From a795f12cb7546a5aaabe88e2e34b412b861c4fb5 Mon Sep 17 00:00:00 2001
From: Thomas Moulard <thomas.moulard@gmail.com>
Date: Wed, 28 Sep 2011 16:59:46 +0200
Subject: [PATCH] Enhance camera position.
---
src/dynamic_graph/sot/dynamics/hrp2.py.in | 21 ++++++++++++---------
1 file changed, 12 insertions(+), 9 deletions(-)
diff --git a/src/dynamic_graph/sot/dynamics/hrp2.py.in b/src/dynamic_graph/sot/dynamics/hrp2.py.in
index f1ee904..be7e7d2 100755
--- a/src/dynamic_graph/sot/dynamics/hrp2.py.in
+++ b/src/dynamic_graph/sot/dynamics/hrp2.py.in
@@ -122,28 +122,31 @@ class Hrp2Laas (Hrp2):
device = None):
# Define camera positions w.r.t gaze.
+
+ # These positions have been copied from hrp2.geom and
+ # roughly checked. Do not trust them too much.
cameraBottomLeftPosition = np.matrix((
- (1., 0., 0., 0.035),
- (0., 1., 0., 0.072),
- (0., 0., 1., 0.075),
+ (0.98481, 0.00000, 0.17365, 0.035),
+ (0., 1., 0., 0.072),
+ (-0.17365, 0.00000, 0.98481, 0.075 - 0.03),
(0., 0., 0., 1.),
))
cameraBottomRightPosition = np.matrix((
- (1., 0., 0., 0.035),
- (0., 1., 0., -0.072),
- (0., 0., 1., 0.075),
- (0., 0., 0., 1.),
+ (0.98481, 0.00000, 0.17365, 0.035),
+ (0., 1., 0., -0.072),
+ (-0.17365, 0.00000, 0.98481, 0.075 - 0.03),
+ (0., 0., 0., 1.),
))
cameraTopLeftPosition = np.matrix((
(0.99920, 0.00120, 0.03997, 0.01),
(0.00000, 0.99955,-0.03000, 0.029),
- (-0.03999, 0.02997, 0.99875, 0.145),
+ (-0.03999, 0.02997, 0.99875, 0.145 - 0.03),
(0., 0., 0., 1.),
))
cameraTopRightPosition = np.matrix((
(0.99920, 0.00000, 0.03999, 0.01),
(0.00000, 1.00000, 0.00000, -0.029),
- (-0.03999, 0.00000, 0.99920, 0.145),
+ (-0.03999, 0.00000, 0.99920, 0.145 - 0.03),
(0., 0., 0., 1.),
))
--
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