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| author | Stanislaw Halik <sthalik@misaki.pl> | 2014-11-13 07:40:29 +0100 |
|---|---|---|
| committer | Stanislaw Halik <sthalik@misaki.pl> | 2014-11-13 07:40:29 +0100 |
| commit | 7554dfb9a019922018457efd301f6923bed75d85 (patch) | |
| tree | 16bd313366e5ff94f73f7e940eca885b13e679b7 | |
| parent | 9e243755a8af7a1e3df6d8914e807ff4f0db5929 (diff) | |
model calibration had sign swapped
Issue: #93
| -rw-r--r-- | ftnoir_tracker_pt/trans_calib.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/ftnoir_tracker_pt/trans_calib.cpp b/ftnoir_tracker_pt/trans_calib.cpp index 729a0b7f..efafefb7 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]); -}
\ No newline at end of file + return Vec3f(x[0], x[1], x[2]); +} |