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authorStanislaw Halik <sthalik@misaki.pl>2014-11-07 08:04:23 +0100
committerStanislaw Halik <sthalik@misaki.pl>2014-11-07 08:04:23 +0100
commit75c6790f74739f7a8e20554ea4cf8ddbdc381b90 (patch)
treebb11430b782ff432ea40e31a5249d2ebf7bfc6d3 /opentrack
parentf10ba14c245f84b012fc41bf49dc1a65aa184be9 (diff)
fix r/t comp after mat change
Diffstat (limited to 'opentrack')
-rw-r--r--opentrack/tracker.cpp9
1 files changed, 4 insertions, 5 deletions
diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index acdeb945..89a2ada6 100644
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -93,15 +93,14 @@ static dmat<3, 3> euler_to_rmat(const double* input)
void Tracker::t_compensate(const dmat<3, 3>& rmat, const double* xyz, double* output, bool rz)
{
- static constexpr int p_x = 2, p_y = 0, p_z = 1;
- dmat<3, 1> tvec({-xyz[p_x], -xyz[p_y], xyz[p_z]});
+ dmat<3, 1> tvec({ xyz[2], -xyz[0], -xyz[1] });
const dmat<3, 1> ret = rmat * tvec;
- output[0] = -ret(p_x, 0);
- output[1] = -ret(p_y, 0);
if (!rz)
- output[2] = ret(p_z, 0);
+ output[2] = ret(0, 0);
else
output[2] = xyz[2];
+ output[1] = -ret(2, 0);
+ output[0] = -ret(1, 0);
}
void Tracker::logic()