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authorStanislaw Halik <sthalik@misaki.pl>2014-10-26 08:01:57 +0100
committerStanislaw Halik <sthalik@misaki.pl>2014-10-26 08:02:15 +0100
commite5413ce3d7e282fee4f848938ef17b6f80794d77 (patch)
tree4a19d20f210f846fda193fe84c5e837f2e380f18
parent1281445a90d43643a1088270e1d4f499ce38457f (diff)
r/t comp wrong order
-rw-r--r--opentrack/tracker.cpp6
1 files changed, 3 insertions, 3 deletions
diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index 0395365d..ad1938f9 100644
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -92,13 +92,13 @@ static cv::Matx33d euler_to_rmat(const double* input)
void Tracker::t_compensate(const cv::Matx33d& rmat, const double* xyz, double* output, bool rz)
{
- const double xyz_[3] = { xyz[2], -xyz[1], xyz[0] };
+ const double xyz_[3] = { xyz[2], xyz[0], -xyz[1] };
cv::Matx31d tvec(xyz_);
const cv::Matx31d ret = rmat * tvec;
if (!rz)
output[2] = ret(0, 0);
- output[1] = -ret(1, 0);
- output[0] = ret(2, 0);
+ output[0] = ret(1, 0);
+ output[1] = -ret(2, 0);
}
void Tracker::logic()