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| author | Justin Berger <j.david.berger@gmail.com> | 2018-03-11 03:04:24 -0600 |
|---|---|---|
| committer | Justin Berger <j.david.berger@gmail.com> | 2018-03-11 14:54:29 -0600 |
| commit | 89f37774395530ef7267d4115f1a6242e0e9ce49 (patch) | |
| tree | 550d3faabe5a22ccd099d55290682bd0b01bc1d1 /src/survive_reproject.c | |
| parent | ef2a7f197b6dbfb0d09bdb7011d57f94a3b24d28 (diff) | |
| download | libsurvive-89f37774395530ef7267d4115f1a6242e0e9ce49.tar.gz libsurvive-89f37774395530ef7267d4115f1a6242e0e9ce49.tar.bz2 | |
Fixed survive_reproject to match the new coordinate system
Diffstat (limited to 'src/survive_reproject.c')
| -rw-r--r-- | src/survive_reproject.c | 5 |
1 files changed, 2 insertions, 3 deletions
diff --git a/src/survive_reproject.c b/src/survive_reproject.c index 8ba4c77..7bfc7d7 100644 --- a/src/survive_reproject.c +++ b/src/survive_reproject.c @@ -86,9 +86,8 @@ void survive_reproject_from_pose_with_config( for (int i = 0; i < 3; i++) t_pt[i] = t_pt[i] - tvec[i]; - // If +Z is up, this is right - FLT x = t_pt[0] / t_pt[2]; - FLT y = t_pt[1] / t_pt[2]; + FLT x = -t_pt[0] / -t_pt[2]; + FLT y = t_pt[1] / -t_pt[2]; double ang_x = atan(x); double ang_y = atan(y); |