From a5cab46a725699d4e1d48ac14c416d2ba107070f Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Fri, 19 Dec 2014 18:28:45 +0100
Subject: aruco: fix calibration sign swap

---
 ftnoir_tracker_aruco/trans_calib.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ftnoir_tracker_aruco/trans_calib.cpp b/ftnoir_tracker_aruco/trans_calib.cpp
index 03b25e6b..369de449 100644
--- a/ftnoir_tracker_aruco/trans_calib.cpp
+++ b/ftnoir_tracker_aruco/trans_calib.cpp
@@ -40,5 +40,5 @@ void TranslationCalibrator::update(const Matx33d& R_CM_k, const Vec3d& 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]);
 }
-- 
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