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-rw-r--r--ftnoir_tracker_pt/trans_calib.cpp2
1 files changed, 1 insertions, 1 deletions
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]);
}