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reverted modif on z when honolonomic but added modif on yaw depending on the estimated y value

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matlabbe
2015-06-16 10:50:49 -04:00
parent 7cd0d0cd53
commit 6a7a9fb9b0
4 changed files with 42 additions and 30 deletions
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23
guilib/src/PreferencesDialog.cpp
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@@ -3188,13 +3188,9 @@ Transform PreferencesDialog::getSourceOpenniLocalTransform() const
QString str = _ui->lineEdit_openniLocalTransform->text();
str.replace("PI_2", QString::number(3.141592/2.0));
QStringList list = str.split(' ');
if(list.size() != 6)
if(list.size() == 6 || list.size() == 9)
{
UERROR("Local transform is wrong! must have 6 items (%s)", str.toStdString().c_str());
}
else
{
std::vector<float> numbers(6);
std::vector<float> numbers(list.size());
bool ok = false;
for(int i=0; i<list.size(); ++i)
{
@@ -3208,9 +3204,22 @@ Transform PreferencesDialog::getSourceOpenniLocalTransform() const
}
if(ok)
{
t = Transform(numbers[0], numbers[1], numbers[2], numbers[3], numbers[4], numbers[5]);
if(list.size() == 6)
{
t = Transform(numbers[0], numbers[1], numbers[2], numbers[3], numbers[4], numbers[5]);
}
else // 9
{
t = Transform(numbers[0], numbers[1], numbers[2], 0,
numbers[3], numbers[4], numbers[5], 0,
numbers[6], numbers[7], numbers[8], 0);
}
}
}
else
{
UERROR("Local transform is wrong! must have 6 or 9 items (%s)", str.toStdString().c_str());
}
return t;
}