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arcore: fixed pose not updated correctly

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matlabbe
2024-05-25 13:50:01 -07:00
parent fbeabf0751
commit bc66060fab
1 changed files with 1 additions and 1 deletions
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app/android/jni/CameraARCore.cpp
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@@ -402,7 +402,7 @@ SensorData CameraARCore::updateDataOnRender(Transform & pose)
ArCamera_getPose(arSession_, ar_camera, arPose_);
ArPose_getPoseRaw(arSession_, arPose_, pose_raw);
Transform poseArCore = Transform(pose_raw[4], pose_raw[5], pose_raw[6], pose_raw[0], pose_raw[1], pose_raw[2], pose_raw[3]);
poseArCore = rtabmap::rtabmap_world_T_opengl_world * pose * rtabmap::opengl_world_T_rtabmap_world;
poseArCore = rtabmap::rtabmap_world_T_opengl_world * poseArCore * rtabmap::opengl_world_T_rtabmap_world;
if(poseArCore.isNull())
{