From 1e6f070677ebcf2649924f682aa66b939fa874f8 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Sun, 9 Aug 2015 04:03:40 +0200
Subject: main: remap axis before mapping

Issue: #213
---
 opentrack/tracker.cpp | 24 ++++++++----------------
 1 file changed, 8 insertions(+), 16 deletions(-)

(limited to 'opentrack/tracker.cpp')

diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index e03342e4..acbfded5 100644
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -81,7 +81,12 @@ void Tracker::logic()
     if (!zero_)
         for (int i = 0; i < 6; i++)
         {
-            value(i) = newpose[i];
+            auto& axis = m(i);
+            int k = axis.opts.src;
+            if (k < 0 || k >= 6)
+                value(i) = 0;
+            else
+                value(i) = newpose[k];
             raw(i) = newpose[i];
         }
     else
@@ -157,23 +162,10 @@ void Tracker::logic()
     for (int i = 0; i < 6; i++)
         value[i] *= inverts[i] ? -1. : 1.;
 
-    Pose output_pose_;
-
-    for (int i = 0; i < 6; i++)
-    {
-        auto& axis = m(i);
-        int k = axis.opts.src;
-        if (k < 0 || k >= 6)
-            output_pose_(i) = 0;
-        else
-            output_pose_(i) = value(k);
-    }
-
-
-    libs.pProtocol->pose(output_pose_);
+    libs.pProtocol->pose(value);
 
     QMutexLocker foo(&mtx);
-    output_pose = output_pose_;
+    output_pose = value;
     raw_6dof = raw;
 }
 
-- 
cgit v1.2.3


From 573a78eeda6423ff4ce72dda9f00c366b20672d5 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Sun, 9 Aug 2015 04:04:32 +0200
Subject: main: apply center pose after compensation

Issue: #212
---
 opentrack/tracker.cpp | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)
 mode change 100644 => 100755 opentrack/tracker.cpp

(limited to 'opentrack/tracker.cpp')

diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
old mode 100644
new mode 100755
index acbfded5..f31e1185
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -46,7 +46,7 @@ double Tracker::map(double pos, Mapping& axis)
     axis.curve.setTrackingActive( !altp );
     axis.curveAlt.setTrackingActive( altp );
     auto& fc = altp ? axis.curveAlt : axis.curve;
-    return fc.getValue(pos) + axis.opts.zero;
+    return fc.getValue(pos);
 }
 
 void Tracker::t_compensate(const rmat& rmat, const double* xyz, double* output, bool rz)
@@ -149,7 +149,7 @@ void Tracker::logic()
         if (libs.pFilter)
             libs.pFilter->filter(tmp, value);
     }
-    
+
     for (int i = 0; i < 6; i++)
         value(i) = map(value(i), m(i));
     
@@ -158,7 +158,10 @@ void Tracker::logic()
                      value,
                      value,
                      s.tcomp_tz);
-    
+
+    for (int i = 0; i < 6; i++)
+        value(i) += m(i).opts.zero;
+
     for (int i = 0; i < 6; i++)
         value[i] *= inverts[i] ? -1. : 1.;
 
-- 
cgit v1.2.3


From 0f89e2439ac7a89baf371ce3dd522e96bb933c83 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Thu, 13 Aug 2015 09:42:56 +0200
Subject: tracker: use concise syntax for vector access

---
 opentrack/tracker.cpp | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

(limited to 'opentrack/tracker.cpp')

diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index f31e1185..e79d32c1 100755
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -55,11 +55,11 @@ void Tracker::t_compensate(const rmat& rmat, const double* xyz, double* output,
     dmat<3, 1> tvec({ xyz[2], -xyz[0], -xyz[1] });
     const dmat<3, 1> ret = rmat * tvec;
     if (!rz)
-        output[2] = ret(0, 0);
+        output[2] = ret(0);
     else
         output[2] = xyz[2];
-    output[1] = -ret(2, 0);
-    output[0] = -ret(1, 0);
+    output[1] = -ret(2);
+    output[0] = -ret(1);
 }
 
