From dc041fb6baf812355da08db703fb06754c32c933 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Tue, 28 Oct 2014 04:50:31 +0100
Subject: linear algebra or bust (interconnect between axis)

Issue: #63
Reported-by: many
---
 opentrack/tracker.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index bb7a15c6..e9533f29 100644
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -140,7 +140,7 @@ void Tracker::logic()
 
     {
         const cv::Matx33d rmat = euler_to_rmat(&filtered_pose[Yaw]);
-        const cv::Matx33d m_ = (r_b * rmat * r_b.t()) * r_b.t();
+        const cv::Matx33d m_ = r_b * (rmat * r_b.t()) * r_b.t();
         const auto euler = rmat_to_euler(m_);
         for (int i = 0; i < 3; i++)
         {
-- 
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