From 4dae05379b7a579e365575a404e343bfa9eb0a9d Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Tue, 28 Oct 2014 10:38:35 +0100
Subject: poke centering with a stick

Issue: #63
---
 opentrack/tracker.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'opentrack')

diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index e9533f29..ccb2276d 100644
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -140,7 +140,7 @@ void Tracker::logic()
 
     {
         const cv::Matx33d rmat = euler_to_rmat(&filtered_pose[Yaw]);
-        const cv::Matx33d m_ = r_b * (rmat * r_b.t()) * r_b.t();
+        const cv::Matx33d m_ = r_b.t() * rmat;
         const auto euler = rmat_to_euler(m_);
         for (int i = 0; i < 3; i++)
         {
-- 
cgit v1.2.3