feat(slam): add rtabmap_ros

rtabmap/app/android/jni/tango-gl/conversions.cpp

@@ -0,0 +1,52 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/conversions.h"
+
+namespace tango_gl {
+namespace conversions {
+
+glm::mat4 opengl_world_T_tango_world() {
+  // Note glm is column-wise.
+  return glm::mat4(1.0f, 0.0f,  0.0f, 0.0f,
+                   0.0f, 0.0f, -1.0f, 0.0f,
+                   0.0f, 1.0f,  0.0f, 0.0f,
+                   0.0f, 0.0f,  0.0f, 1.0f);
+}
+
+glm::mat4 color_camera_T_opengl_camera() {
+  // Note glm is column-wise.
+  return glm::mat4(1.0f,  0.0f,  0.0f, 0.0f,
+                   0.0f, -1.0f,  0.0f, 0.0f,
+                   0.0f,  0.0f, -1.0f, 0.0f,
+                   0.0f,  0.0f,  0.0f, 1.0f);
+}
+
+glm::mat4 depth_camera_T_opengl_camera() {
+  // Note glm is column-wise.
+  return glm::mat4(1.0f, 0.0f, 0.0f, 0.0f, 0.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f,
+                   -1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f);
+}
+
+glm::quat QuatTangoToGl(const glm::quat& tango_q_frame) {
+  const float kSqrt2Over2 = std::sqrt(2.0) / 2.0f;
+  // Tango frame is a -90 degree rotation about +X from the GL frame.
+  glm::quat gl_q_tango = glm::quat(kSqrt2Over2, -kSqrt2Over2, 0.0f, 0.0f);
+  return gl_q_tango * tango_q_frame;
+}
+
+}  // namespace gl_tango_conversions
+}  // namespace tango_gl