Functions | |
| glm::mat4 | color_camera_T_opengl_camera () |
| glm::mat4 | depth_camera_T_opengl_camera () |
| glm::mat4 | opengl_world_T_tango_world () |
| glm::quat | QuatFromArray (const double *array) |
| Creates a glm::quat from double[4] = {x, y, z, w}. This is designed to work with the TangoPoseData.orientation field. | |
| glm::quat | QuatTangoToGl (const glm::quat &tango_q_any) |
| Given a quaternion representing the rotation matrix tango_R_any, returns the quaternion representing gl_R_any, where "any" is an arbitrary frame. Note the gl base frame is rotated by 90-degrees about +X from the Tango ADF/start-of-service frame, so this is equivalent to applying such a rotation to the quaternion. | |
| glm::mat4 | TransformFromArrays (const double *A_p_B, const double *A_q_B) |
| Creates a glm::mat4 rigid-frame transformation matrix from two arrays. This is designed for the TangoPoseData translation and orientation fields. | |
| glm::mat4 | TransformFromVecAndQuat (const glm::vec3 &A_p_B, const glm::quat &A_q_B) |
| Creates a glm::mat4 rigid-frame transformation matrix from glm::vec3 and glm::quat. This is designed for the TangoPoseData translation and orientation fields. | |
| glm::vec3 | Vec3FromArray (const double *array) |
| Creates a glm::vec3 from double[3] = {x, y, z}. This is designed to work with the TangoPoseData.translation field. | |
| glm::vec3 | Vec3GlToTango (const glm::vec3 &gl_vec) |
| Convert (re-express, or rotate) a vector from the typical OpenGl world frame convention [right, up, backward] to the Tango ADF (or start-of-service) frame convention [right, forward, up]. Note this assumes the two frames are coincident, and it doesn't know about any additional offsets between a particular OpenGl scene and the Tango service frames. | |
| glm::vec3 | Vec3TangoToGl (const glm::vec3 &tango_vec) |
| Convert (re-express, or rotate) a vector from the Tango ADF (or start- of-service) frame convention [right, forward, up] to the typical OpenGl world frame convention [right, up, backward]. Note this assumes the two frames are coincident, and it doesn't know about any additional offsets between a particular OpenGl scene and the Tango service frames. | |
Get the fixed transformation matrix relating the frame convention of the device's color camera frame (with Z-forward, X-right) and the opengl camera frame (with Z-backward, X-right).
Definition at line 30 of file conversions.cpp.
Get the fixed transformation matrix relating the frame convention of the device's depth camera frame (with Z-forward, X-right) and the opengl camera frame (with Z-backward, X-right).
Definition at line 38 of file conversions.cpp.
Get the fixed transformation matrix relating the opengl frame convention (with Y-up, X-right) and the tango frame convention for the start-of-service and ADF frames (with Z-up, X-right), termed "world" here.
Definition at line 22 of file conversions.cpp.
| glm::quat tango_gl::conversions::QuatFromArray | ( | const double * | array | ) | [inline] |
Creates a glm::quat from double[4] = {x, y, z, w}. This is designed to work with the TangoPoseData.orientation field.
Definition at line 41 of file conversions.h.
| glm::quat tango_gl::conversions::QuatTangoToGl | ( | const glm::quat & | tango_q_any | ) |
Given a quaternion representing the rotation matrix tango_R_any, returns the quaternion representing gl_R_any, where "any" is an arbitrary frame. Note the gl base frame is rotated by 90-degrees about +X from the Tango ADF/start-of-service frame, so this is equivalent to applying such a rotation to the quaternion.
| tango_q_any | A quaternion representing rotation matrix tango_R_any. |
Definition at line 44 of file conversions.cpp.
| glm::mat4 tango_gl::conversions::TransformFromArrays | ( | const double * | A_p_B, |
| const double * | A_q_B | ||
| ) | [inline] |
Creates a glm::mat4 rigid-frame transformation matrix from two arrays. This is designed for the TangoPoseData translation and orientation fields.
| A_p_B | Position [x, y, z] of B_origin from A_origin, expressed in A. |
| A_q_B | The quaternion representation [x, y, z, w] of the rotation matrix A_R_B. |
Definition at line 54 of file conversions.h.
| glm::mat4 tango_gl::conversions::TransformFromVecAndQuat | ( | const glm::vec3 & | A_p_B, |
| const glm::quat & | A_q_B | ||
| ) | [inline] |
Creates a glm::mat4 rigid-frame transformation matrix from glm::vec3 and glm::quat. This is designed for the TangoPoseData translation and orientation fields.
| A_p_B | A position vector of B_origin from A_origin, expressed in A. |
| A_q_B | A quaternion representation of the rotation. matrix A_R_B. |
Definition at line 68 of file conversions.h.
| glm::vec3 tango_gl::conversions::Vec3FromArray | ( | const double * | array | ) | [inline] |
Creates a glm::vec3 from double[3] = {x, y, z}. This is designed to work with the TangoPoseData.translation field.
Definition at line 33 of file conversions.h.
| glm::vec3 tango_gl::conversions::Vec3GlToTango | ( | const glm::vec3 & | gl_vec | ) | [inline] |
Convert (re-express, or rotate) a vector from the typical OpenGl world frame convention [right, up, backward] to the Tango ADF (or start-of-service) frame convention [right, forward, up]. Note this assumes the two frames are coincident, and it doesn't know about any additional offsets between a particular OpenGl scene and the Tango service frames.
| gl_vec | A vector expressed in the Opengl world frame convention. |
Definition at line 94 of file conversions.h.
| glm::vec3 tango_gl::conversions::Vec3TangoToGl | ( | const glm::vec3 & | tango_vec | ) | [inline] |
Convert (re-express, or rotate) a vector from the Tango ADF (or start- of-service) frame convention [right, forward, up] to the typical OpenGl world frame convention [right, up, backward]. Note this assumes the two frames are coincident, and it doesn't know about any additional offsets between a particular OpenGl scene and the Tango service frames.
| tango_vec | A vector expressed in the Tango ADF frame convention. |
Definition at line 81 of file conversions.h.