Could inverse extrinsics

2018-04-29 14:47:35 +08:00
parent 77837933bc
commit f3d6fcdcb9
3 changed files with 14 additions and 4 deletions
--- a/src/device/device.cc
+++ b/src/device/device.cc
@@ -164,8 +164,13 @@ Extrinsics Device::GetExtrinsics(const Stream &from, const Stream &to) const {
  try {
    return stream_from_extrinsics_.at(from).at(to);
  } catch (const std::out_of_range &e) {
-    LOG(WARNING) << "Extrinsics from " << from << " to " << to << " not found";
-    return {};
+    try {
+      return stream_from_extrinsics_.at(to).at(from).Inverse();
+    } catch (const std::out_of_range &e) {
+      LOG(WARNING) << "Extrinsics from " << from << " to " << to
+                   << " not found";
+      return {};
+    }
  }
 }