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-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.cpp10
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp4
2 files changed, 7 insertions, 7 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 2c64d5cb..f182cacc 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -172,15 +172,15 @@ void Tracker::data(THeadPoseData *data)
R = R_EG * R * R_EG.t();
static constexpr float pi = 3.141592653;
- float cy = cos(pi*.5);
- float sy = sin(pi*.5);
+ float cy = cos(pi*-.5);
+ float sy = sin(pi*-.5);
Matx33f r_y(cy, 0, sy, 0, 1, 0, -sy, 0, cy);
R = r_y.t() * R;
QMutexLocker lock(&mutex);
// extract rotation angles
- data[Pitch] = rad2deg * atan( -R(0,2) / R(0,0));
- data[Roll] = -rad2deg * asin( R(0,1));
- data[Yaw] = -rad2deg * atan( R(2,1) / R(1,1));
+ data[Yaw] = -rad2deg * atan2( R(1,0), R(0,0));
+ data[Pitch] = -rad2deg * atan2( -R(2,0), sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) );
+ data[Roll] = rad2deg * atan2( R(2,1), R(2,2));
// get translation(s)
data[TX] = t[0] / 10.0; // convert to cm
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
index d4cf68ec..ee65c81e 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
@@ -83,10 +83,10 @@ TrackerDialog::TrackerDialog()
void TrackerDialog::set_model_clip()
{
s.m01_x = 0;
- s.m01_y = -static_cast<double>(s.clip_ty);
+ s.m01_y = static_cast<double>(s.clip_ty);
s.m01_z = -static_cast<double>(s.clip_tz);
s.m02_x = 0;
- s.m02_y = static_cast<double>(s.clip_by);
+ s.m02_y = -static_cast<double>(s.clip_by);
s.m02_z = -static_cast<double>(s.clip_bz);
settings_changed();