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[Fix]: Transformation matrix inverse bug

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This commit is contained in:
Jacob.lsx 2021-01-31 17:02:40 +08:00
parent 1c219a0b26
commit 5cd65a6952
1 changed files with 3 additions and 1 deletions
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4
include/mynteye/types.h
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@ -625,7 +625,9 @@ struct MYNTEYE_API Extrinsics {
return {{{rotation[0][0], rotation[1][0], rotation[2][0]},
{rotation[0][1], rotation[1][1], rotation[2][1]},
{rotation[0][2], rotation[1][2], rotation[2][2]}},
{-translation[0], -translation[1], -translation[2]}};
{-(rotation[0][0]*translation[0] + rotation[1][0]*translation[1] + rotation[2][0]*translation[2]),
-(rotation[0][1]*translation[0] + rotation[1][1]*translation[1] + rotation[2][1]*translation[2]),
-(rotation[0][2]*translation[0] + rotation[1][2]*translation[1] + rotation[2][2]*translation[2])}};
}
};