From 1b240b1a298d4d6daaf3bc867d7e94c2eeb94649 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 28 Jan 2023 09:37:39 +0000 Subject: tracker/nn: flip roll --- tracker-neuralnet/ftnoir_tracker_neuralnet.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'tracker-neuralnet/ftnoir_tracker_neuralnet.cpp') diff --git a/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp b/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp index 864431b9..f1585954 100644 --- a/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp +++ b/tracker-neuralnet/ftnoir_tracker_neuralnet.cpp @@ -668,7 +668,7 @@ void NeuralNetTracker::data(double *data) const float yaw = std::atan2(mx(2), mx(0)); const float pitch = -std::atan2(-mx(1), std::sqrt(mx(2)*mx(2)+mx(0)*mx(0))); - const float roll = std::atan2(-my(2), mz(2)); + const float roll = -std::atan2(-my(2), mz(2)); { constexpr double rad2deg = 180/M_PI; data[Yaw] = rad2deg * yaw; -- cgit v1.2.3