[computeProjectionMatrix] always use Z forward

sarthou · Aug 22, 2023 · 179a52e · 179a52e
1 parent ce290d7
commit 179a52e
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 7 deletions.
diff --git a/src/Perception/Managers/ObjectsPerceptionManager.cpp b/src/Perception/Managers/ObjectsPerceptionManager.cpp
@@ -445,12 +445,7 @@ std::unordered_set<int> ObjectsPerceptionManager::getObjectsInCamera()
                                                               myself_agent_->getFieldOfView().getRatio(),
                                                               myself_agent_->getFieldOfView().getClipNear(),
                                                               myself_agent_->getFieldOfView().getClipFar());
-
-  std::array<double, 3> axes = {1,0,0};
-  if(myself_agent_->getType() == AgentType_e::ROBOT)
-    axes = {0,0,1};
-
-  Pose target_pose = myself_agent_->getHead()->pose() * Pose(axes, {0,0,0,1});
+  Pose target_pose = myself_agent_->getHead()->pose() * Pose({0,0,1}, {0,0,0,1});
   auto head_pose_trans = myself_agent_->getHead()->pose().arrays().first;
   auto target_pose_trans = target_pose.arrays().first;
   auto view_matrix = bullet_client_->computeViewMatrix({(float)head_pose_trans[0], (float)head_pose_trans[1], (float)head_pose_trans[2]},

diff --git a/src/SituationAssessor.cpp b/src/SituationAssessor.cpp
@@ -276,7 +276,7 @@ void SituationAssessor::processHumans(std::map<std::string, std::unordered_set<i
                                                                 human.second->getFieldOfView().getRatio(),
                                                                 human.second->getFieldOfView().getClipNear(),
                                                                 human.second->getFieldOfView().getClipFar());
-    Pose target_pose = human.second->getHead()->pose() * Pose({1,0,0}, {0,0,0,1});
+    Pose target_pose = human.second->getHead()->pose() * Pose({0,0,1}, {0,0,0,1});
     auto head_pose_trans = human.second->getHead()->pose().arrays().first;
     auto target_pose_trans = target_pose.arrays().first;
     auto view_matrix = bullet_client_->computeViewMatrix({(float)head_pose_trans[0], (float)head_pose_trans[1], (float)head_pose_trans[2]},