Merge "Make camera definitions work on 7971"
diff --git a/y2020/vision/camera_reader.cc b/y2020/vision/camera_reader.cc
index 25cf33a..d9b5ea0 100644
--- a/y2020/vision/camera_reader.cc
+++ b/y2020/vision/camera_reader.cc
@@ -220,10 +220,13 @@
continue;
}
- cv::Mat R_camera_target, T_camera_target;
+ cv::Mat R_camera_target_vec, R_camera_target, T_camera_target;
+ // Compute the pose of the camera (global origin relative to camera)
cv::solvePnPRansac(per_image.training_points_3d, per_image.query_points,
- CameraIntrinsics(), cv::noArray(), R_camera_target,
+ CameraIntrinsics(), cv::noArray(), R_camera_target_vec,
T_camera_target);
+ // Convert Camera from angle-axis (3x1) to homogenous (3x3) representation
+ cv::Rodrigues(R_camera_target_vec, R_camera_target);
sift::CameraPose::Builder pose_builder(*builder.fbb());
{