WallyHackenslacker/NxtAR-android
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Transposed the output rotation matrix.

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Wally Hackenslacker
2014-05-14 16:57:36 -04:30
parent b0151e85e9
commit 2e176aae47
1 changed files with 5 additions and 2 deletions
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7
jni/cv_proc.cpp
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@@ -20,7 +20,7 @@
#include "marker.hpp" #include "marker.hpp"
//#define LOG_ENABLED #define LOG_ENABLED
#define MAX_MARKERS 5 #define MAX_MARKERS 5
#define TRANSLATION_VECTOR_POINTS 3 #define TRANSLATION_VECTOR_POINTS 3
#define ROTATION_MATRIX_SIZE 9 #define ROTATION_MATRIX_SIZE 9
@@ -79,9 +79,12 @@ JNIEXPORT void JNICALL Java_ve_ucv_ciens_ccg_nxtar_MainActivity_getMarkerCodesAn
} }
for(int k = 0; k < vMarkers.size(); k++){ for(int k = 0; k < vMarkers.size(); k++){
log(TAG, "getMarkerCodesAndLocations(): Rotation matrix:");
for(int row = 0; row < 3; row++){ for(int row = 0; row < 3; row++){
for(int col = 0; col < 3; col++){ for(int col = 0; col < 3; col++){
_rt[col + (row * 3) + (9 * k)] = vMarkers[k].rotation.at<jfloat>(row, col); sprintf(codeMsg, "%f ", vMarkers[k].rotation.at<jfloat>(row, col));
log(TAG, codeMsg);
_rt[row + (col * 3) + (9 * k)] = vMarkers[k].rotation.at<jfloat>(row, col);
} }
} }
} }