From e67f83f1b5c4e067be1589c9f8bd2d46341bcda6 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 5 Dec 2019 15:16:13 +0200
Subject: [PATCH] Remove old transform code
---
applications/reconstruct/src/main.cpp | 26 +++-----------------------
1 file changed, 3 insertions(+), 23 deletions(-)
diff --git a/applications/reconstruct/src/main.cpp b/applications/reconstruct/src/main.cpp
index 41be18a13..4b802d49f 100644
--- a/applications/reconstruct/src/main.cpp
+++ b/applications/reconstruct/src/main.cpp
@@ -200,26 +200,6 @@ static void run(ftl::Configurable *root) {
configproxy->add(disparity, "source/disparity/cross", "cross");
}
- // Create scene transform, intended for axis aligning the walls and floor
- Eigen::Matrix4d transform;
- if (root->getConfig()["transform"].is_object()) {
- auto &c = root->getConfig()["transform"];
- float rx = c.value("pitch", 0.0f);
- float ry = c.value("yaw", 0.0f);
- float rz = c.value("roll", 0.0f);
- float x = c.value("x", 0.0f);
- float y = c.value("y", 0.0f);
- float z = c.value("z", 0.0f);
-
- Eigen::Affine3d r = create_rotation_matrix(rx, ry, rz);
- Eigen::Translation3d trans(Eigen::Vector3d(x,y,z));
- Eigen::Affine3d t(trans);
- transform = t.matrix() * r.matrix();
- LOG(INFO) << "Set transform: " << transform;
- } else {
- transform.setIdentity();
- }
-
// Must find pose for each source...
if (sources.size() > 1) {
std::map<std::string, Eigen::Matrix4d> transformations;
@@ -235,16 +215,16 @@ static void run(ftl::Configurable *root) {
string uri = input->getURI();
auto T = transformations.find(uri);
if (T == transformations.end()) {
- LOG(ERROR) << "Camera pose for " + uri + " not found in transformations";
+ LOG(WARNING) << "Camera pose for " + uri + " not found in transformations";
//LOG(WARNING) << "Using only first configured source";
// TODO: use target source if configured and found
//sources = { sources[0] };
//sources[0]->setPose(Eigen::Matrix4d::Identity());
//break;
- input->setPose(transform * input->getPose());
+ input->setPose(input->getPose());
continue;
}
- input->setPose(transform * T->second);
+ input->setPose(T->second);
}
}
--
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