From afc05705f09547702881e12b3746ddd035ae21a0 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Fri, 18 Oct 2019 13:53:06 +0300
Subject: [PATCH] fix inverse

---
 components/renderers/cpp/src/splat_render.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/components/renderers/cpp/src/splat_render.cpp b/components/renderers/cpp/src/splat_render.cpp
index 4e64c25bf..30c47dc11 100644
--- a/components/renderers/cpp/src/splat_render.cpp
+++ b/components/renderers/cpp/src/splat_render.cpp
@@ -465,7 +465,7 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out) {
 
 		Eigen::Matrix4f transform = Eigen::Matrix4f::Identity();
 		transform(0, 3) = baseline;
-		Eigen::Matrix4f matrix =  src->getPose().cast<float>() * transform.inverse();
+		Eigen::Matrix4f matrix = transform.inverse() * src->getPose().cast<float>();
 		
 		params.m_viewMatrix = MatrixConversion::toCUDA(matrix.inverse());
 		params.m_viewMatrixInverse = MatrixConversion::toCUDA(matrix);
-- 
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