mirror of
https://github.com/openmv/openmv.git
synced 2025-11-04 14:49:50 +08:00
Merge pull request #283 from falkoschindler/master
changing sign of z_rotation() to follow conventions of a right-handed coordinate system...
This commit is contained in:
commit
f77284e38a
@ -11943,7 +11943,7 @@ void imlib_find_apriltags(list_t *out, image_t *ptr, rectangle_t *roi, apriltag_
|
||||
lnk_data.z_translation = MATD_EL(pose, 2, 3);
|
||||
lnk_data.x_rotation = fast_atan2f(MATD_EL(pose, 2, 1), MATD_EL(pose, 2, 2));
|
||||
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))));
|
||||
lnk_data.z_rotation = -fast_atan2f(MATD_EL(pose, 1, 0), MATD_EL(pose, 0, 0));
|
||||
lnk_data.z_rotation = fast_atan2f(MATD_EL(pose, 1, 0), MATD_EL(pose, 0, 0));
|
||||
|
||||
matd_destroy(pose);
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user