 void Tracker::logic()
@@ -95,7 +95,7 @@ void Tracker::logic()
         
         for (int i = 0; i < 3; i++)
         {
-            raw(i+3) = value(i+3) = mat(i, 0) * r2d;
+            raw(i+3) = value(i+3) = mat(i) * r2d;
             raw(i) = value(i) = t_b[i];
         }
     }
@@ -127,19 +127,19 @@ void Tracker::logic()
     {
         centerp = false;
         for (int i = 0; i < 3; i++)
-            t_b[i] = t(i, 0);
+            t_b[i] = t(i);
         r_b = r;
     }
     
     {
-        double tmp[3] = { t(0, 0) - t_b[0], t(1, 0) - t_b[1], t(2, 0) - t_b[2] };
+        double tmp[3] = { t(0) - t_b[0], t(1) - t_b[1], t(2) - t_b[2] };
         t_compensate(cam, tmp, tmp, false);
         const rmat m_ = r_b.t() * r;
         const dmat<3, 1> euler = rmat::rmat_to_euler(m_);
         for (int i = 0; i < 3; i++)
         {
             value(i) = tmp[i];
-            value(i+3) = euler(i, 0) * r2d;
+            value(i+3) = euler(i) * r2d;
         }
     }
     
-- 
cgit v1.2.3


From 1ea849d0f6f934beb69ed72790f02d079a7ba435 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Thu, 13 Aug 2015 09:43:13 +0200
Subject: tracker: no need to run logic() at all

---
 opentrack/tracker.cpp | 4 ----
 1 file changed, 4 deletions(-)

(limited to 'opentrack/tracker.cpp')

diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index e79d32c1..22a8933c 100755
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -197,10 +197,6 @@ void Tracker::run() {
     }
 
     {
-        // do one last pass with origin pose
-        for (int i = 0; i < 6; i++)
-            newpose[i] = 0;
-        logic();
         // filter may inhibit exact origin
         Pose p;
         libs.pProtocol->pose(p);
-- 
cgit v1.2.3


From cfed344344b996aea1e6388031dc20b1d15a25f3 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Tue, 18 Aug 2015 08:51:28 +0200
Subject: simple-mat: replace initializer_list with variadic ctor

Gives us type safety rather than argument count mismatch. Also there's
no more narrowing conversion issue.

Replace usages.

Explicitly delete initializer_list ctor.
---
 opentrack/simple-mat.hpp | 70 ++++++++++++++++++++++++++++++++++++++----------
 opentrack/tracker.cpp    |  4 +--
 pose-widget/glwidget.cpp | 40 +++++++++++++--------------
 3 files changed, 76 insertions(+), 38 deletions(-)

(limited to 'opentrack/tracker.cpp')

diff --git a/opentrack/simple-mat.hpp b/opentrack/simple-mat.hpp
index 9f0911cb..2b4cb72e 100755
--- a/opentrack/simple-mat.hpp
+++ b/opentrack/simple-mat.hpp
@@ -41,13 +41,43 @@ namespace {
         enum { P = a == 1 ? 1 : 3 };
         enum { Q = a == 1 ? 3 : 1 };
     };
+
+    template<typename... arglist> struct assignable;
+
+    template<typename num>
+    struct assignable<num> {
+        enum { value = true };
+    };
+
+    template<typename num, typename t, typename... ts>
+    struct assignable<num, t, ts...> {
+        enum { value = std::is_assignable<num, t>::value && assignable<num, ts...>::value };
+    };
+
+    template<typename num, int h, int w, typename...ts>
+    struct is_arglist_correct
+    {
+        enum { value = h * w == sizeof...(ts) && assignable<num, ts...>::value };
+    };
 }
 
 template<typename num, int h_, int w_>
-struct Mat
+class Mat
 {
     num data[h_][w_];
 
