From ebcb655842a184ad7f0c3abfabbf04e349fc7a53 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Mon, 15 Aug 2016 13:42:42 +0200
Subject: cv/trans-calib: fix sign

Issue: #416
Reported-by: @olegiy
---
 cv/translation-calibrator.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'cv')

diff --git a/cv/translation-calibrator.cpp b/cv/translation-calibrator.cpp
index 1287b408..a5df5b5f 100644
--- a/cv/translation-calibrator.cpp
+++ b/cv/translation-calibrator.cpp
@@ -37,5 +37,5 @@ void TranslationCalibrator::update(const cv::Matx33d& R_CM_k, const cv::Vec3d& t
 cv::Vec3f TranslationCalibrator::get_estimate()
 {
     cv::Vec6f x = P.inv() * y;
-    return cv::Vec3f(x[0], x[1], x[2]);
+    return cv::Vec3f(-x[0], -x[1], -x[2]);
 }
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