From 89f37774395530ef7267d4115f1a6242e0e9ce49 Mon Sep 17 00:00:00 2001 From: Justin Berger Date: Sun, 11 Mar 2018 03:04:24 -0600 Subject: Fixed survive_reproject to match the new coordinate system --- src/survive_reproject.c | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) (limited to 'src/survive_reproject.c') 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); -- cgit v1.2.3