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| author | Stanislaw Halik <sthalik@misaki.pl> | 2014-12-19 18:28:45 +0100 |
|---|---|---|
| committer | Stanislaw Halik <sthalik@misaki.pl> | 2014-12-19 18:28:45 +0100 |
| commit | a5cab46a725699d4e1d48ac14c416d2ba107070f (patch) | |
| tree | c7f192b4d3b13fa23a06972e099a60673749f6ad /ftnoir_tracker_aruco | |
| parent | eea6c205ae45acbed04de746dc2db1b1fc441562 (diff) | |
aruco: fix calibration sign swap
Diffstat (limited to 'ftnoir_tracker_aruco')
| -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 03b25e6b..369de449 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]); } |