From ff69eb0a5803917f963edbbe9222660a41a8b140 Mon Sep 17 00:00:00 2001 From: mckay Date: Thu, 4 Sep 2025 16:43:55 +0800 Subject: [PATCH] fix: update hasher to use world_to_local matrix instead of local_to_world --- primitive_process/interface/subface/simple/cylinder_face.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/primitive_process/interface/subface/simple/cylinder_face.hpp b/primitive_process/interface/subface/simple/cylinder_face.hpp index 5d86b1f..7376fa3 100644 --- a/primitive_process/interface/subface/simple/cylinder_face.hpp +++ b/primitive_process/interface/subface/simple/cylinder_face.hpp @@ -34,7 +34,7 @@ template <> struct hasher { size_t operator()(const internal::cylinder_paired_model_matrix &block) const { - const auto& mat = block.data->local_to_world.matrix(); // 3x4 + const auto& mat = block.data->world_to_local.matrix(); // 3x4 Eigen::Matrix3d A = mat.block<3,3>(0,0); Eigen::Vector3d b = mat.col(3);