+    static_assert(h_ > 0 && w_ > 0, "must have positive mat dimensions");
+
+    struct cast
+    {
+        template<typename u>
+        static num _(u x) { return static_cast<num>(x); }
+    };
+
+    Mat(std::initializer_list<num>&& xs) = delete;
+
+public:
+
     // parameters w_ and h_ are rebound so that SFINAE occurs
     // removing them causes a compile-time error -sh 20150811
     
@@ -101,9 +131,9 @@ struct Mat
     typename std::enable_if<is_dim3<P, Q, R, S>::value, Mat<num, is_dim3<P, Q, R, S>::P, is_dim3<P, Q, R, S>::Q>>::type
     cross(const Mat<num, R, S>& p2) const
     {
-        return Mat<num, R, S>({y() * p2.z() - p2.y() * z(),
-                               p2.x() * z() - x() * p2.z(),
-                               x() * p2.y() - y() * p2.x()});
+        return Mat<num, R, S>(y() * p2.z() - p2.y() * z(),
+                              p2.x() * z() - x() * p2.z(),
+                              x() * p2.y() - y() * p2.x());
     }
     
     Mat<num, h_, w_> operator+(const Mat<num, h_, w_>& other) const
@@ -161,9 +191,9 @@ struct Mat
                 num sum = num(0);
 
                 for (int k = 0; k < h_; k++)
-                    sum += data[j][k]*other.data[k][i];
+                    sum += data[j][k]*other(k, i);
 
-                ret.data[j][i] = sum;
+                ret(j, i) = sum;
             }
 
         return ret;
@@ -172,19 +202,29 @@ struct Mat
     inline num operator()(int j, int i) const { return data[j][i]; }
     inline num& operator()(int j, int i) { return data[j][i]; }
 
-    Mat(std::initializer_list<num>&& list)
+    template<typename... ts, typename = typename std::enable_if<is_arglist_correct<num, h_, w_, ts...>::value>>
+    Mat(ts const&... xs)
     {
-        auto iter = list.begin();
-        for (int i = 0; i < h_; i++)
-            for (int j = 0; j < w_; j++)
-                data[i][j] = *iter++;
+        const std::initializer_list<num> init = { cast::_(xs)... };
+        auto iter = init.begin();
+        for (int j = 0; j < h_; j++)
+            for (int i = 0; i < w_; i++)
+                data[j][i] = *iter++;
+    }
+
+    template<typename t>
+    Mat(const t* xs)
+    {
+        for (int j = 0; j < h_; j++)
+            for (int i = 0; i < w_; i++)
+                data[j][i] = num(*xs++);
     }
 
     Mat()
     {
         for (int j = 0; j < h_; j++)
             for (int i = 0; i < w_; i++)
-                data[j][i] = 0;
+                data[j][i] = num(0);
     }
 
     Mat(const num* mem)
@@ -194,6 +234,8 @@ struct Mat
                 data[j][i] = mem[i*h_+j];
     }
 
+    Mat(num* mem) : Mat(const_cast<const num*>(mem)) {}
+
     // XXX add more operators as needed, third-party dependencies mostly
     // not needed merely for matrix algebra -sh 20141030
 
@@ -237,10 +279,10 @@ struct Mat
         if (std::abs(pitch_1) + std::abs(roll_1) + std::abs(yaw_1) > std::abs(pitch_2) + std::abs(roll_2) + std::abs(yaw_2))
         {
             bool fix_neg_pitch = pitch_1 < 0;
-            return dmat<3, 1>({yaw_2, std::fmod(fix_neg_pitch ? -pi - pitch_1 : pitch_2, pi), roll_2});
+            return dmat<3, 1>(yaw_2, std::fmod(fix_neg_pitch ? -pi - pitch_1 : pitch_2, pi), roll_2);
         }
         else
-            return dmat<3, 1>({yaw_1, pitch_1, roll_1});
+            return dmat<3, 1>(yaw_1, pitch_1, roll_1);
     }
     
