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-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.cpp4
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);