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authorStanislaw Halik <sthalik@misaki.pl>2015-01-18 14:23:13 +0100
committerStanislaw Halik <sthalik@misaki.pl>2015-01-18 14:23:23 +0100
commitc96bc2e731fdd4e704ce8d5be657040a731422a3 (patch)
tree41c2a56b46e3a8bc8abf35909291230b04538441
parent255fe6530f1bcd56c08a77af5128df910ff0b494 (diff)
pt: calibration X sign needn't inverting
Issue: #106
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.cpp2
1 files changed, 1 insertions, 1 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index c26af007..dcc8eefb 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -81,7 +81,7 @@ void Tracker::run()
{
Affine CM = pose();
- 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);