fix calibration/offset mode when stage is rotated

galister · Sep 15, 2024 · c2c0e46 · c2c0e46
1 parent c48bab5
commit c2c0e46
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Showing 2 changed files with 6 additions and 8 deletions.
diff --git a/src/calibrator/offset.rs b/src/calibrator/offset.rs
@@ -122,13 +122,12 @@ impl Calibrator for OffsetMethod {
  return Ok(StepResult::Continue);
  }
 
- let inv_stage = TransformD::from(
+ let stage = TransformD::from(
  data.monado
  .get_reference_space_offset(mnd::ReferenceSpaceType::Stage)?,
- )
- .inverse();
+ );
 
- let (pose_a, pose_b) = (inv_stage * pose_a, inv_stage * pose_b);
+ let (pose_a, pose_b) = (stage * pose_a, stage * pose_b);
 
  let target_a = pose_b * self.target_offset;
 

diff --git a/src/calibrator/sampled.rs b/src/calibrator/sampled.rs
@@ -101,13 +101,12 @@ impl SampledMethod {
  .locate(&data.stage, data.now)?
  .into_transformd()?;
 
- let inv_stage = TransformD::from(
+ let stage = TransformD::from(
  data.monado
  .get_reference_space_offset(mnd::ReferenceSpaceType::Stage)?,
- )
- .inverse();
+ );
 
- let (new_a, new_b) = (inv_stage * new_a, inv_stage * new_b);
+ let (new_a, new_b) = (stage * new_a, stage * new_b);
  self.samples.push(Sample { a: new_a, b: new_b });
 
  Ok(())