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authorStanislaw Halik <sthalik@misaki.pl>2014-11-09 09:43:23 +0100
committerStanislaw Halik <sthalik@misaki.pl>2014-11-09 09:43:23 +0100
commitbe13bfed4eb7fb4150ed979ea1a8bad56903efca (patch)
treecb31790fe12d82adc17622d17f33021031d1aef5 /opentrack
parent0b93ea80b19d15ad52f3748e31e054bbe24b1787 (diff)
doesn't hurt to use the commented-out formula
Diffstat (limited to 'opentrack')
-rw-r--r--opentrack/tracker.cpp4
1 files changed, 2 insertions, 2 deletions
diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index b464dffe..a0cca2d6 100644
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -145,8 +145,8 @@ 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_ = r_b.t() * rmat;
+ const dmat<3, 3> m_ = (r_b.t() * rmat) * r_b * r_b.t();
const dmat<3, 1> euler = rmat_to_euler(m_);
for (int i = 0; i < 3; i++)
{