diff options
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 6 |
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 1545f6b1..83a7bce5 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -178,9 +178,9 @@ void Tracker::data(THeadPoseData *data) R = r_y.t() * R; QMutexLocker lock(&mutex); // extract rotation angles - data[Pitch] = rad2deg * atan( -R(0,2) / R(0,0)); - data[Roll] = rad2deg * asin( R(0,1)); - data[Yaw] = rad2deg * atan( R(2,1) / R(1,1)); + data[Pitch] = -rad2deg * atan( -R(0,2) / R(0,0)); + data[Roll] = -rad2deg * asin( R(0,1)); + data[Yaw] = -rad2deg * atan( R(2,1) / R(1,1)); // get translation(s) data[TX] = t[0] / 10.0; // convert to cm |