diff --git a/include/cilantro/warp_field_estimation.hpp b/include/cilantro/warp_field_estimation.hpp
index 570a48d..5dd7f92 100644
--- a/include/cilantro/warp_field_estimation.hpp
+++ b/include/cilantro/warp_field_estimation.hpp
@@ -2085,11 +2085,11 @@ namespace cilantro {
                         inner_ind[nz_ind++] = s_offset + 4;
                         values[nz_ind] = (ScalarT)0.0;
                         inner_ind[nz_ind++] = s_offset + 5;
-                        values[nz_ind] = d_sqrt_huber_loss * d_rot_da_n[0];
+                        values[nz_ind] = d_sqrt_huber_loss * -d_rot_da_n[0];
                         inner_ind[nz_ind++] = n_offset;
-                        values[nz_ind] = d_sqrt_huber_loss * d_rot_db_n[0];
+                        values[nz_ind] = d_sqrt_huber_loss * -d_rot_db_n[0];
                         inner_ind[nz_ind++] = n_offset + 1;
-                        values[nz_ind] = d_sqrt_huber_loss * d_rot_dc_n[0];
+                        values[nz_ind] = d_sqrt_huber_loss * -d_rot_dc_n[0];
                         inner_ind[nz_ind++] = n_offset + 2;
                         values[nz_ind] = d_sqrt_huber_loss;
                         inner_ind[nz_ind++] = n_offset + 3;
@@ -2112,11 +2112,11 @@ namespace cilantro {
                         inner_ind[nz_ind++] = s_offset + 4;
                         values[nz_ind] = (ScalarT)0.0;
                         inner_ind[nz_ind++] = s_offset + 5;
-                        values[nz_ind] = d_sqrt_huber_loss * d_rot_da_n[1];
+                        values[nz_ind] = d_sqrt_huber_loss * -d_rot_da_n[1];
                         inner_ind[nz_ind++] = n_offset;
-                        values[nz_ind] = d_sqrt_huber_loss * d_rot_db_n[1];
+                        values[nz_ind] = d_sqrt_huber_loss * -d_rot_db_n[1];
                         inner_ind[nz_ind++] = n_offset + 1;
-                        values[nz_ind] = d_sqrt_huber_loss * d_rot_dc_n[1];
+                        values[nz_ind] = d_sqrt_huber_loss * -d_rot_dc_n[1];
                         inner_ind[nz_ind++] = n_offset + 2;
                         values[nz_ind] = (ScalarT)0.0;
                         inner_ind[nz_ind++] = n_offset + 3;
@@ -2139,11 +2139,11 @@ namespace cilantro {
                         inner_ind[nz_ind++] = s_offset + 4;
                         values[nz_ind] = -d_sqrt_huber_loss;
                         inner_ind[nz_ind++] = s_offset + 5;
-                        values[nz_ind] = d_sqrt_huber_loss * d_rot_da_n[2];
+                        values[nz_ind] = d_sqrt_huber_loss * -d_rot_da_n[2];
                         inner_ind[nz_ind++] = n_offset;
-                        values[nz_ind] = d_sqrt_huber_loss * d_rot_db_n[2];
+                        values[nz_ind] = d_sqrt_huber_loss * -d_rot_db_n[2];
                         inner_ind[nz_ind++] = n_offset + 1;
-                        values[nz_ind] = d_sqrt_huber_loss * d_rot_dc_n[2];
+                        values[nz_ind] = d_sqrt_huber_loss * -d_rot_dc_n[2];
                         inner_ind[nz_ind++] = n_offset + 2;
                         values[nz_ind] = (ScalarT)0.0;
                         inner_ind[nz_ind++] = n_offset + 3;