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bugfix: corret enu rotation matrix #1114

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bugfix: corret enu rotation matrix #1114

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8 changes: 7 additions & 1 deletion opensfm/exif.py
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Original file line number Diff line number Diff line change
Expand Up @@ -592,7 +592,13 @@ def extract_opk(self, geo: Dict[str, Any]) -> Optional[Dict[str, Any]]:
# Unit vector pointing north
xnp /= m

znp = np.array([0, 0, -1]).T
# Unit vector pointing up and perpendicular to north(xnp)
znp = p1
znp -= znp.dot(xnp) * xnp
m = np.linalg.norm(znp)
if m == 0:
logger.debug("Cannot compute OPK angles, divider = 0")
return
ynp = np.cross(znp, xnp)

cen = np.array([xnp, ynp, znp]).T
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