diff options
Diffstat (limited to 'opentrack')
| -rw-r--r-- | opentrack/main-settings.hpp | 5 | ||||
| -rw-r--r-- | opentrack/tracker.cpp | 19 |
2 files changed, 19 insertions, 5 deletions
diff --git a/opentrack/main-settings.hpp b/opentrack/main-settings.hpp index 2c909d27..def21f31 100644 --- a/opentrack/main-settings.hpp +++ b/opentrack/main-settings.hpp @@ -28,6 +28,7 @@ struct main_settings { axis_opts a_x, a_y, a_z, a_yaw, a_pitch, a_roll; value<bool> tcomp_p, tcomp_tz; value<bool> tray_enabled; + value<int> camera_yaw, camera_pitch; main_settings(pbundle b) : b(b), tracker_dll(b, "tracker-dll", ""), @@ -42,6 +43,8 @@ struct main_settings { a_roll(b, "roll", Roll), tcomp_p(b, "compensate-translation", true), tcomp_tz(b, "compensate-translation-disable-z-axis", false), - tray_enabled(b, "use-system-tray", false) + tray_enabled(b, "use-system-tray", false), + camera_yaw(b, "camera-yaw", 0), + camera_pitch(b, "camera-pitch", 0) {} }; diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp index f621083b..60ed4c33 100644 --- a/opentrack/tracker.cpp +++ b/opentrack/tracker.cpp @@ -94,22 +94,33 @@ void Tracker::logic() raw(i) = value(i) = t_b[i]; } } + + const double off[] = { + s.camera_yaw, + s.camera_pitch, + 0. + }; + const rmat cam = rmat::euler_to_rmat(off); + rmat r = rmat::euler_to_rmat(&value[Yaw]); + dmat<3, 1> t { value(0), value(1), value(3) }; + + r = cam * r; + t = cam * t; if (centerp) { centerp = false; for (int i = 0; i < 3; i++) - t_b[i] = value(i); - r_b = rmat::euler_to_rmat(&value[Yaw]); + t_b[i] = t(i, 0); + r_b = r; } { - const rmat r = rmat::euler_to_rmat(&value[Yaw]); const rmat m_ = r * r_b.t(); const dmat<3, 1> euler = rmat::rmat_to_euler(m_); for (int i = 0; i < 3; i++) { - value(i) -= t_b[i]; + value(i) = t(i, 0) - t_b[i]; value(i+3) = euler(i, 0) * r2d; } } |