From 4218571bfcf09a0fa67ecd0919dba69e442391d4 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Mon, 10 Nov 2014 08:09:13 +0100
Subject: simplify centering

---
 opentrack/tracker.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

(limited to 'opentrack')

diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index 0ba818bc..4e12132e 100644
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -157,8 +157,7 @@ void Tracker::logic()
 
     {
         const dmat<3, 3> rmat = euler_to_rmat(&filtered_pose[Yaw]);
-        //const dmat<3, 3> m_ = r_b.t() * rmat;
-        const dmat<3, 3> m_ = (r_b.t() * rmat) * r_b * r_b.t();
+        const dmat<3, 3> m_ = rmat * r_b.t();
         const dmat<3, 1> euler = rmat_to_euler(m_);
         for (int i = 0; i < 3; i++)
         {
-- 
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