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Extrinsics in Shot use Matrix44 not Quaternion. therefore ToMatrix was correct. 

Rolling back.... sigh.
This commit is contained in:
Federico Ponchio 2008-07-14 13:42:22 +00:00
parent 844be84004
commit 89973a1a14
1 changed files with 2 additions and 2 deletions
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4
vcg/math/shot.h
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@ -197,7 +197,7 @@ vcg::Point3<S> Shot<S>::Axis(const int & i) const
{ {
vcg::Matrix44<S> m; vcg::Matrix44<S> m;
Extrinsics.rot.ToMatrix(m); Extrinsics.rot.ToMatrix(m);
vcg::Point3<S> aa = m.GetColumn3(i); vcg::Point3<S> aa = m.GetRow3(i);
return aa; return aa;
} }
@ -242,7 +242,6 @@ vcg::Point3<S> Shot<S>::ConvertWorldToCameraCoordinates(const vcg::Point3<S> & p
{ {
Matrix44<S> rotM; Matrix44<S> rotM;
Extrinsics.rot.ToMatrix(rotM); Extrinsics.rot.ToMatrix(rotM);
Invert(rotM);
vcg::Point3<S> cp = rotM * (p + Extrinsics.tra); vcg::Point3<S> cp = rotM * (p + Extrinsics.tra);
cp[2]=-cp[2]; // note: camera reference system is right handed cp[2]=-cp[2]; // note: camera reference system is right handed
return cp; return cp;
@ -256,6 +255,7 @@ vcg::Point3<S> Shot<S>::ConvertCameraToWorldCoordinates(const vcg::Point3<S> & p
vcg::Point3<S> cp = p; vcg::Point3<S> cp = p;
cp[2]=-cp[2]; // note: World reference system is left handed cp[2]=-cp[2]; // note: World reference system is left handed
Extrinsics.rot.ToMatrix(rotM); Extrinsics.rot.ToMatrix(rotM);
Invert(rotM);
cp = rotM * cp-Extrinsics.tra; cp = rotM * cp-Extrinsics.tra;
return cp; return cp;
} }