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Remove jitter

This commit is contained in:
rdb 2009-01-17 12:43:18 +00:00
parent 3b793cf964
commit 66619e5251
2 changed files with 13 additions and 10 deletions
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21
panda/src/grutil/arToolKit.cxx
View File

@ -165,6 +165,7 @@ make(NodePath camera, const Filename &paramfile, double marker_size) {
result->_camera_param = new ARParam;
result->_threshold = 0.5;
result->_marker_size = marker_size;
result->_have_prev_conv = false;
memcpy(result->_camera_param, &wparam, sizeof(wparam));
return result;
}
@ -404,26 +405,26 @@ analyze(Texture *tex, bool do_flip_texture) {
double center[2];
center[0] = 0.0;
center[1] = 0.0;
double patt_trans[3][4];
arGetTransMat(inf, center, _marker_size, patt_trans);
if (_have_prev_conv) {
arGetTransMatCont(inf, _prev_conv, center, _marker_size, _prev_conv);
} else {
arGetTransMat(inf, center, _marker_size, _prev_conv);
}
LMatrix4f mat;
for (int i=0; i<4; i++) {
mat(i,0) = patt_trans[0][i];
mat(i,1) = patt_trans[2][i];
mat(i,2) = -patt_trans[1][i];
mat(i,0) = _prev_conv[0][i];
mat(i,1) = _prev_conv[2][i];
mat(i,2) = -_prev_conv[1][i];
mat(i,3) = 0.0;
}
mat(3,3) = 1.0;
LVecBase3f scale, shear, hpr, pos;
decompose_matrix(mat, scale, shear, hpr, pos);
NodePath parent = np.get_parent();
if (parent.is_empty()) {
if (np.get_parent().is_empty()) {
grutil_cat.error() << "NodePath must have a parent.\n";
} else {
np.reparent_to(_camera);
np.set_pos_hpr(pos,hpr);
np.wrt_reparent_to(parent);
np.set_pos_hpr(_camera, pos, hpr);
}
np.show();

2
panda/src/grutil/arToolKit.h
View File

@ -66,6 +66,8 @@ private:
void *_camera_param;
double _threshold;
double _marker_size;
double _prev_conv[3][4];
bool _have_prev_conv;
};
#include "arToolKit.I"