     // tait-bryan angles, not euler
diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index 22a8933c..403e87c5 100755
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -52,7 +52,7 @@ double Tracker::map(double pos, Mapping& axis)
 void Tracker::t_compensate(const rmat& 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] });
+    dmat<3, 1> tvec( xyz[2], -xyz[0], -xyz[1] );
     const dmat<3, 1> ret = rmat * tvec;
     if (!rz)
         output[2] = ret(0);
@@ -107,7 +107,7 @@ void Tracker::logic()
     };
     const rmat cam = rmat::euler_to_rmat(off);
     rmat r = rmat::euler_to_rmat(&value[Yaw]);
-    dmat<3, 1> t { value(0), value(1), value(2) };
+    dmat<3, 1> t(value(0), value(1), value(2));
     
     r = cam * r;
     
diff --git a/pose-widget/glwidget.cpp b/pose-widget/glwidget.cpp
index 6c04c4e6..334c845b 100755
--- a/pose-widget/glwidget.cpp
+++ b/pose-widget/glwidget.cpp
@@ -45,14 +45,10 @@ void GLWidget::rotateBy(float xAngle, float yAngle, float zAngle, float x, float
     float c3 = cos(zAngle / 57.295781);
     float s3 = sin(zAngle / 57.295781);
 
-    float foo[] = {
-        c2*c3,  -c2*s3,  s2,
-        c1*s3+c3*s1*s2,  c1*c3-s1*s2*s3,  -c2*s1,
-        s1*s3-c1*c3*s2,  c3*s1+c1*s2*s3,  c1*c2,
-    };
-    
-    rotation = rmat(foo);
-    translation = vec3({x, y, z});
+    rotation = rmat(c2*c3,           -c2*s3,          s2,
+                    c1*s3+c3*s1*s2,  c1*c3-s1*s2*s3,  -c2*s1,
+                    s1*s3-c1*c3*s2,  c3*s1+c1*s2*s3,  c1*c2);
+    translation = vec3(x, y, z);
 
     update();
 }
@@ -68,8 +64,8 @@ public:
              const vec2& p3)
     {
         origin = p1;
-        v0 = vec2({ p3.x() - p1.x(), p3.y() - p1.y() });
-        v1 = vec2({ p2.x() - p1.x(), p2.y() - p1.y() });
+        v0 = vec2(p3.x() - p1.x(), p3.y() - p1.y());
+        v1 = vec2(p2.x() - p1.x(), p2.y() - p1.y());
         dot00 = v0.dot(v0);
         dot01 = v0.dot(v1);
         dot11 = v1.dot(v1);
@@ -82,7 +78,7 @@ public:
         const num dot02 = v0.dot(v2);
         const num u = (dot11 * dot02 - dot01 * dot12) * invDenom;
         const num v = (dot00 * dot12 - dot01 * dot02) * invDenom;
-        uv = vec2({u, v});
+        uv = vec2(u, v);
         return (u >= 0) && (v >= 0) && (u + v <= 1);
     }
     
@@ -107,19 +103,19 @@ void GLWidget::project_quad_texture() {
     const int sx = width(), sy = height();
     vec2 pt[4];
     const vec3 corners[] = {
-        vec3({0., 0, 0}),
-        vec3({sx-1, 0, 0}),
-        vec3({0, sy-1, 0}),
-        vec3({sx-1, sy-1, 0.})
+        vec3(0., 0, 0),
+        vec3(sx-1, 0, 0),
+        vec3(0, sy-1, 0),
+        vec3(sx-1, sy-1, 0.)
     };
     
     for (int i = 0; i < 4; i++) {
-        pt[i] = project(vec3({corners[i].x() - sx/2, corners[i].y() - sy/2, 0}));
+        pt[i] = project(vec3(corners[i].x() - sx/2, corners[i].y() - sy/2, 0));
         pt[i].x() += sx/2.;
         pt[i].y() += sy/2.;
     }
     
