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Changed to reflect quaternion toMatrix inversion.

This commit is contained in:
Federico Ponchio 2008-02-22 17:41:48 +00:00
parent 84760ee1f2
commit 8cc9a085a7
1 changed files with 5 additions and 1 deletions
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6
vcg/math/shot.h
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@ -23,6 +23,9 @@
/****************************************************************************
History
$Log: not supported by cvs2svn $
Revision 1.23 2007/02/06 08:54:07 corsini
fix names
Revision 1.22 2007/02/05 14:17:21 corsini
add extrinsic parameters accessors
@ -236,6 +239,7 @@ vcg::Point3<S> Shot<S>::ConvertWorldToCameraCoordinates(const vcg::Point3<S> & p
{
Matrix44<S> rotM;
Extrinsics.rot.ToMatrix(rotM);
Invert(rotM);
vcg::Point3<S> cp = rotM * (p + Extrinsics.tra);
cp[2]=-cp[2]; // note: camera reference system is right handed
return cp;
@ -249,7 +253,7 @@ vcg::Point3<S> Shot<S>::ConvertCameraToWorldCoordinates(const vcg::Point3<S> & p
vcg::Point3<S> cp = p;
cp[2]=-cp[2]; // note: World reference system is left handed
Extrinsics.rot.ToMatrix(rotM);
cp = Inverse(rotM) * cp-Extrinsics.tra;
cp = rotM * cp-Extrinsics.tra;
return cp;
}