Enhance camera position.

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.),
                 ))