From 98342426deec756d5944d2c6c8291da8f2478300 Mon Sep 17 00:00:00 2001 From: Robert Ennis Date: Thu, 22 Aug 2024 15:11:36 +0200 Subject: [PATCH] fix homogeneous part of transform_scene_to_imu based on results of my test code --- alpha-lab/imu-transformations/index.md | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/alpha-lab/imu-transformations/index.md b/alpha-lab/imu-transformations/index.md index 1d7df53a5..685e753ba 100644 --- a/alpha-lab/imu-transformations/index.md +++ b/alpha-lab/imu-transformations/index.md @@ -117,10 +117,10 @@ def transform_scene_to_imu(coords_in_scene, translation = None): scene_to_imu_homogeneous[:3, :3] = scene_to_imu scene_to_imu_homogeneous[:3, 3] = translation - coords_in_scene_homogeneous = cv2.convertPointsToHomogeneous(coords_in_scene) - return cv2.convertPointsFromHomogeneous( - scene_to_imu_homogeneous @ coords_in_scene_homogeneous - ) + coords_in_scene_homogeneous = cv2.convertPointsToHomogeneous(coords_in_scene.T) + coords_in_imu_homogeneous = scene_to_imu_homogeneous @ coords_in_scene_homogeneous.reshape(-1, 4).T + coords_in_imu = cv2.convertPointsFromHomogeneous(coords_in_imu_homogeneous.T) + return coords_in_imu.reshape(-1, 3).T else: return scene_to_imu @ coords_in_scene @@ -193,7 +193,7 @@ eyeball_centers_in_world = transform_imu_to_world( ) optical_axes_in_imu = transform_scene_to_imu( - optical_axes.T, translation=scene_camera_position_in_imu, + optical_axes.T, ) optical_axes_in_world = transform_imu_to_world( optical_axes_in_imu.T, imu_quaternions,