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