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| author | Stanislaw Halik <sthalik@misaki.pl> | 2014-11-09 06:40:49 +0100 |
|---|---|---|
| committer | Stanislaw Halik <sthalik@misaki.pl> | 2014-11-09 06:40:49 +0100 |
| commit | 6e8543ca2888dfcc5f211375a5b44bb63ddb8442 (patch) | |
| tree | 79b38d32c7aa585de6fef3fa44518c3036a2819c | |
| parent | 518c6e31dd19dd5a72d90adc021fbc512a082d6e (diff) | |
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| -rw-r--r-- | opentrack/tracker.cpp | 1 |
1 files changed, 1 insertions, 0 deletions
diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp index f5658503..e856b5b2 100644 --- a/opentrack/tracker.cpp +++ b/opentrack/tracker.cpp @@ -93,6 +93,7 @@ static dmat<3, 3> euler_to_rmat(const double* input) void Tracker::t_compensate(const dmat<3, 3>& rmat, const double* xyz, double* output, bool rz) { + // TY is really yaw axis. need swapping accordingly. dmat<3, 1> tvec({ xyz[2], -xyz[0], -xyz[1] }); const dmat<3, 1> ret = rmat * tvec; if (!rz) |