From dea40fea8487bddd7ba6928520c403e4f44eb52f Mon Sep 17 00:00:00 2001
From: GeorgH93 <git@georgh93.eu>
Date: Thu, 7 Jan 2021 00:29:30 +0100
Subject: [PATCH] Fix camera intrinsics ProjectTo3D

---
 openVulkanoCpp/Math/CameraIntrinsic.hpp | 6 +++---
 openVulkanoCpp/Math/Math.hpp            | 1 +
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/openVulkanoCpp/Math/CameraIntrinsic.hpp b/openVulkanoCpp/Math/CameraIntrinsic.hpp
index 0e580a5..713e204 100644
--- a/openVulkanoCpp/Math/CameraIntrinsic.hpp
+++ b/openVulkanoCpp/Math/CameraIntrinsic.hpp
@@ -84,9 +84,9 @@ namespace openVulkanoCpp::Math
 		{
 			// TODO handle skew
 			return {
-					(pixelCoordinates.x - Cx()) * depth / Fx(),
-					(pixelCoordinates.y - Cy()) * depth / Fy(),
-					depth
+					( pixelCoordinates.x - Cx()) * depth / Fx(),
+					(-pixelCoordinates.y + Cy()) * depth / Fy(),
+					-depth
 			};
 		}
 
diff --git a/openVulkanoCpp/Math/Math.hpp b/openVulkanoCpp/Math/Math.hpp
index dba88d0..82c9a24 100644
--- a/openVulkanoCpp/Math/Math.hpp
+++ b/openVulkanoCpp/Math/Math.hpp
@@ -11,6 +11,7 @@
 #include <glm/gtc/quaternion.hpp>
 #include <glm/gtc/matrix_transform.hpp>
 #include <glm/gtx/quaternion.hpp>
+#include <glm/gtx/transform.hpp>
 
 namespace openVulkanoCpp::Math
 {