From 072a8a8b3fbd5dbaac5a6c07df56ce7d3098a637 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Fri, 6 Dec 2019 11:34:12 +0200
Subject: [PATCH] Fix for reprojection scaling
---
components/renderers/cpp/src/tri_render.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/components/renderers/cpp/src/tri_render.cpp b/components/renderers/cpp/src/tri_render.cpp
index 9ef51d9d1..9a3739b72 100644
--- a/components/renderers/cpp/src/tri_render.cpp
+++ b/components/renderers/cpp/src/tri_render.cpp
@@ -231,8 +231,8 @@ void Triangular::__reprojectChannel(ftl::rgbd::Frame &output, ftl::codecs::Chann
}
//Eigen::Affine3f sm = Eigen::Affine3f(Eigen::Scaling(scale));
- auto transform = MatrixConversion::toCUDA(t.cast<float>().inverse() * s->getPose().cast<float>().inverse()) * params_.m_viewMatrixInverse;
- auto transformR = MatrixConversion::toCUDA(t.cast<float>().inverse() * s->getPose().cast<float>().inverse()).getFloat3x3();
+ auto transform = MatrixConversion::toCUDA(s->getPose().cast<float>().inverse() * t.cast<float>().inverse()) * params_.m_viewMatrixInverse;
+ auto transformR = MatrixConversion::toCUDA(s->getPose().cast<float>().inverse()).getFloat3x3();
if (mesh_) {
ftl::cuda::reproject(
--
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