Hi,
I'm using the sample code for object tracking (2D and feature-based 3D) and would like more clarification on the units and coordinate system of the translation (obtained using PXCTracker::TrackingValues arrData->translation, display function from main is copied below with the translation values in bold and italicized). Documentation seem to indicate that the coordinate system is at the object origin and I assumed units are 'mm'. However, this does not seem to correlated when moving the camera around with the object static (z values range well above 1000 when in a 200-500mm workspace). Can someone also explain the depthnum value below. Is this code modified much from metaio? Are there references for noise and accuracy using these implementations for object tracking?
Thanks,
Wen
void DrawTrackingValues(HWND hwndDlg, PXCTracker::TrackingValues *arrData)
{
...
const double pi = 3.1415926535897;
const double depthnum = -630; // for the middleware being a left hand coordinate system.
//correction values for translation and movement dependent on z values
float depthcorrectionfactor = (arrData->translation.z/depthnum);
arrData->translation.x = arrData->translation.x/depthcorrectionfactor;
arrData->translation.y = arrData->translation.y/depthcorrectionfactor;
PXCPoint3DF32 translation = arrData->translation;
float xp = translation.x;
float yp = translation.y;
float zp = translation.z;
...
}
