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authorStanislaw Halik <sthalik@misaki.pl>2014-11-10 08:09:13 +0100
committerStanislaw Halik <sthalik@misaki.pl>2014-11-10 08:09:58 +0100
commit4218571bfcf09a0fa67ecd0919dba69e442391d4 (patch)
tree53874f1adf5d78b7238ecb1547a6927ddd2e49f9 /opentrack/tracker.cpp
parentd5e47ceb0f9068c6e8560f5fa0f97bf71cb1916e (diff)
simplify centering
Diffstat (limited to 'opentrack/tracker.cpp')
-rw-r--r--opentrack/tracker.cpp3
1 files changed, 1 insertions, 2 deletions
diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index 0ba818bc..4e12132e 100644
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -157,8 +157,7 @@ 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_ = rmat * r_b.t();
const dmat<3, 1> euler = rmat_to_euler(m_);
for (int i = 0; i < 3; i++)
{