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opencv
Commit 69e66d7b authored by Anatoly Baksheev's avatar Anatoly Baksheev
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fixed little bug in makeCameraPose

parent f30f3b6c
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Showing with 5 additions and 8 deletions
modules/viz/src/viz.cpp
View file @ 69e66d7b
...@@ -22,13 +22,11 @@ cv::Affine3f cv::viz::makeTransformToGlobal(const Vec3f& axis_x, const Vec3f& ax ...@@ -22,13 +22,11 @@ cv::Affine3f cv::viz::makeTransformToGlobal(const Vec3f& axis_x, const Vec3f& ax
cv::Affine3f cv::viz::makeCameraPose(const Vec3f& position, const Vec3f& focal_point, const Vec3f& y_dir) cv::Affine3f cv::viz::makeCameraPose(const Vec3f& position, const Vec3f& focal_point, const Vec3f& y_dir)
{ {
// Compute the transformation matrix for drawing the camera frame in a scene // Compute the transformation matrix for drawing the camera frame in a scene
Vec3f u,v,n; Vec3f n = normalize(focal_point - position);
n = normalize(focal_point - position); Vec3f u = normalize(y_dir.cross(n));
u = normalize(y_dir.cross(n)); Vec3f v = n.cross(u);
v = n.cross(u);
Matx44f pose_mat; Matx44f pose_mat = Matx44f::zeros();
pose_mat.zeros();
pose_mat(0,0) = u[0]; pose_mat(0,0) = u[0];
pose_mat(0,1) = u[1]; pose_mat(0,1) = u[1];
pose_mat(0,2) = u[2]; pose_mat(0,2) = u[2];
...@@ -86,4 +84,4 @@ namespace cv ...@@ -86,4 +84,4 @@ namespace cv
return reinterpret_cast<Vec3d*>(pointer); return reinterpret_cast<Vec3d*>(pointer);
} }
} }
} }
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