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authorStanislaw Halik <sthalik@misaki.pl>2014-10-29 15:19:25 +0100
committerStanislaw Halik <sthalik@misaki.pl>2014-10-29 15:23:34 +0100
commit136f28907c55547eb3faada1cbe8250a259b4288 (patch)
tree697f50a32b52bb75012ffacc0590e64747a48544
parent9253934bf4ec1d1c03e561617f2ba0be8644b4f7 (diff)
centering formula got wrong again
-rw-r--r--opentrack/tracker.cpp3
1 files changed, 2 insertions, 1 deletions
diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index 3d5f6cbd..bcdfcfe8 100644
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -135,7 +135,8 @@ void Tracker::logic()
{
const cv::Matx33d rmat = euler_to_rmat(&filtered_pose[Yaw]);
- const cv::Matx33d m_ = r_b.t() * rmat;
+ const cv::Matx33d m_c = rmat * r_b.t();
+ const cv::Matx33d m_ = r_b * m_c * r_b.t();
const auto euler = rmat_to_euler(m_);
for (int i = 0; i < 3; i++)
{