From 69e66d7bb53abadf15f94cd746dfa3401ea7f271 Mon Sep 17 00:00:00 2001
From: Anatoly Baksheev <no@email>
Date: Fri, 2 Aug 2013 13:37:15 +0400
Subject: [PATCH] fixed little bug in makeCameraPose

---
 modules/viz/src/viz.cpp | 12 +++++-------
 1 file changed, 5 insertions(+), 7 deletions(-)

diff --git a/modules/viz/src/viz.cpp b/modules/viz/src/viz.cpp
index 94e4be5..2d563f6 100644
--- a/modules/viz/src/viz.cpp
+++ b/modules/viz/src/viz.cpp
@@ -22,13 +22,11 @@ cv::Affine3f cv::viz::makeTransformToGlobal(const Vec3f& axis_x, const Vec3f& ax
 cv::Affine3f cv::viz::makeCameraPose(const Vec3f& position, const Vec3f& focal_point, const Vec3f& y_dir)
 {
     // Compute the transformation matrix for drawing the camera frame in a scene
-    Vec3f u,v,n;
-    n = normalize(focal_point - position);
-    u = normalize(y_dir.cross(n));
-    v = n.cross(u);
+    Vec3f n = normalize(focal_point - position);
+    Vec3f u = normalize(y_dir.cross(n));
+    Vec3f v = n.cross(u);
     
-    Matx44f pose_mat;
-    pose_mat.zeros();
+    Matx44f pose_mat = Matx44f::zeros();
     pose_mat(0,0) = u[0];
     pose_mat(0,1) = u[1];
     pose_mat(0,2) = u[2];
@@ -86,4 +84,4 @@ namespace cv
             return reinterpret_cast<Vec3d*>(pointer);
         }
     }
-}
\ No newline at end of file
+}
-- 
2.7.4