diff options
| -rw-r--r-- | opentrack/tracker.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp index e9533f29..ccb2276d 100644 --- a/opentrack/tracker.cpp +++ b/opentrack/tracker.cpp @@ -140,7 +140,7 @@ void Tracker::logic() { const cv::Matx33d rmat = euler_to_rmat(&filtered_pose[Yaw]); - const cv::Matx33d m_ = r_b * (rmat * r_b.t()) * r_b.t(); + const cv::Matx33d m_ = r_b.t() * rmat; const auto euler = rmat_to_euler(m_); for (int i = 0; i < 3; i++) { |