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| author | Stanislaw Halik <sthalik@misaki.pl> | 2014-12-20 23:28:39 +0100 |
|---|---|---|
| committer | Stanislaw Halik <sthalik@misaki.pl> | 2014-12-20 23:28:39 +0100 |
| commit | 7f82af417e6941148c36b8e01f342f9390c57dfa (patch) | |
| tree | c45e131d7ff8080fb56e0db4d7cb3c0cf13bcd8c /ftnoir_tracker_pt/trans_calib.cpp | |
| parent | 15f66b14de5e1bf3ecff0450040c8e1ddb77116a (diff) | |
pt: fix calibration wrong sign
Issue: #106
Diffstat (limited to 'ftnoir_tracker_pt/trans_calib.cpp')
| -rw-r--r-- | ftnoir_tracker_pt/trans_calib.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/ftnoir_tracker_pt/trans_calib.cpp b/ftnoir_tracker_pt/trans_calib.cpp index efafefb7..2994eb48 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]); + return Vec3f(-x[0], -x[1], -x[2]); } |