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| author | Stanislaw Halik <sthalik@misaki.pl> | 2014-11-09 09:43:23 +0100 |
|---|---|---|
| committer | Stanislaw Halik <sthalik@misaki.pl> | 2014-11-09 09:43:23 +0100 |
| commit | be13bfed4eb7fb4150ed979ea1a8bad56903efca (patch) | |
| tree | cb31790fe12d82adc17622d17f33021031d1aef5 | |
| parent | 0b93ea80b19d15ad52f3748e31e054bbe24b1787 (diff) | |
doesn't hurt to use the commented-out formula
| -rw-r--r-- | opentrack/tracker.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp index b464dffe..a0cca2d6 100644 --- a/opentrack/tracker.cpp +++ b/opentrack/tracker.cpp @@ -145,8 +145,8 @@ void Tracker::logic() { const dmat<3, 3> rmat = euler_to_rmat(&filtered_pose[Yaw]); - const dmat<3, 3> m_ = r_b.t() * rmat; - //const dmat<3, 3> m_ = (r_b.t() * rmat) * r_b * r_b.t(); + //const dmat<3, 3> m_ = r_b.t() * rmat; + const dmat<3, 3> m_ = (r_b.t() * rmat) * r_b * r_b.t(); const dmat<3, 1> euler = rmat_to_euler(m_); for (int i = 0; i < 3; i++) { |