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| author | Stanislaw Halik <sthalik@misaki.pl> | 2014-10-28 10:38:35 +0100 |
|---|---|---|
| committer | Stanislaw Halik <sthalik@misaki.pl> | 2014-10-28 10:38:49 +0100 |
| commit | 4dae05379b7a579e365575a404e343bfa9eb0a9d (patch) | |
| tree | 3e8e7f6155b04f727c60459fad7c5180f0aa8200 /opentrack/tracker.cpp | |
| parent | f2bb47e9261df4f060fcaec3c808ea6537a68eab (diff) | |
poke centering with a stick
Issue: #63
Diffstat (limited to 'opentrack/tracker.cpp')
| -rw-r--r-- | opentrack/tracker.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp index e9533f29..ccb2276d 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.t() * rmat; const auto euler = rmat_to_euler(m_); for (int i = 0; i < 3; i++) { |