From 624af078972e3b78e777f4aa7fd98342703b410a Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Wed, 18 Mar 2020 21:11:18 +0200
Subject: [PATCH] bug: correct camera pose
---
SDK/Python/blender.py | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/SDK/Python/blender.py b/SDK/Python/blender.py
index 49fee0d08..c1d9b34e1 100644
--- a/SDK/Python/blender.py
+++ b/SDK/Python/blender.py
@@ -172,6 +172,10 @@ def render_stereo(camera, baseline=0.15, use_eevee_depth=False):
context = bpy.context
camera_old = bpy.context.scene.camera
+ pose = np.array(camera.matrix_world)
+ pose[:,1] = -pose[:,1]
+ pose[:,2] = -pose[:,2]
+
try:
context.scene.camera = camera
imL, depthL = render()
@@ -187,10 +191,6 @@ def render_stereo(camera, baseline=0.15, use_eevee_depth=False):
finally:
context.scene.camera = camera_old
- pose = np.array(camera.matrix_world)
- pose[:,1] = -pose[:,1]
- pose[:,2] = -pose[:,2]
-
d_max = max(np.max(depthL), np.max(depthR))
ftlcamera = get_ftl_calibration_from_blender(camera.data, baseline=baseline, d_max=d_max)
--
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