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authorStanislaw Halik <sthalik@misaki.pl>2014-10-25 20:48:27 +0200
committerStanislaw Halik <sthalik@misaki.pl>2014-10-25 20:58:26 +0200
commitd1f1067007524f68e3e6dec074d21e1884722507 (patch)
treee59ae44ae5aef87dd1bdb7e40ebade4dd3f9e2cf
parent52e0c206f862fc77a3aac270e8a3fda27d82609c (diff)
Basis change got lost, replace it
Issue: #63
-rw-r--r--opentrack/tracker.cpp3
1 files changed, 2 insertions, 1 deletions
diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index 24561be3..2a93898c 100644
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -138,6 +138,7 @@ void Tracker::logic()
if (centerp)
{
centerp = false;
+ cv::Matx31d tmp;
r_b = euler_to_rmat(&filtered_pose[Yaw]);
for (int i = 0; i < 3; i++)
t_b[i] = filtered_pose(i);
@@ -147,7 +148,7 @@ void Tracker::logic()
{
const cv::Matx33d rmat = euler_to_rmat(&filtered_pose[Yaw]);
- const cv::Matx33d m_ = rmat * r_b.t();
+ const cv::Matx33d m_ = (r_b * rmat * r_b.t()) * r_b.t();
const auto euler = rmat_to_euler(m_);
for (int i = 0; i < 3; i++)
{