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Viz::setViewerPose() - changed up-vector to down (common for Computer Vision & Odometry)

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Anatoly Baksheev
2014-03-16 20:07:05 +04:00
parent 836635d2d5
commit 24d8cbf940
2 changed files with 12 additions and 16 deletions
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6
modules/viz/src/vizimpl.cpp
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@@ -427,12 +427,12 @@ void cv::viz::Viz3d::VizImpl::setViewerPose(const Affine3d &pose)
// Rotate the view vector
cv::Matx33d rotation = pose.rotation();
cv::Vec3d y_axis(0.0, 1.0, 0.0);
cv::Vec3d y_axis(0.0, -1.0, 0.0); // In Computer Vision Camera Y-axis is oriented down
cv::Vec3d up_vec(rotation * y_axis);
// Compute the new focal point
cv::Vec3d z_axis(0.0, 0.0, 1.0);
cv::Vec3d focal_vec = pos_vec + rotation * z_axis;
cv::Vec3d focal_vec = pose * z_axis;
camera.SetPosition(pos_vec.val);
camera.SetFocalPoint(focal_vec.val);
@@ -450,7 +450,7 @@ cv::Affine3d cv::viz::Viz3d::VizImpl::getViewerPose()
Vec3d view_up(camera.GetViewUp());
Vec3d focal(camera.GetFocalPoint());
Vec3d y_axis = normalized(view_up);
Vec3d y_axis = normalized(-view_up); // In Computer Vision Camera Y-axis is oriented down
Vec3d z_axis = normalized(focal - pos);
Vec3d x_axis = normalized(y_axis.cross(z_axis));