From 7554dfb9a019922018457efd301f6923bed75d85 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Thu, 13 Nov 2014 07:40:29 +0100
Subject: model calibration had sign swapped

Issue: #93
---
 ftnoir_tracker_pt/trans_calib.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ftnoir_tracker_pt/trans_calib.cpp b/ftnoir_tracker_pt/trans_calib.cpp
index 729a0b7f..efafefb7 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]);
-}
\ No newline at end of file
+	return Vec3f(x[0], x[1], x[2]);
+}
-- 
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