From 078c82bbb11a077c1e82f9ed4f0f76a7f89cf629 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Mon, 13 Jan 2014 23:29:11 +0100
Subject: flip tcomp axis for freetrack protocol

It's the easy way out, for now. Need to align 6DOF conventions of all
available trackers, eventually
---
 facetracknoir/tracker.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'facetracknoir')

diff --git a/facetracknoir/tracker.cpp b/facetracknoir/tracker.cpp
index 57762640..1f3257f5 100644
--- a/facetracknoir/tracker.cpp
+++ b/facetracknoir/tracker.cpp
@@ -54,7 +54,7 @@ static void get_curve(double pos, double& out, THeadPoseDOF& axis) {
 
 static void t_compensate(double* input, double* output, bool rz)
 {
-    const auto H = input[Yaw] * M_PI / 180;
+    const auto H = input[Yaw] * M_PI / -180;
     const auto P = input[Pitch] * M_PI / 180;
     const auto B = input[Roll] * M_PI / 180;
 
-- 
cgit v1.2.3