diff options
| -rw-r--r-- | facetracknoir/tracker.cpp | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/facetracknoir/tracker.cpp b/facetracknoir/tracker.cpp index 83f60356..43db732e 100644 --- a/facetracknoir/tracker.cpp +++ b/facetracknoir/tracker.cpp @@ -131,8 +131,6 @@ void Tracker::run() { const double yi = mainApp->axis(Yaw).invert;
const double pi = mainApp->axis(Pitch).invert;
const double ri = mainApp->axis(Roll).invert;
- output_camera.axes[Yaw] += atan2(target_camera2.axes[TX] * yi, target_camera2.axes[TZ]);
- output_camera.axes[Pitch] += atan2(target_camera2.axes[TY] * pi, target_camera2.axes[TZ]);
const auto H = output_camera.axes[Yaw] * M_PI / 180 * yi;
const auto P = output_camera.axes[Pitch] * M_PI / 180 * pi;
const auto B = output_camera.axes[Roll] * M_PI / 180 * ri;
@@ -164,6 +162,9 @@ void Tracker::run() { for (int i = 0; i < 3; i++)
output_camera.axes[i] = ret.at<double>(i);
+
+ output_camera.axes[Yaw] += atan2(output_camera.axes[TZ], output_camera.axes[TX]) * yi;
+ output_camera.axes[Pitch] -= atan2(output_camera.axes[TZ], output_camera.axes[TY]) * pi;
}
if (Libraries->pProtocol) {
|