fix similarity scale error #1288
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src/openMVG/geometry/Similarity3.cpp
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| @@ -37,7 +37,7 @@ Pose3 Similarity3::operator () ( const Pose3 & pose ) const | |||
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| Similarity3 Similarity3::inverse() const | |||
| { | |||
| return Similarity3(pose_.inverse(), 1.0 / scale_); | |||
| return Similarity3(Pose3(pose_.rotation(),-pose_.rotation()*pose_.center()*scale_), 1.0 / scale_); | |||
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rotation needs to be inverted
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true, with the rotation inverted it solves #1285
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@Yannnnnnnnnnnn @sebastienchappuis Do you want to make a PR with a unit test and the fix?
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made a stupid error here.
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@pmoulon I will try to add an unit test here and fix it.
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There is an error in pose.inverse() when scale exists.