diff options
Diffstat (limited to 'opentrack/tracker.cpp')
| -rw-r--r-- | opentrack/tracker.cpp | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp index 3d5f6cbd..bcdfcfe8 100644 --- a/opentrack/tracker.cpp +++ b/opentrack/tracker.cpp @@ -135,7 +135,8 @@ void Tracker::logic() { const cv::Matx33d rmat = euler_to_rmat(&filtered_pose[Yaw]); - const cv::Matx33d m_ = r_b.t() * rmat; + const cv::Matx33d m_c = rmat * r_b.t(); + const cv::Matx33d m_ = r_b * m_c * r_b.t(); const auto euler = rmat_to_euler(m_); for (int i = 0; i < 3; i++) { |