From c03bf5b2747c6dbfafaba8dbcd031257651776f3 Mon Sep 17 00:00:00 2001
From: Thomas Moulard <thomas.moulard@gmail.com>
Date: Thu, 5 Jan 2012 19:03:57 +0100
Subject: [PATCH] Fix camera frame orientation.
---
src/dynamic_graph/sot/dynamics/hrp2.py.in | 12 ++++--------
1 file changed, 4 insertions(+), 8 deletions(-)
diff --git a/src/dynamic_graph/sot/dynamics/hrp2.py.in b/src/dynamic_graph/sot/dynamics/hrp2.py.in
index 6398a5d..a40b5ed 100755
--- a/src/dynamic_graph/sot/dynamics/hrp2.py.in
+++ b/src/dynamic_graph/sot/dynamics/hrp2.py.in
@@ -164,22 +164,18 @@ class Hrp2Laas (Hrp2):
[ 0., -1., 0., 0.],
[ 0., 0., 0., 1.]])
- for camera in [cameraBottomLeftPosition, cameraBottomRightPosition,
- cameraTopLeftPosition, cameraTopRightPosition]:
- camera = camera * c1_M_c
-
self.AdditionalFrames.append(
("cameraBottomLeft",
- matrixToTuple(cameraBottomLeftPosition), "gaze"))
+ matrixToTuple(c1_M_c * cameraBottomLeftPosition), "gaze"))
self.AdditionalFrames.append(
("cameraBottomRight",
- matrixToTuple(cameraBottomRightPosition), "gaze"))
+ matrixToTuple(c1_M_c * cameraBottomRightPosition), "gaze"))
self.AdditionalFrames.append(
("cameraTopLeft",
- matrixToTuple(cameraTopLeftPosition), "gaze"))
+ matrixToTuple(c1_M_c * cameraTopLeftPosition), "gaze"))
self.AdditionalFrames.append(
("cameraTopRight",
- matrixToTuple(cameraTopRightPosition), "gaze"))
+ matrixToTuple(c1_M_c * cameraTopRightPosition), "gaze"))
Hrp2.__init__(self, name, modelDir, xmlDir, device, DynamicHrp2, tracer)
--
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