From 5a0e3201b7aef995ae20c1ed35bc383487281679 Mon Sep 17 00:00:00 2001 From: Michael Welter Date: Sun, 23 Apr 2023 20:48:50 +0200 Subject: tracker/nn: Fix 180 deg roll --- tracker-neuralnet/ftnoir_tracker_neuralnet.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp b/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp index 59e17063..4ee8de1e 100644 --- a/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp +++ b/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp @@ -652,7 +652,7 @@ void NeuralNetTracker::data(double *data) const auto& mx = tmp.R.col(0); const auto& my = tmp.R.col(1); - const auto& mz = -tmp.R.col(2); + const auto& mz = tmp.R.col(2); const float yaw = std::atan2(mx(2), mx(0)); const float pitch = -std::atan2(-mx(1), std::sqrt(mx(2)*mx(2)+mx(0)*mx(0))); -- cgit v1.2.3