From b2cbf1b156f20ebb72bd0ff93d041f0bcb8a4ccf Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Tue, 21 Feb 2017 17:36:20 +0100 Subject: logic/tracker: invert before rotation's used for transformations --- logic/tracker.cpp | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/logic/tracker.cpp b/logic/tracker.cpp index 6d551a65..eaae0735 100644 --- a/logic/tracker.cpp +++ b/logic/tracker.cpp @@ -252,6 +252,13 @@ void Tracker::logic() } } + // don't invert after t_compensate + // inverting here doesn't break centering + + for (int i = 0; i < 6; i++) + if (m(i).opts.invert) + value(i) = -value(i); + logger.write_pose(value); // "corrected" - after various transformations to account for camera position nanp |= is_nan(value); @@ -337,10 +344,6 @@ void Tracker::logic() nanp |= is_nan(value); - for (int i = 0; i < 6; i++) - if (m(i).opts.invert) - value(i) = -value(i); - logger.write_pose(value); // "mapped" if (nanp) -- cgit v1.2.3