From fb4f631a62ddbe126d3271d9fa311b3c4f17e701 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Mon, 10 Nov 2014 15:17:16 +0100
Subject: negate yaw, pitch, roll values

Submitted-by: @FlyingCircus-
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 1545f6b1..83a7bce5 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -178,9 +178,9 @@ void Tracker::data(THeadPoseData *data)
     R = r_y.t() * R;
     QMutexLocker lock(&mutex);
     // extract rotation angles
-    data[Pitch]   = rad2deg * atan( -R(0,2) / R(0,0));
-    data[Roll]    = rad2deg * asin( R(0,1));
-    data[Yaw]  = rad2deg * atan( R(2,1) / R(1,1));
+    data[Pitch] = -rad2deg * atan( -R(0,2) / R(0,0));
+    data[Roll]  = -rad2deg * asin( R(0,1));
+    data[Yaw]   = -rad2deg * atan( R(2,1) / R(1,1));
 
     // get translation(s)
     data[TX] = t[0] / 10.0;	// convert to cm
-- 
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