crosstyan/RapidPoseTriangulation
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Adjust to updated skelda camera format.

Browse Source
This commit is contained in:
Daniel
2025-03-06 16:04:46 +01:00
parent d8fee53284
commit 63f373e7ec
15 changed files with 723 additions and 724 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
rpt/triangulator.cpp
View File

@ -1021,7 +1021,7 @@ TriangulatorInternal::project_poses(
// Get camera parameters
const std::array<std::array<float, 3>, 3> &K = icam.newK;
const std::array<std::array<float, 3>, 3> &R = icam.cam.R;
const std::array<std::array<float, 3>, 3> &R = icam.invR;
const std::array<std::array<float, 1>, 3> &T = icam.cam.T;
for (size_t i = 0; i < num_persons; ++i)
@ -1277,7 +1277,7 @@ std::array<float, 3> calc_ray_dir(const CameraInternal &icam, const std::array<f
{
// Compute normalized ray direction from the point
std::array<float, 3> 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;