bug fix w.r.t. lookat (google-research#198)

* bug fix w.r.t. lookat * pylint failure
gabriel-v · Apr 13, 2022 · a3d5eaa · a3d5eaa
1 parent 9a167f7
commit a3d5eaa
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/kubric/core/objects.py b/kubric/core/objects.py
@@ -89,8 +89,8 @@ def look_at_quat(
 
   # construct the desired coordinate basis front, right, up
   look_at_front = normalize(target - position)
-  look_at_right = normalize(np.cross(world_up, look_at_front), fallback=world_right)
-  look_at_up = normalize(np.cross(look_at_front, look_at_right))
+  look_at_right = normalize(np.cross(up, look_at_front), fallback=world_right)
+  look_at_up = normalize(np.cross(look_at_front, look_at_right), fallback=world_up)
 
   rotation_matrix1 = np.stack([look_at_right, look_at_up, look_at_front])
   rotation_matrix2 = np.stack([right, up, front])