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remove unecessary minus signs #65

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May 8, 2024
Merged

remove unecessary minus signs #65

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2 changes: 1 addition & 1 deletion ipm_library/ipm_library/utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -156,7 +156,7 @@ def line_plane_intersections(
:returns: A nx3 array containing the 3d intersection points with n being the number of rays.
"""
n_dot_u = np.tensordot(plane_normal, ray_directions, axes=([0], [1]))
relative_ray_distance = -plane_normal.dot(-plane_base_point) / n_dot_u
relative_ray_distance = plane_normal.dot(plane_base_point) / n_dot_u

# we are casting a ray, intersections need to be in front of the camera
relative_ray_distance[relative_ray_distance <= 0] = np.nan
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