diff options
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index 6b88884b..f6791615 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -84,8 +84,8 @@ void Tracker::run() { Affine CM = pose(); - cv::Vec3f MH(-s.t_MH_x, s.t_MH_y, s.t_MH_z); - cv::Vec3f p = CM.t - MH; + 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); |