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| author | Stanislaw Halik <sthalik@misaki.pl> | 2014-11-10 08:09:13 +0100 |
|---|---|---|
| committer | Stanislaw Halik <sthalik@misaki.pl> | 2014-11-10 08:09:58 +0100 |
| commit | 4218571bfcf09a0fa67ecd0919dba69e442391d4 (patch) | |
| tree | 53874f1adf5d78b7238ecb1547a6927ddd2e49f9 /opentrack | |
| parent | d5e47ceb0f9068c6e8560f5fa0f97bf71cb1916e (diff) | |
simplify centering
Diffstat (limited to 'opentrack')
| -rw-r--r-- | opentrack/tracker.cpp | 3 |
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++) { |