @@ -13,10 +13,10 @@ T6DOF operator-(const T6DOF& A, const T6DOF& B) T6DOF C;
R_C.toEuler(C.axes[Yaw], C.axes[Pitch], C.axes[Roll]);
- R_C.toEuler(C.axes[Yaw], C.axes[Pitch], C.axes[Roll]);
C.axes[Yaw] *= R2D;
C.axes[Pitch] *= R2D;
C.axes[Roll] *= R2D;
+
C.axes[TX] = A.axes[TX] - B.axes[TX];
C.axes[TY] = A.axes[TY] - B.axes[TY];
C.axes[TZ] = A.axes[TZ] - B.axes[TZ];
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