t265_rpy Namespace Reference

Variables
	cfg = rs.config()
	data = pose.get_pose_data()
	frames = pipe.wait_for_frames()
	pipe = rs.pipeline()
float	pitch = -m.asin(2.0 * (x*z - w*y))*180.0
	pose = frames.get_pose_frame()
float	roll = m.atan2(2.0 * (w*x + y*z), w*w - x*x - y*y + z*z)*180.0
	w = data.rotation.w
	x = -data.rotation.z
	y = data.rotation.x
float	yaw = m.atan2(2.0 * (w*z + x*y), w*w + x*x - y*y - z*z)*180.0
	z = -data.rotation.y

Variable Documentation

t265_rpy.cfg = rs.config()

Definition at line 18 of file t265_rpy.py.

t265_rpy.data = pose.get_pose_data()

Definition at line 33 of file t265_rpy.py.

t265_rpy.frames = pipe.wait_for_frames()

Definition at line 27 of file t265_rpy.py.

t265_rpy.pipe = rs.pipeline()

Definition at line 15 of file t265_rpy.py.

float t265_rpy.pitch = -m.asin(2.0 * (x*z - w*y))*180.0

Definition at line 44 of file t265_rpy.py.

t265_rpy.pose = frames.get_pose_frame()

Definition at line 30 of file t265_rpy.py.

float t265_rpy.roll = m.atan2(2.0 * (w*x + y*z), w*w - x*x - y*y + z*z)*180.0

Definition at line 45 of file t265_rpy.py.

t265_rpy.w = data.rotation.w

Definition at line 39 of file t265_rpy.py.

t265_rpy.x = -data.rotation.z

Definition at line 40 of file t265_rpy.py.

t265_rpy.y = data.rotation.x

Definition at line 41 of file t265_rpy.py.

float t265_rpy.yaw = m.atan2(2.0 * (w*z + x*y), w*w + x*x - y*y - z*z)*180.0

Definition at line 46 of file t265_rpy.py.

t265_rpy.z = -data.rotation.y

Definition at line 42 of file t265_rpy.py.