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authorStanislaw Halik <sthalik@misaki.pl>2016-08-15 13:42:42 +0200
committerStanislaw Halik <sthalik@misaki.pl>2016-08-15 13:42:42 +0200
commitebcb655842a184ad7f0c3abfabbf04e349fc7a53 (patch)
tree60d8da4d122444e10ae462a8577b93cdf5d98821 /cv
parent2db3e1428a31b7c90cbcb9e5eaef90e44d64d97c (diff)
cv/trans-calib: fix sign
Issue: #416 Reported-by: @olegiy
Diffstat (limited to 'cv')
-rw-r--r--cv/translation-calibrator.cpp2
1 files changed, 1 insertions, 1 deletions
diff --git a/cv/translation-calibrator.cpp b/cv/translation-calibrator.cpp
index 1287b408..a5df5b5f 100644
--- a/cv/translation-calibrator.cpp
+++ b/cv/translation-calibrator.cpp
@@ -37,5 +37,5 @@ void TranslationCalibrator::update(const cv::Matx33d& R_CM_k, const cv::Vec3d& t
cv::Vec3f TranslationCalibrator::get_estimate()
{
cv::Vec6f x = P.inv() * y;
- return cv::Vec3f(x[0], x[1], x[2]);
+ return cv::Vec3f(-x[0], -x[1], -x[2]);
}