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authorStanislaw Halik <sthalik@misaki.pl>2014-10-28 04:50:31 +0100
committerStanislaw Halik <sthalik@misaki.pl>2014-10-28 04:50:31 +0100
commitdc041fb6baf812355da08db703fb06754c32c933 (patch)
tree06e9141220c90c897c6c8ea82f830ff8d6de60c6 /opentrack/tracker.cpp
parent0817373bffab5add7b9ab6ac8752d2c5b7b9969d (diff)
linear algebra or bust (interconnect between axis)
Issue: #63 Reported-by: many
Diffstat (limited to 'opentrack/tracker.cpp')
-rw-r--r--opentrack/tracker.cpp2
1 files changed, 1 insertions, 1 deletions
diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index bb7a15c6..e9533f29 100644
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -140,7 +140,7 @@ void Tracker::logic()
{
const cv::Matx33d rmat = euler_to_rmat(&filtered_pose[Yaw]);
- const cv::Matx33d m_ = (r_b * rmat * r_b.t()) * r_b.t();
+ const cv::Matx33d m_ = r_b * (rmat * r_b.t()) * r_b.t();
const auto euler = rmat_to_euler(m_);
for (int i = 0; i < 3; i++)
{