diff options
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 4 | ||||
| -rw-r--r-- | ftnoir_tracker_pt/trans_calib.cpp | 2 |
2 files changed, 3 insertions, 3 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index 7be8ac03..f6017ee0 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -82,7 +82,7 @@ void Tracker::run() { Affine CM; pose(&CM); - cv::Vec3f MH(-s.t_MH_x, -s.t_MH_y, -s.t_MH_z); + cv::Vec3f MH(s.t_MH_x, s.t_MH_y, s.t_MH_z); cv::Vec3f p = CM.t - MH; float fx = get_focal_length(); cv::Vec2f p_(p[0] / p[2] * fx, p[1] / p[2] * fx); @@ -162,7 +162,7 @@ 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; diff --git a/ftnoir_tracker_pt/trans_calib.cpp b/ftnoir_tracker_pt/trans_calib.cpp index 2994eb48..e6a56e36 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]); } |