Commit c03bf5b2 authored by Thomas Moulard's avatar Thomas Moulard
Browse files

Fix camera frame orientation.

parent 9ef84cbc
......@@ -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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