From eb768c325c37e3493e443a6451ac9ab40cb3fd06 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Wed, 18 Mar 2020 15:34:39 +0200
Subject: [PATCH] fix pose
---
SDK/C/include/ftl/ftl.h | 13 ++++++-------
SDK/Python/blender.py | 2 +-
2 files changed, 7 insertions(+), 8 deletions(-)
diff --git a/SDK/C/include/ftl/ftl.h b/SDK/C/include/ftl/ftl.h
index 6a9afabeb..2946f25cf 100644
--- a/SDK/C/include/ftl/ftl.h
+++ b/SDK/C/include/ftl/ftl.h
@@ -146,7 +146,7 @@ ftlError_t ftlSetConfigString(ftlStream_t stream, const char *name, const char *
* path part of a configurable URI, this is prepended with the streams internal
* URI so that this path is relative to the stream object. An example:
* `ftlSetConfigInt(stream, "sender/codec", 2);`
- *
+ *
* The example makes the streams encoder use HEVC codec.
*/
ftlError_t ftlSetConfigInt(ftlStream_t stream, const char *name, int value);
@@ -160,7 +160,7 @@ ftlError_t ftlSetConfigJSON(ftlStream_t stream, const char *name, const char *js
* path part of a configurable URI, this is prepended with the streams internal
* URI so that this path is relative to the stream object. An example:
* `ftlSetConfigBool(stream, "sender/lossless", false);`
- *
+ *
* The example makes the streams encoder use lossy encoding.
*/
ftlError_t ftlSetConfigBool(ftlStream_t stream, const char *name, bool value);
@@ -184,14 +184,14 @@ ftlError_t ftlSetConfigBool(ftlStream_t stream, const char *name, bool value);
* the pitch is assumed to be width multiplied by size of pixel in bytes. Note
* that `ftlNextFrame` must be called before calling this again for the same
* source and channel.
- *
+ *
* @param stream As created with `ftlCreateWriteStream`
* @param sourceId Unique consecutive ID for a camera or source
* @param channel The image channel
* @param type The image format
* @param pitch Bytes per row, in case different from width x sizeof(type)
* @param data Raw image data, pitch x height bytes in size
- *
+ *
* @return FTLERROR_OK on success
*/
ftlError_t ftlImageWrite(
@@ -207,7 +207,7 @@ ftlError_t ftlImageWrite(
* frames when `ftlNextFrame` is called. When reading an FTL file this is
* determined automatically. Default is 25 fps. Advised to call this only once
* before any call to `ftlNextFrame`.
- *
+ *
* @param stream As created with `ftlCreateWriteStream`
* @param fps Frames per second of video output
*/
@@ -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);
diff --git a/SDK/Python/blender.py b/SDK/Python/blender.py
index b5a74504e..45e056766 100644
--- a/SDK/Python/blender.py
+++ b/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)
--
GitLab