diff options
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index 60d54be4..6248b225 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -175,9 +175,9 @@ void Tracker::data(THeadPoseData *data) // extract rotation angles float alpha, beta, gamma; - beta = atan2( -R(2,0), sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) ); - alpha = atan2( R(1,0), R(0,0)); - gamma = atan2( R(2,1), R(2,2)); + beta = atan( -R(2,0) / sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) ); + alpha = atan( R(1,0) / R(0,0)); + gamma = atan( R(2,1) / R(2,2)); QMutexLocker lock(&mutex); |