From 85910565f1a0eae24a74249daeaa677e0cf95466 Mon Sep 17 00:00:00 2001
From: Lionel Heng <hengli@student.ethz.ch>
Date: Fri, 10 Dec 2010 20:34:36 +0100
Subject: [PATCH] Fixed transform bug in Freenect.

---
 src/input/Freenect.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/input/Freenect.cc b/src/input/Freenect.cc
index a599e2c..1ac1bba 100644
--- a/src/input/Freenect.cc
+++ b/src/input/Freenect.cc
@@ -341,7 +341,7 @@ Freenect::readConfigFile(void)
                                  settings.value("transform/R33").toDouble(),
                                  settings.value("transform/Tz").toDouble(),
                                  0.0, 0.0, 0.0, 1.0);
-    transformMatrix = transformMatrix.transposed();
+    transformMatrix = transformMatrix.inverted();
 
     baseline = settings.value("transform/baseline").toDouble();
     disparityOffset = settings.value("transform/disparity_offset").toDouble();