diff options
Diffstat (limited to 'tracker-pt/ftnoir_tracker_pt.cpp')
| -rwxr-xr-x[-rw-r--r--] | tracker-pt/ftnoir_tracker_pt.cpp | 24 |
1 files changed, 22 insertions, 2 deletions
diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp index 3d8aded5..1bf581a7 100644..100755 --- a/tracker-pt/ftnoir_tracker_pt.cpp +++ b/tracker-pt/ftnoir_tracker_pt.cpp @@ -150,7 +150,7 @@ void Tracker_PT::run() } { - Affine X_MH(cv::Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z)); // just copy pasted these lines from below + Affine X_MH(cv::Matx33f::eye(), get_model_offset()); // just copy pasted these lines from below Affine X_GH = X_CM * X_MH; cv::Vec3f p = X_GH.t; // head (center?) position in global space cv::Vec2f p_(p[0] / p[2] * fx, p[1] / p[2] * fx); // projected to screen @@ -163,6 +163,26 @@ void Tracker_PT::run() qDebug()<<"Tracker:: Thread stopping"; } +cv::Vec3f Tracker_PT::get_model_offset() +{ + cv::Vec3f offset(s.t_MH_x, s.t_MH_y, s.t_MH_z); + if (offset[0] == 0 && offset[1] == 0 && offset[2] == 0) + { + int m = s.model_used; + switch (m) + { + default: + // cap + case 0: offset[0] = 0; offset[1] = 0; offset[2] = 0; break; + // clip + case 1: offset[0] = 135; offset[1] = 0; offset[2] = 0; break; + // left clip + case 2: offset[0] = -135; offset[1] = 0; offset[2] = 0; break; + } + } + return offset; +} + void Tracker_PT::apply_settings() { qDebug()<<"Tracker:: Applying settings"; @@ -222,7 +242,7 @@ void Tracker_PT::data(double *data) { Affine X_CM = pose(); - Affine X_MH(cv::Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z)); + Affine X_MH(cv::Matx33f::eye(), get_model_offset()); Affine X_GH = X_CM * X_MH; cv::Matx33f R = X_GH.R; |