From e097b0bbcd6a146a09503f5f14e13fafa78a3d70 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 25 Oct 2014 22:35:06 +0200 Subject: swap axis to fix r/t compensation Issue: #63 --- opentrack/tracker.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) (limited to 'opentrack') diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp index c0169a14..d0a0b8f2 100644 --- a/opentrack/tracker.cpp +++ b/opentrack/tracker.cpp @@ -92,13 +92,13 @@ static cv::Matx33d euler_to_rmat(const double* input) void Tracker::t_compensate(const cv::Matx33d& rmat, const double* xyz, double* output, bool rz) { - const double xyz_[3] = { xyz[0], xyz[1], xyz[2] }; + const double xyz_[3] = { xyz[2], xyz[1], xyz[0] }; cv::Matx31d tvec(xyz_); const cv::Matx31d ret = rmat * tvec; - output[0] = ret(0, 0); - output[1] = ret(1, 0); if (!rz) - output[2] = ret(2, 0); + output[2] = ret(0, 0); + output[1] = ret(1, 0); + output[0] = ret(2, 0); } void Tracker::logic() -- cgit v1.2.3