diff options
| author | Stanislaw Halik <sthalik@misaki.pl> | 2014-12-15 21:50:46 +0100 |
|---|---|---|
| committer | Stanislaw Halik <sthalik@misaki.pl> | 2014-12-15 21:50:46 +0100 |
| commit | 0383bd9685bce8528c7ae7bd42762037552b6803 (patch) | |
| tree | 6e4dd41445697e05bdb022e1911b76da8bf79a8c /ftnoir_tracker_aruco/trans_calib.cpp | |
| parent | 769d1340d3a76547a2252f52eb0a8615015f20e0 (diff) | |
pt, aruco: fix calibration
Diffstat (limited to 'ftnoir_tracker_aruco/trans_calib.cpp')
| -rw-r--r-- | ftnoir_tracker_aruco/trans_calib.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/ftnoir_tracker_aruco/trans_calib.cpp b/ftnoir_tracker_aruco/trans_calib.cpp index 369de449..03b25e6b 100644 --- a/ftnoir_tracker_aruco/trans_calib.cpp +++ b/ftnoir_tracker_aruco/trans_calib.cpp @@ -40,5 +40,5 @@ void TranslationCalibrator::update(const Matx33d& R_CM_k, const Vec3d& t_CM_k) Vec3f TranslationCalibrator::get_estimate() { Vec6f x = P.inv() * y; - return Vec3f(x[0], x[1], x[2]); + return Vec3f(-x[0], -x[1], -x[2]); } |