From 7554dfb9a019922018457efd301f6923bed75d85 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik 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]); +} -- cgit v1.2.3