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authorStanislaw Halik <sthalik@misaki.pl>2014-10-28 10:38:35 +0100
committerStanislaw Halik <sthalik@misaki.pl>2014-10-28 10:38:49 +0100
commit4dae05379b7a579e365575a404e343bfa9eb0a9d (patch)
tree3e8e7f6155b04f727c60459fad7c5180f0aa8200 /opentrack
parentf2bb47e9261df4f060fcaec3c808ea6537a68eab (diff)
poke centering with a stick
Issue: #63
Diffstat (limited to 'opentrack')
-rw-r--r--opentrack/tracker.cpp2
1 files changed, 1 insertions, 1 deletions
diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index e9533f29..ccb2276d 100644
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -140,7 +140,7 @@ void Tracker::logic()
{
const cv::Matx33d rmat = euler_to_rmat(&filtered_pose[Yaw]);
- const cv::Matx33d m_ = r_b * (rmat * r_b.t()) * r_b.t();
+ const cv::Matx33d m_ = r_b.t() * rmat;
const auto euler = rmat_to_euler(m_);
for (int i = 0; i < 3; i++)
{