1 files changed, 3 insertions, 1 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index 2bb41f56..53cb70ad 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -372,10 +372,12 @@ void Tracker::run()
 
                 QMutexLocker lck(&mtx);
 
+                tvec[1] *= -1;
+
                 for (int i = 0; i < 3; i++)
                     pose[i] = tvec(i);
                 pose[Yaw] = euler[1];
-                pose[Pitch] = euler[0];
+                pose[Pitch] = -euler[0];
                 pose[Roll] = euler[2];
 
                 r = rmat;