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-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.cpp2
-rw-r--r--ftnoir_tracker_pt/trans_calib.cpp2
2 files changed, 2 insertions, 2 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 2cf09a26..11814756 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -82,7 +82,7 @@ void Tracker::run()
{
Affine CM;
pose(&CM);
- cv::Vec3f MH(s.t_MH_x, s.t_MH_y, s.t_MH_z);
+ cv::Vec3f MH(-s.t_MH_x, -s.t_MH_y, -s.t_MH_z);
cv::Vec3f p = CM.t - MH;
float fx = get_focal_length();
cv::Vec2f p_(p[0] / p[2] * fx, p[1] / p[2] * fx);
diff --git a/ftnoir_tracker_pt/trans_calib.cpp b/ftnoir_tracker_pt/trans_calib.cpp
index efafefb7..2994eb48 100644
--- a/ftnoir_tracker_pt/trans_calib.cpp
+++ b/ftnoir_tracker_pt/trans_calib.cpp
@@ -40,5 +40,5 @@ void TranslationCalibrator::update(const Matx33f& R_CM_k, const Vec3f& 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]);
}