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changing sign of z_rotation() to follow conventions of a right-handed coordinate system with yaw, pitch and roll defined as right-handed rotations about z-, y- and x-axis (http://nghiaho.com/?page_id=846, http://planning.cs.uiuc.edu/node102.html);
partly reverts pull request #200 (https://github.com/openmv/openmv/pull/200/files); relates to discussion in openmv forum (http://forums.openmv.io/viewtopic.php?f=6&t=538); note that rotation() is probably effected by this change (but it should not!)
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@ -11943,7 +11943,7 @@ void imlib_find_apriltags(list_t *out, image_t *ptr, rectangle_t *roi, apriltag_
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lnk_data.z_translation = MATD_EL(pose, 2, 3);
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lnk_data.z_translation = MATD_EL(pose, 2, 3);
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lnk_data.x_rotation = fast_atan2f(MATD_EL(pose, 2, 1), MATD_EL(pose, 2, 2));
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lnk_data.x_rotation = fast_atan2f(MATD_EL(pose, 2, 1), MATD_EL(pose, 2, 2));
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lnk_data.y_rotation = fast_atan2f(-MATD_EL(pose, 2, 0), fast_sqrtf(sq(MATD_EL(pose, 2, 1)) + sq(MATD_EL(pose, 2, 2))));
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lnk_data.y_rotation = fast_atan2f(-MATD_EL(pose, 2, 0), fast_sqrtf(sq(MATD_EL(pose, 2, 1)) + sq(MATD_EL(pose, 2, 2))));
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lnk_data.z_rotation = -fast_atan2f(MATD_EL(pose, 1, 0), MATD_EL(pose, 0, 0));
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lnk_data.z_rotation = fast_atan2f(MATD_EL(pose, 1, 0), MATD_EL(pose, 0, 0));
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matd_destroy(pose);
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matd_destroy(pose);
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