From fbdd02e1dac2dd591205cbf8e6ac2972446738e5 Mon Sep 17 00:00:00 2001 From: Stéphane Lenclud Date: Sun, 30 Aug 2020 17:50:09 +0200 Subject: tracker/easy: Disable Kinect distortion coefficients usage thus notably fixing badly broken Z component in translation vector. Close #1141 Close #1020 --- tracker-easy/tracker-easy.cpp | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/tracker-easy/tracker-easy.cpp b/tracker-easy/tracker-easy.cpp index 9fb41491..85b04026 100644 --- a/tracker-easy/tracker-easy.cpp +++ b/tracker-easy/tracker-easy.cpp @@ -154,8 +154,13 @@ namespace EasyTracker // 5 - Radial fourth order // 6 - Radial fifth order // 7 - Radial sixth order - for (unsigned k = 0; k < 8; k++) - iDistCoeffsMatrix(k) = (double)iCameraInfo.dist_c[k]; + // + // SL: Using distortion coefficients in this way is breaking our face tracking output. + // Just disable them for now until we invest time and effort to work it out. + // For our face tracking use case not having proper distortion coefficients ain't a big deal anyway + // See issues #1141 and #1020 + //for (unsigned k = 0; k < 8; k++) + // iDistCoeffsMatrix(k) = (double)iCameraInfo.dist_c[k]; } -- cgit v1.2.3