Merge pull request #1026 from Tonsty/master

fix bugs in renderView
PointCloudLibrary · Dec 14, 2014 · a2afba1 · a2afba1
2 parents 3b86719 + f08f5c1
commit a2afba1
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/visualization/src/pcl_visualizer.cpp b/visualization/src/pcl_visualizer.cpp
@@ -3792,15 +3792,14 @@ pcl::visualization::PCLVisualizer::renderView (int xres, int yres, pcl::PointClo
                                     dheight * float (y) - 1.0f,
                                     depth[ptr],
                                     1.0f);
-      world_coords = mat1 * world_coords;
+      world_coords = mat2 * mat1 * world_coords;
 
       float w3 = 1.0f / world_coords[3];
       world_coords[0] *= w3;
       // vtk view coordinate system is different than the standard camera coordinates (z forward, y down, x right), thus, the fliping in y and z
       world_coords[1] *= -w3;
       world_coords[2] *= -w3;
 
-      world_coords = mat2 * world_coords;
       pt.x = static_cast<float> (world_coords[0]);
       pt.y = static_cast<float> (world_coords[1]);
       pt.z = static_cast<float> (world_coords[2]);