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authorStanislaw Halik <sthalik@misaki.pl>2014-11-09 06:40:49 +0100
committerStanislaw Halik <sthalik@misaki.pl>2014-11-09 06:40:49 +0100
commit6e8543ca2888dfcc5f211375a5b44bb63ddb8442 (patch)
tree79b38d32c7aa585de6fef3fa44518c3036a2819c
parent518c6e31dd19dd5a72d90adc021fbc512a082d6e (diff)
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-rw-r--r--opentrack/tracker.cpp1
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)