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authorStanislaw Halik <sthalik@misaki.pl>2014-11-07 06:55:33 +0100
committerStanislaw Halik <sthalik@misaki.pl>2014-11-07 06:55:44 +0100
commit94f08279df5aee576c1981a784d24110f6c295e8 (patch)
tree2851c0fa5d12a62c23b87beed7df1e05f9f0bd3c /ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
parent9d30b78610fc652cc180c96b191e615fa903ec82 (diff)
nix atan2 usage also in PT
Issue: #63
Diffstat (limited to 'ftnoir_tracker_pt/ftnoir_tracker_pt.cpp')
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.cpp6
1 files changed, 3 insertions, 3 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 60d54be4..6248b225 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -175,9 +175,9 @@ void Tracker::data(THeadPoseData *data)
// extract rotation angles
float alpha, beta, gamma;
- beta = atan2( -R(2,0), sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) );
- alpha = atan2( R(1,0), R(0,0));
- gamma = atan2( R(2,1), R(2,2));
+ beta = atan( -R(2,0) / sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) );
+ alpha = atan( R(1,0) / R(0,0));
+ gamma = atan( R(2,1) / R(2,2));
QMutexLocker lock(&mutex);