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createTextureCameras: using CameraModel's localTransform instead of hard coded optical rotation

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matlabbe
2017-01-17 12:44:30 -05:00
parent a011a6af64
commit 4c7d46c8a0
1 changed files with 3 additions and 6 deletions
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9
corelib/src/util3d_surface.cpp
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@@ -581,12 +581,9 @@ pcl::texture_mapping::CameraVector createTextureCameras(
UASSERT(poseIter->first == modelIter->first); UASSERT(poseIter->first == modelIter->first);
pcl::TextureMapping<pcl::PointXYZ>::Camera cam; pcl::TextureMapping<pcl::PointXYZ>::Camera cam;
// transform into optical referential // should be in camera frame
Transform rotation(0,-1,0,0, UASSERT(!modelIter->second.localTransform().isNull() && !poseIter->second.isNull());
0,0,-1,0, Transform t = poseIter->second*modelIter->second.localTransform();
1,0,0,0);
Transform t = poseIter->second*rotation.inverse();
cam.pose = t.toEigen3f(); cam.pose = t.toEigen3f();