From 94f08279df5aee576c1981a784d24110f6c295e8 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Fri, 7 Nov 2014 06:55:33 +0100 Subject: nix atan2 usage also in PT Issue: #63 --- ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index 60d54be4..6248b225 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -175,9 +175,9 @@ void Tracker::data(THeadPoseData *data) // extract rotation angles float alpha, beta, gamma; - beta = atan2( -R(2,0), sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) ); - alpha = atan2( R(1,0), R(0,0)); - gamma = atan2( R(2,1), R(2,2)); + beta = atan( -R(2,0) / sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) ); + alpha = atan( R(1,0) / R(0,0)); + gamma = atan( R(2,1) / R(2,2)); QMutexLocker lock(&mutex); -- cgit v1.2.3