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authorStanislaw Halik <sthalik@misaki.pl>2014-11-10 15:17:16 +0100
committerStanislaw Halik <sthalik@misaki.pl>2014-11-10 15:17:16 +0100
commitfb4f631a62ddbe126d3271d9fa311b3c4f17e701 (patch)
tree0a16356cedb67c0dbd0bb0e6221488dfade3e4b3 /ftnoir_tracker_pt
parenta4522a448207fce565f5659cab1d36f2f365c9f2 (diff)
negate yaw, pitch, roll values
Submitted-by: @FlyingCircus- Issue: #63
Diffstat (limited to 'ftnoir_tracker_pt')
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.cpp6
1 files changed, 3 insertions, 3 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 1545f6b1..83a7bce5 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -178,9 +178,9 @@ 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[Roll] = rad2deg * asin( R(0,1));
- data[Yaw] = rad2deg * atan( R(2,1) / R(1,1));
+ 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));
// get translation(s)
data[TX] = t[0] / 10.0; // convert to cm