From b3ff19fc7d583591a416b7bfe2434c6df4e4e932 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Wed, 22 May 2019 12:15:25 +0300
Subject: [PATCH] Invert cx and cy in cam params

---
 components/rgbd-sources/src/stereovideo_source.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/components/rgbd-sources/src/stereovideo_source.cpp b/components/rgbd-sources/src/stereovideo_source.cpp
index 101620ed7..55d4735ec 100644
--- a/components/rgbd-sources/src/stereovideo_source.cpp
+++ b/components/rgbd-sources/src/stereovideo_source.cpp
@@ -51,8 +51,8 @@ StereoVideoSource::StereoVideoSource(nlohmann::json &config, const string &file)
 		// TODO(Nick) Add fx and fy
 		q.at<double>(0,0),	// Fx
 		q.at<double>(1,1),	// Fy
-		q.at<double>(0,2),	// Cx
-		q.at<double>(1,2),	// Cy
+		-q.at<double>(0,2),	// Cx
+		-q.at<double>(1,2),	// Cy
 		(unsigned int)left_.cols,  // TODO (Nick)
 		(unsigned int)left_.rows,
 		0.0f,	// 0m min
-- 
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