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Tango: Using tango_support library to get depth to color transform (#143), poses are in device frames and camera local transform is from device to camera (including optical rotation), "720" Mode is now called "HD Mode"

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matlabbe
2016-11-16 10:13:16 -05:00
parent 76edd53e40
commit f6cca3313a
13 changed files with 114 additions and 128 deletions
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app/android/jni/util.h
+15 -10
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@@ -77,21 +77,26 @@ protected:
};
static const rtabmap::Transform opengl_world_T_tango_world(
1.0f, 0.0f, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f,
1.0f, 0.0f, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f,
0.0f, -1.0f, 0.0f, 0.0f);
static const rtabmap::Transform depth_camera_T_opengl_camera(
1.0f, 0.0f, 0.0f, 0.0f,
0.0f, -1.0f, 0.0f, 0.0f,
0.0f, 0.0f, -1.0f, 0.0f);
static const rtabmap::Transform rtabmap_world_T_tango_world(
0.0f, 1.0f, 0.0f, 0.0f,
-1.0f, 0.0f, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f);
static const rtabmap::Transform tango_device_T_rtabmap_device(
0.0f, -1.0f, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f,
-1.0f, 0.0f, 0.0f, 0.0f);
static const rtabmap::Transform opengl_world_T_rtabmap_world(
0.0f, -1.0f, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f,
-1.0f, 0.0f, 0.0f, 0.0f);
0.0f, -1.0f, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f,
-1.0f, 0.0f, 0.0f, 0.0f);
static const rtabmap::Transform rtabmap_world_T_opengl_world(
static const rtabmap::Transform rtabmap_device_T_opengl_device(
0.0f, 0.0f, -1.0f, 0.0f,
-1.0f, 0.0f, 0.0f, 0.0f,
0.0f, 1.0f, 0.0f, 0.0f);