From e5413ce3d7e282fee4f848938ef17b6f80794d77 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 26 Oct 2014 08:01:57 +0100 Subject: r/t comp wrong order --- opentrack/tracker.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'opentrack') diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp index 0395365d..ad1938f9 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[2], -xyz[1], xyz[0] }; + const double xyz_[3] = { xyz[2], xyz[0], -xyz[1] }; cv::Matx31d tvec(xyz_); const cv::Matx31d ret = rmat * tvec; if (!rz) output[2] = ret(0, 0); - output[1] = -ret(1, 0); - output[0] = ret(2, 0); + output[0] = ret(1, 0); + output[1] = -ret(2, 0); } void Tracker::logic() -- cgit v1.2.3