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fixed little bug in makeCameraPose

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This commit is contained in:
Anatoly Baksheev 2013-08-02 13:37:15 +04:00
parent f30f3b6c87
commit 69e66d7bb5
1 changed files with 5 additions and 7 deletions
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12
modules/viz/src/viz.cpp
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@ -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)
{
// Compute the transformation matrix for drawing the camera frame in a scene
Vec3f u,v,n;
n = normalize(focal_point - position);
u = normalize(y_dir.cross(n));
v = n.cross(u);
Vec3f n = normalize(focal_point - position);
Vec3f u = normalize(y_dir.cross(n));
Vec3f v = n.cross(u);
Matx44f pose_mat;
pose_mat.zeros();
Matx44f pose_mat = Matx44f::zeros();
pose_mat(0,0) = u[0];
pose_mat(0,1) = u[1];
pose_mat(0,2) = u[2];
@ -86,4 +84,4 @@ namespace cv
return reinterpret_cast<Vec3d*>(pointer);
}
}
}
}