fix pose

SDK/C/include/ftl/ftl.h

@@ -222,8 +222,7 @@ ftlError_t ftlNextFrame(ftlStream_t stream);
 
 /**
  * Write of 4x4 transformation matrix into the stream for a given source. The
- * `data` pointer must contain 16 float values packed and in Eigen::Matrix4f
- * form.
+ * `data` pointer must contain 16 float values in column major order.
  */
 ftlError_t ftlPoseWrite(ftlStream_t stream, int32_t sourceId, const float *data);
 

SDK/Python/blender.py

@@ -204,7 +204,7 @@ def render_stereo(camera, baseline=0.15):
     d_max = max(np.max(depthL), np.max(depthR))
     pose = np.identity(4,dtype=np.float32)
     pose[0:3,0:4] = get_3x4_RT_matrix_from_blender(camera)
-    pose = np.linalg.inv(pose.T)
+    pose = np.linalg.inv(pose)
 
     ftlcamera = get_ftl_calibration_from_blender(camera.data, baseline=baseline, d_max=d_max)