diff options
Diffstat (limited to 'ftnoir_tracker_pt/ftnoir_tracker_pt.cpp')
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index 2c64d5cb..f182cacc 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -172,15 +172,15 @@ void Tracker::data(THeadPoseData *data) R = R_EG * R * R_EG.t(); static constexpr float pi = 3.141592653; - float cy = cos(pi*.5); - float sy = sin(pi*.5); + float cy = cos(pi*-.5); + float sy = sin(pi*-.5); Matx33f r_y(cy, 0, sy, 0, 1, 0, -sy, 0, cy); R = r_y.t() * R; QMutexLocker lock(&mutex); // extract rotation angles - data[Pitch] = rad2deg * atan( -R(0,2) / R(0,0)); - data[Roll] = -rad2deg * asin( R(0,1)); - data[Yaw] = -rad2deg * atan( R(2,1) / R(1,1)); + data[Yaw] = -rad2deg * atan2( R(1,0), R(0,0)); + data[Pitch] = -rad2deg * atan2( -R(2,0), sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) ); + data[Roll] = rad2deg * atan2( R(2,1), R(2,2)); // get translation(s) data[TX] = t[0] / 10.0; // convert to cm |