From 7f82af417e6941148c36b8e01f342f9390c57dfa Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Sat, 20 Dec 2014 23:28:39 +0100
Subject: pt: fix calibration wrong sign

Issue: #106
---
 ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'ftnoir_tracker_pt/ftnoir_tracker_pt.cpp')

diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 2cf09a260..11814756f 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -82,7 +82,7 @@ void Tracker::run()
             {
                 Affine CM;
                 pose(&CM);
-                cv::Vec3f MH(s.t_MH_x, s.t_MH_y, s.t_MH_z);
+                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);
-- 
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