remove bugs

Author: LaurentBerger

models/pose_estimation_mediapipe/demo.cpp

@@ -236,8 +236,8 @@ class MPPose {
         // pad to square
         int top = personBox.at<int>(1, 0) - fullBox.at<float>(1, 0);
         int left = personBox.at<int>(0, 0) - fullBox.at<float>(0, 0);
-        int right = fullBox.at<float>(1, 1) - personBox.at<int>(1, 1);
-        int bottom = fullBox.at<float>(0, 1) - personBox.at<int>(0, 1);
+        int bottom = fullBox.at<float>(1, 1) - personBox.at<int>(1, 1);
+        int right = fullBox.at<float>(0, 1) - personBox.at<int>(0, 1);
         copyMakeBorder(image, image, top, bottom, left, right, BORDER_CONSTANT, Scalar(0, 0, 0));
         padBias = Point(padBias) + Point(personBox.col(0)) - Point(left, top);
         // compute rotation
@@ -315,16 +315,17 @@ class MPPose {
         scaleFactor.col(1) /= this->inputSize.height;
         landmarks.col(0) = (landmarks.col(0) - this->inputSize.width / 2) * scaleFactor.at<float>(0);
         landmarks.col(1) = (landmarks.col(1) - this->inputSize.height / 2) * scaleFactor.at<float>(1);
+        landmarks.col(2) = landmarks.col(2) * max(scaleFactor.at<float>(1), scaleFactor.at<float>(0));
         Mat coordsRotationMatrix;
         getRotationMatrix2D(Point(0, 0), angle, 1.0).convertTo(coordsRotationMatrix, CV_32F);
         Mat rotatedLandmarks = landmarks.colRange(0, 2) * coordsRotationMatrix.colRange(0, 2);
         hconcat(rotatedLandmarks, landmarks.colRange(2, landmarks.cols), rotatedLandmarks);
         Mat rotatedLandmarksWorld = landmarksWorld.colRange(0, 2) * coordsRotationMatrix.colRange(0, 2);
         hconcat(rotatedLandmarksWorld, landmarksWorld.col(2), rotatedLandmarksWorld);
         // invert rotation
-        Mat rotationComponent = rotationMatrix(Rect(0, 0, 2, 2)).clone();
+        Mat rotationComponent  = (Mat_<double>(2, 2) <<rotationMatrix.at<double>(0,0), rotationMatrix.at<double>(1, 0), rotationMatrix.at<double>(0, 1), rotationMatrix.at<double>(1, 1));
         Mat translationComponent = rotationMatrix(Rect(2, 0, 1, 2)).clone();
-        Mat invertedTranslation = rotationComponent * translationComponent;
+        Mat invertedTranslation = -rotationComponent * translationComponent;
         Mat inverseRotationMatrix;
         hconcat(rotationComponent, invertedTranslation, inverseRotationMatrix);
         Mat center, rc;