diff options
Diffstat (limited to 'opentrack/tracker.cpp')
| -rw-r--r-- | opentrack/tracker.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp index ad1938f9..24482bfc 100644 --- a/opentrack/tracker.cpp +++ b/opentrack/tracker.cpp @@ -92,12 +92,12 @@ static cv::Matx33d euler_to_rmat(const double* input) void Tracker::t_compensate(const cv::Matx33d& rmat, const double* xyz, double* output, bool rz) { - const double xyz_[3] = { xyz[2], xyz[0], -xyz[1] }; + const double xyz_[3] = { xyz[2], -xyz[0], -xyz[1] }; cv::Matx31d tvec(xyz_); const cv::Matx31d ret = rmat * tvec; if (!rz) output[2] = ret(0, 0); - output[0] = ret(1, 0); + output[0] = -ret(1, 0); output[1] = -ret(2, 0); } |