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authorStanislaw Halik <sthalik@misaki.pl>2014-11-11 20:28:36 +0100
committerStanislaw Halik <sthalik@misaki.pl>2014-11-11 20:28:54 +0100
commit666c6bf7f3305cc4b5284424d0d21bb422ff807e (patch)
tree2db3dec8205972ed8d871fc5bcfd414f797d9b47
parent46257e812e5be5ddc4f68b7c3b7dc83c8f808cc1 (diff)
PT: change pitch sign yet again
Issue: #63
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.cpp2
1 files changed, 1 insertions, 1 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 83a7bce5..2c64d5cb 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -178,7 +178,7 @@ 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[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));