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Fix residual roll inversion: CV->GL camera conversion is 180 about local Y, not X

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jessikitty
2026-08-03 23:31:51 +10:00
parent be009f0e62
commit acf1e58f7a
1 changed files with 7 additions and 6 deletions
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public/js/exhibit.js
+7 -6
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@@ -16,12 +16,13 @@ const $ = (s) => document.querySelector(s);
/* The fused pose is a camera-in-world transform in OpenCV convention /* The fused pose is a camera-in-world transform in OpenCV convention
* (+X right, +Y DOWN, +Z FORWARD along the view axis). A Three.js camera uses * (+X right, +Y DOWN, +Z FORWARD along the view axis). A Three.js camera uses
* OpenGL convention (+X right, +Y UP, looks down LOCAL -Z). The two differ by a * OpenGL convention (+X right, +Y UP, looks down LOCAL -Z). The correct change of
* 180° rotation about the camera's local X axis. Without this the world renders * basis between them is a 180° rotation about the camera's local Y axis: it flips
* upside-down and back-to-front (camera appears inverted) even though the pose * the forward axis (+Z_cv view -> three.js -Z) AND the up axis (+Y_cv down ->
* position and scene orientation are correct. Applied after copying the fused * three.js +Y up) together, leaving roll correct. (A 180° about X fixes the view
* quaternion each frame. */ * axis too but leaves roll inverted — ghosts render upside-down when the phone is
const CV_TO_GL = new THREE.Quaternion().setFromAxisAngle(new THREE.Vector3(1, 0, 0), Math.PI); * upright.) Applied after copying the fused quaternion each frame. */
const CV_TO_GL = new THREE.Quaternion().setFromAxisAngle(new THREE.Vector3(0, 1, 0), Math.PI);
let info = { mode: 'dev' }; let info = { mode: 'dev' };
let scene3, camera3, renderer, video, canvas2d, ctx2d; let scene3, camera3, renderer, video, canvas2d, ctx2d;