[geometry] Add ability to transform one or a list of 3D points (store…

…d colwise) by a pose (Vec3 => Mat3X).
mwoytowich · Jan 21, 2016 · 09f2cbc · 09f2cbc
1 parent 670ffad
commit 09f2cbc
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/openMVG/geometry/pose3.hpp b/src/openMVG/geometry/pose3.hpp
@@ -35,9 +35,9 @@ class Pose3
     inline Vec3 translation() const { return -(_rotation * _center); }
 
     // Apply pose
-    inline Vec3 operator () (const Vec3& p) const
+    inline Mat3X operator () (const Mat3X& p) const
     {
-      return _rotation * (p - _center);
+      return _rotation * (p.colwise() - _center);
     }
 
     // Composition