From d075be93b455852e0e3e4b5a0b0790793ed20e12 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Fri, 13 Oct 2017 01:45:17 +0200
Subject: whitespace

---
 cv/translation-calibrator.cpp | 1 -
 logic/tracker.cpp             | 6 +++---
 tracker-pt/point_extractor.h  | 4 ++--
 3 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/cv/translation-calibrator.cpp b/cv/translation-calibrator.cpp
index fb150bf9..fb465f3c 100644
--- a/cv/translation-calibrator.cpp
+++ b/cv/translation-calibrator.cpp
@@ -97,7 +97,6 @@ bool TranslationCalibrator::check_bucket(const cv::Matx33d& R_CM_k)
     if (yaw_k < used_yaw_poses.size() &&
         pitch_k < used_pitch_poses.size() &&
         roll_k < used_roll_poses.size())
-
     {
         used_yaw_poses[yaw_k]++;
         used_pitch_poses[pitch_k]++;
diff --git a/logic/tracker.cpp b/logic/tracker.cpp
index d979b0b2..b834715a 100644
--- a/logic/tracker.cpp
+++ b/logic/tracker.cpp
@@ -214,19 +214,19 @@ void Tracker::logic()
     }
 
     {
-        rmat rotation;
+        rmat rotation = scaled_rotation.rotation;
         euler_t pos = euler_t(&value[TX]) - t_center;
 
         switch (s.center_method)
         {
         // inertial
         case 0:
-            rotation = scaled_rotation.rot_center * scaled_rotation.rotation;
+            rotation = scaled_rotation.rot_center * rotation;
             break;
         // camera
         default:
         case 1:
-            rotation = scaled_rotation.rotation * scaled_rotation.rot_center;
+            rotation = rotation * scaled_rotation.rot_center;
             t_compensate(real_rotation.rot_center, pos, pos, false, false, false);
 
             break;
diff --git a/tracker-pt/point_extractor.h b/tracker-pt/point_extractor.h
index 193c06dc..8fd521c3 100644
--- a/tracker-pt/point_extractor.h
+++ b/tracker-pt/point_extractor.h
@@ -12,11 +12,11 @@
 #include "camera.h"
 #include "cv/numeric.hpp"
 
+#include <vector>
+
 #include <opencv2/core.hpp>
 #include <opencv2/imgproc.hpp>
 
-#include <vector>
-
 namespace pt_impl {
 
 using namespace types;
-- 
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