p71924506
/
carla
mirror of https://github.com/carla-simulator/carla.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Fix error in the inverse 4-matrix transformation

This commit is contained in:
Daniel Santos-Olivan 2020-06-30 12:45:30 +02:00 committed by Marc Garcia Puig
parent 114e42357a
commit 62e8b4ec1e
1 changed files with 7 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
LibCarla/source/carla/geom/Transform.h
View File

@ -114,11 +114,14 @@ namespace geom {
const float cp = std::cos(Math::ToRadians(pitch));
const float sp = std::sin(Math::ToRadians(pitch));
Vector3D a = {0.0f, 0.0f, 0.0f};
InverseTransformPoint(a);
std::array<float, 16> transform = {
cp * cy, cp * sy, sp, location.x,
cy * sp * sr - sy * cr, sy * sp * sr + cy * cr, -cp * sr, location.y,
-cy * sp * cr - sy * sr, -sy * sp * cr + cy * sr, cp * cr, location.z,
0.0, 0.0, 0.0, 1.0};
cp * cy, cp * sy, sp, a.x,
cy * sp * sr - sy * cr, sy * sp * sr + cy * cr, -cp * sr, a.y,
-cy * sp * cr - sy * sr, -sy * sp * cr + cy * sr, cp * cr, a.z,
0.0f, 0.0f, 0.0f, 1.0};
return transform;
}