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-rw-r--r--opentrack/tracker.cpp8
1 files changed, 4 insertions, 4 deletions
diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index c0169a14..d0a0b8f2 100644
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -92,13 +92,13 @@ static cv::Matx33d euler_to_rmat(const double* input)
void Tracker::t_compensate(const cv::Matx33d& rmat, const double* xyz, double* output, bool rz)
{
- const double xyz_[3] = { xyz[0], xyz[1], xyz[2] };
+ const double xyz_[3] = { xyz[2], xyz[1], xyz[0] };
cv::Matx31d tvec(xyz_);
const cv::Matx31d ret = rmat * tvec;
- output[0] = ret(0, 0);
- output[1] = ret(1, 0);
if (!rz)
- output[2] = ret(2, 0);
+ output[2] = ret(0, 0);
+ output[1] = ret(1, 0);
+ output[0] = ret(2, 0);
}
void Tracker::logic()