[software] checkerboardCalibration: fix after pose3 modifications

alicevision · Sep 8, 2023 · 5db4510 · 5db4510
1 parent 5b96dca
commit 5db4510
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/software/pipeline/main_checkerboardCalibration.cpp b/src/software/pipeline/main_checkerboardCalibration.cpp
@@ -296,7 +296,7 @@ bool estimateIntrinsicsPoses(sfmData::SfMData& sfmData,
             Eigen::JacobiSVD<Eigen::Matrix3d> svd(M, Eigen::ComputeFullU | Eigen::ComputeFullV);
             T.block<3, 3>(0, 0) = svd.matrixU() * svd.matrixV().transpose();
 
-            geometry::Pose3 pose(T);
+            geometry::Pose3 pose(T.block<3, 3>(0, 0), -T.block<3, 3>(0, 0).transpose() * T.col(3));
             sfmData::CameraPose cp;
             cp.setTransform(pose);