-    vec3 normal1({0, 0, 1});
+    vec3 normal1(0, 0, 1);
     vec3 normal2;
     {
         vec3 foo[3];
@@ -137,15 +133,15 @@ void GLWidget::project_quad_texture() {
     vec2 p2[4];
 
     for (int i = 0; i < 4; i++)
-        p2[i] = vec2({pt[i].x(), pt[i].y()});
+        p2[i] = vec2(pt[i].x(), pt[i].y());
     QImage texture(QSize(sx, sy), QImage::Format_RGB888);
     QColor bgColor = palette().color(QPalette::Current, QPalette::Window);
     texture.fill(bgColor);
     
     const vec2 projected[2][3] = { { p2[0], p2[1], p2[2] }, { p2[3], p2[1], p2[2] } };
     const vec2 origs[2][3] = {
-        { vec2({0, 0}), vec2({ow-1, 0}), vec2({0, oh-1}) },
-        { vec2({ow-1, oh-1}), vec2({ow-1, 0}), vec2({0, oh-1}) }
+        { vec2(0, 0), vec2(ow-1, 0), vec2(0, oh-1) },
+        { vec2(ow-1, oh-1), vec2(ow-1, 0), vec2(0, oh-1) }
     };
     const Triangle triangles[2] = {
         Triangle(projected[0][0], projected[0][1], projected[0][2]),
@@ -167,7 +163,7 @@ void GLWidget::project_quad_texture() {
 
     for (int y = 0; y < sy; y++)
         for (int x = 0; x < sx; x++) {
-            vec2 pos({x, y});
+            vec2 pos(x, y);
             for (int i = 0; i < 2; i++) {
                 vec2 uv;
                 if (triangles[i].barycentric_coords(pos, uv))
@@ -205,7 +201,7 @@ GLWidget::vec2 GLWidget::project(const vec3 &point)
     num y = h * translation.y() / 2 / -40;
     if (std::abs(y) > h/2)
         y = y > 0 ? h/2 : h/-2;
-    return vec2 { z * (ret.x() + x), z * (ret.y() + y) };
+    return vec2(z * (ret.x() + x), z * (ret.y() + y));
 }
 
 GLWidget::vec3 GLWidget::project2(const vec3 &point)
-- 
cgit v1.2.3


From 21cd2c012ef23ec3f4b374d82056f1fa1694d904 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Sat, 22 Aug 2015 19:02:57 +0200
Subject: props changed only

Some source files had executable bit on. Remove it.
---
 CMakeLists.txt                                    |   0
 bin/NPClient.dll                                  | Bin
 bin/NPClient64.dll                                | Bin
 bin/freetrackclient.dll                           | Bin
 clientfiles/make-csv.pl                           |   0
 csv/csv.cpp                                       |   0
 facetracknoir/keyboard.h                          |   0
 facetracknoir/process_detector.cpp                |   0
 facetracknoir/process_detector.h                  |   0
 ftnoir_filter_kalman/ftnoir_filter_kalman.h       |   0
 ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.cpp |   0
 ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp     |   0
 ftnoir_tracker_aruco/include/markerdetector.h     |   0
 ftnoir_tracker_pt/ftnoir_tracker_pt.cpp           |   0
 ftnoir_tracker_udp/ftnoir_tracker_udp.cpp         |   0
 opentrack-compat/process-list.hpp                 |   0
 opentrack/simple-mat.hpp                          |   0
 opentrack/tracker.cpp                             |   0
 opentrack/win32-shortcuts.cpp                     |   0
 opentrack/win32-shortcuts.h                       |   0
 pose-widget/glwidget.cpp                          |   0
 pose-widget/glwidget.h                            |   0
 qfunctionconfigurator/functionconfig.cpp          |   0
 23 files changed, 0 insertions(+), 0 deletions(-)
 mode change 100755 => 100644 CMakeLists.txt
 mode change 100755 => 100644 bin/NPClient.dll
 mode change 100755 => 100644 bin/NPClient64.dll
 mode change 100755 => 100644 bin/freetrackclient.dll
 mode change 100755 => 100644 clientfiles/make-csv.pl
 mode change 100755 => 100644 csv/csv.cpp
 mode change 100755 => 100644 facetracknoir/keyboard.h
 mode change 100755 => 100644 facetracknoir/process_detector.cpp
 mode change 100755 => 100644 facetracknoir/process_detector.h
 mode change 100755 => 100644 ftnoir_filter_kalman/ftnoir_filter_kalman.h
 mode change 100755 => 100644 ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.cpp
 mode change 100755 => 100644 ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
 mode change 100755 => 100644 ftnoir_tracker_aruco/include/markerdetector.h
 mode change 100755 => 100644 ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
 mode change 100755 => 100644 ftnoir_tracker_udp/ftnoir_tracker_udp.cpp
 mode change 100755 => 100644 opentrack-compat/process-list.hpp
 mode change 100755 => 100644 opentrack/simple-mat.hpp
 mode change 100755 => 100644 opentrack/tracker.cpp
 mode change 100755 => 100644 opentrack/win32-shortcuts.cpp
 mode change 100755 => 100644 opentrack/win32-shortcuts.h
 mode change 100755 => 100644 pose-widget/glwidget.cpp
 mode change 100755 => 100644 pose-widget/glwidget.h
 mode change 100755 => 100644 qfunctionconfigurator/functionconfig.cpp

