From cd88513bb2320f093e4fe56df0f8df19ff8a5fc7 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Mon, 16 Mar 2020 11:16:18 +0200
Subject: [PATCH] Fix pose problems
---
SDK/Python/blender_script.py | 8 ++++++--
1 file changed, 6 insertions(+), 2 deletions(-)
diff --git a/SDK/Python/blender_script.py b/SDK/Python/blender_script.py
index cc250c930..1a567e429 100644
--- a/SDK/Python/blender_script.py
+++ b/SDK/Python/blender_script.py
@@ -253,7 +253,7 @@ ftlImageWrite.argtypes = [c_void_p, c_int, c_int, c_int, c_int, c_void_p]
ftlPoseWrite = ftl.ftlPoseWrite
ftlPoseWrite.restype = c_int
-ftlPoseWrite.argtypes = [c_void_p, c_void_p]
+ftlPoseWrite.argtypes = [c_void_p, c_int, c_void_p]
ftlDestroyStream = ftl.ftlDestroyStream
ftlDestroyStream.restype = c_int
@@ -282,7 +282,11 @@ def render_and_save(filename, cameras):
ftlCheck(ftlIntrinsicsWriteRight(c_void_p(stream), c_int(i), c_int(int(image.intrinsics.width)), c_int(int(image.intrinsics.height)), c_float(image.intrinsics.fx), c_float(image.intrinsics.cx), c_float(image.intrinsics.cy), c_float(image.intrinsics.baseline), c_float(image.intrinsics.min_depth), c_float(image.intrinsics.max_depth)))
# This line needs fixing
- ftlCheck(ftlPoseWrite(stream, image.pose.astype(np.float32).ctypes.data_as(c_void_p)))
+ M = np.identity(4,dtype=np.float32)
+ M[0:3,0:4] = image.pose
+ M = np.transpose(M)
+ M = np.linalg.inv(M)
+ ftlCheck(ftlPoseWrite(stream, c_int(i), M.ctypes.data_as(c_void_p)))
ftlCheck(ftlImageWrite(stream, c_int(i), 0, 5, 0, image.imL.ctypes.data_as(c_void_p)))
ftlCheck(ftlImageWrite(stream, c_int(i), 2, 5, 0, image.imR.ctypes.data_as(c_void_p)))
--
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