rework accela, less nonsensical user-facing options

1 files changed, 2 insertions, 2 deletions

diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index ad1938f9..24482bfc 100644
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -92,12 +92,12 @@ static cv::Matx33d euler_to_rmat(const double* input)
 
 void Tracker::t_compensate(const cv::Matx33d& rmat, const double* xyz, double* output, bool rz)
 {
-    const double xyz_[3] = { xyz[2], xyz[0], -xyz[1] };
+    const double xyz_[3] = { xyz[2], -xyz[0], -xyz[1] };
     cv::Matx31d tvec(xyz_);
     const cv::Matx31d ret = rmat * tvec;
     if (!rz)
         output[2] = ret(0, 0);
-    output[0] = ret(1, 0);
+    output[0] = -ret(1, 0);
     output[1] = -ret(2, 0);
 }