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authorStanislaw Halik <sthalik@misaki.pl>2014-12-19 18:28:45 +0100
committerStanislaw Halik <sthalik@misaki.pl>2014-12-19 18:28:45 +0100
commita5cab46a725699d4e1d48ac14c416d2ba107070f (patch)
treec7f192b4d3b13fa23a06972e099a60673749f6ad /ftnoir_tracker_aruco
parenteea6c205ae45acbed04de746dc2db1b1fc441562 (diff)
aruco: fix calibration sign swap
Diffstat (limited to 'ftnoir_tracker_aruco')
-rw-r--r--ftnoir_tracker_aruco/trans_calib.cpp2
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]);
}