diff options
| -rw-r--r-- | tools/planetest/camfind.c | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/tools/planetest/camfind.c b/tools/planetest/camfind.c index e4e6a0f..6a6650b 100644 --- a/tools/planetest/camfind.c +++ b/tools/planetest/camfind.c @@ -162,8 +162,8 @@ float RunTest( int print ) if( hmd_point_counts[k] == 0 ) continue; int axis = k%2; int pt = k/2; - float angle = (hmd_point_angles[k] - 200000) / 200000 * 3.1415926535/2; - if( axis == 0) angle = -angle; //Flip coordinate systems + float angle = (hmd_point_angles[k] - 200000) / 200000 * 3.1415926535/2; //XXX XXX WRONG??? OR SOMETHING??? WHY DIV2 MAKE GOOD? + if( axis == 1) angle = -angle; //Flip coordinate systems float thiseuler[3] = { 0, 0, 0 }; thiseuler[axis] = angle; @@ -180,8 +180,8 @@ float RunTest( int print ) //plane_normal is our normal / LighthousePos is our point. float w0[] = { hmd_points[pt*3+0], hmd_points[pt*3+1], hmd_points[pt*3+2] }; //float w0[] = { 0, 0, 0 }; - float d = plane_normal[0] * LighthousePos[0] + plane_normal[1] * LighthousePos[1] + plane_normal[2] * LighthousePos[2]; - float D = plane_normal[0] * w0[0] + plane_normal[1] * w0[1] + plane_normal[2] * w0[2] + d; + float d = -(plane_normal[0] * LighthousePos[0] + plane_normal[1] * LighthousePos[1] + plane_normal[2] * LighthousePos[2]); + float D = plane_normal[0] * w0[0] + plane_normal[1] * w0[1] + plane_normal[2] * w0[2] + d; //Point line distance assuming ||normal|| = 1. if( print ) printf( " %f %f -\n", d, D ); |