void OrthRoot::setCameraForDraw(ci::Matrix44f& m){
if(mCameraDirty) {
setCinderCamera();
}
setGlCamera();
// Account for src rect translation
if(mSrcRect.x2 > mSrcRect.x1 && mSrcRect.y2 > mSrcRect.y1) {
const float sx = mDstRect.getWidth() / mSrcRect.getWidth(),
sy = mDstRect.getHeight() / mSrcRect.getHeight();
m.translate(ci::Vec3f(-mSrcRect.x1*sx, -mSrcRect.y1*sy, 0.0f));
m.scale(ci::Vec3f(sx, sy, 1.0f));
}
}
void BasePoseGrabber::convertFromBouguetPose(const ci::Matrix44f &in_pose, ci::Matrix44f &out_pose){
out_pose.setToIdentity();
ci::Vec3f translation = in_pose.getTranslate().xyz();
translation[1] *= -1;
translation[2] *= -1;
out_pose.translate(translation);
ci::Matrix33f flip;
flip.setToIdentity();
flip.at(1, 1) *= -1;
flip.at(2, 2) *= -1;
ci::Matrix33f in_gl_coords = flip * in_pose.subMatrix33(0, 0);
ci::Quatf q(in_gl_coords);
out_pose.rotate(q.getAxis(), q.getAngle());
out_pose.invert(); //bouguet poses (from calibration) are grid poses so invert to get camera poses
}