From cb5806164946379b77f328cbb7bf00959b194f6f Mon Sep 17 00:00:00 2001 From: Anatoly Baksheev Date: Wed, 1 Jan 2014 20:13:39 +0400 Subject: [PATCH] getViewerPose implementation simplified (and error seems to be fixed) --- modules/viz/src/vizimpl.cpp | 15 +-------------- 1 file changed, 1 insertion(+), 14 deletions(-) diff --git a/modules/viz/src/vizimpl.cpp b/modules/viz/src/vizimpl.cpp index cac58350b2..34f78c64c1 100644 --- a/modules/viz/src/vizimpl.cpp +++ b/modules/viz/src/vizimpl.cpp @@ -387,20 +387,7 @@ cv::Affine3d cv::viz::Viz3d::VizImpl::getViewerPose() Vec3d z_axis = normalized(focal - pos); Vec3d x_axis = normalized(y_axis.cross(z_axis)); - cv::Matx33d R; - R(0, 0) = x_axis[0]; - R(0, 1) = y_axis[0]; - R(0, 2) = z_axis[0]; - - R(1, 0) = x_axis[1]; - R(1, 1) = y_axis[1]; - R(1, 2) = z_axis[1]; - - R(2, 0) = x_axis[2]; - R(2, 1) = y_axis[2]; - R(2, 2) = z_axis[2]; - - return cv::Affine3d(R, pos); + return makeTransformToGlobal(x_axis, y_axis, z_axis, pos); } /////////////////////////////////////////////////////////////////////////////////////////////