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getViewerPose implementation simplified (and error seems to be fixed)

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This commit is contained in:
Anatoly Baksheev 2014-01-01 20:13:39 +04:00
parent 186853a50f
commit cb58061649
1 changed files with 1 additions and 14 deletions
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15
modules/viz/src/vizimpl.cpp
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@ -387,20 +387,7 @@ cv::Affine3d cv::viz::Viz3d::VizImpl::getViewerPose()
Vec3d z_axis = normalized(focal - pos); Vec3d z_axis = normalized(focal - pos);
Vec3d x_axis = normalized(y_axis.cross(z_axis)); Vec3d x_axis = normalized(y_axis.cross(z_axis));
cv::Matx33d R; return makeTransformToGlobal(x_axis, y_axis, z_axis, pos);
R(0, 0) = x_axis[0];
R(0, 1) = y_axis[0];
R(0, 2) = z_axis[0];
R(1, 0) = x_axis[1];
R(1, 1) = y_axis[1];
R(1, 2) = z_axis[1];
R(2, 0) = x_axis[2];
R(2, 1) = y_axis[2];
R(2, 2) = z_axis[2];
return cv::Affine3d(R, pos);
} }
///////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////