From 6e8543ca2888dfcc5f211375a5b44bb63ddb8442 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Sun, 9 Nov 2014 06:40:49 +0100
Subject: add comment

---
 opentrack/tracker.cpp | 1 +
 1 file changed, 1 insertion(+)

(limited to 'opentrack/tracker.cpp')

diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index f5658503..e856b5b2 100644
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -93,6 +93,7 @@ static dmat<3, 3> euler_to_rmat(const double* input)
 
 void Tracker::t_compensate(const dmat<3, 3>& rmat, const double* xyz, double* output, bool rz)
 {
+    // TY is really yaw axis. need swapping accordingly.
     dmat<3, 1> tvec({ xyz[2], -xyz[0], -xyz[1] });
     const dmat<3, 1> ret = rmat * tvec;
     if (!rz)
-- 
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