(limited to 'opentrack/tracker.cpp')

diff --git a/CMakeLists.txt b/CMakeLists.txt
old mode 100755
new mode 100644
diff --git a/bin/NPClient.dll b/bin/NPClient.dll
old mode 100755
new mode 100644
diff --git a/bin/NPClient64.dll b/bin/NPClient64.dll
old mode 100755
new mode 100644
diff --git a/bin/freetrackclient.dll b/bin/freetrackclient.dll
old mode 100755
new mode 100644
diff --git a/clientfiles/make-csv.pl b/clientfiles/make-csv.pl
old mode 100755
new mode 100644
diff --git a/csv/csv.cpp b/csv/csv.cpp
old mode 100755
new mode 100644
diff --git a/facetracknoir/keyboard.h b/facetracknoir/keyboard.h
old mode 100755
new mode 100644
diff --git a/facetracknoir/process_detector.cpp b/facetracknoir/process_detector.cpp
old mode 100755
new mode 100644
diff --git a/facetracknoir/process_detector.h b/facetracknoir/process_detector.h
old mode 100755
new mode 100644
diff --git a/ftnoir_filter_kalman/ftnoir_filter_kalman.h b/ftnoir_filter_kalman/ftnoir_filter_kalman.h
old mode 100755
new mode 100644
diff --git a/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.cpp b/ftnoir_protocol_fsuipc/ftnoir_protocol_fsuipc.cpp
old mode 100755
new mode 100644
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
old mode 100755
new mode 100644
diff --git a/ftnoir_tracker_aruco/include/markerdetector.h b/ftnoir_tracker_aruco/include/markerdetector.h
old mode 100755
new mode 100644
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
old mode 100755
new mode 100644
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diff --git a/opentrack-compat/process-list.hpp b/opentrack-compat/process-list.hpp
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diff --git a/opentrack/win32-shortcuts.cpp b/opentrack/win32-shortcuts.cpp
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diff --git a/opentrack/win32-shortcuts.h b/opentrack/win32-shortcuts.h
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diff --git a/pose-widget/glwidget.cpp b/pose-widget/glwidget.cpp
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From e07a72493f6145b55efb305c955032ffd73e94c3 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Fri, 28 Aug 2015 12:28:29 +0200
Subject: tracker: change centering order again

Needs more testing with PT and other non-inertial trackers.

Issue: #227
---
 opentrack/tracker.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'opentrack/tracker.cpp')

diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index 403e87c5..c9e34c2d 100644
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -134,7 +134,7 @@ void Tracker::logic()
     {
         double tmp[3] = { t(0) - t_b[0], t(1) - t_b[1], t(2) - t_b[2] };
         t_compensate(cam, tmp, tmp, false);
-        const rmat m_ = r_b.t() * r;
+        const rmat m_ = r * r_b.t();
         const dmat<3, 1> euler = rmat::rmat_to_euler(m_);
         for (int i = 0; i < 3; i++)
         {
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