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const std::array, 3> &R = icam.cam.R; + const std::array, 3> &R = icam.invR; const std::array, 3> &T = icam.cam.T; for (size_t i = 0; i < num_persons; ++i) @@ -1277,7 +1277,7 @@ std::array calc_ray_dir(const CameraInternal &icam, const std::array uv1 = {pt[0], pt[1], 1.0}; - auto d = mat_mul_vec(icam.invR, mat_mul_vec(icam.invK, uv1)); + auto d = mat_mul_vec(icam.cam.R, mat_mul_vec(icam.invK, uv1)); auto ray_dir = normalize(d); return ray_dir; diff --git a/scripts/test_triangulate.py b/scripts/test_triangulate.py index d036913..04c3885 100644 --- a/scripts/test_triangulate.py +++ b/scripts/test_triangulate.py @@ -2,7 +2,6 @@ import copy import json import os -import matplotlib import numpy as np import utils_pipeline diff --git a/skelda b/skelda index ab5b744..deb926c 160000 --- a/skelda +++ b/skelda @@ -1 +1 @@ -Subproject commit ab5b744cc639b7a0d7b8fef964ffa3b2b5c03b20 +Subproject commit deb926c6bcd7c7ba7a25ccfd7cb0b6a739b87cab