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| author | Stanislaw Halik <sthalik@misaki.pl> | 2014-10-29 15:19:25 +0100 |
|---|---|---|
| committer | Stanislaw Halik <sthalik@misaki.pl> | 2014-10-29 15:23:34 +0100 |
| commit | 136f28907c55547eb3faada1cbe8250a259b4288 (patch) | |
| tree | 697f50a32b52bb75012ffacc0590e64747a48544 | |
| parent | 9253934bf4ec1d1c03e561617f2ba0be8644b4f7 (diff) | |
centering formula got wrong again
| -rw-r--r-- | opentrack/tracker.cpp | 3 |
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++) { |