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authorStanislaw Halik <sthalik@misaki.pl>2014-12-15 22:02:49 +0100
committerStanislaw Halik <sthalik@misaki.pl>2014-12-15 22:02:49 +0100
commitf617bebaa3fd041159a8e835a2c1792916432e9c (patch)
tree10649e7951508e834a85a1062665fad8824a1621 /ftnoir_tracker_pt
parent5d0ef7070a6338262f22397d6f492e6ddc6c4dbf (diff)
pt: fix calibration
Issue: #106 Signs were swapped.
Diffstat (limited to 'ftnoir_tracker_pt')
-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 cfeefe38..2cf09a26 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -159,7 +159,7 @@ void Tracker::data(THeadPoseData *data)
Affine X_CM = point_tracker.pose();
- Affine X_MH(Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z));
+ Affine X_MH(Matx33f::eye(), cv::Vec3f(-s.t_MH_x, -s.t_MH_y, -s.t_MH_z));
Affine X_GH = X_CM * X_MH;
Matx33f R = X_GH.R;