Merge pull request #283 from falkoschindler/master

changing sign of z_rotation() to follow conventions of a right-handed coordinate system...
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Ibrahim Abd Elkader 2017-12-07 11:26:40 +02:00 committed by GitHub
commit f77284e38a
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@ -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);