From 858afb68eaf94f376bd7dd6a973eb1c774d5e066 Mon Sep 17 00:00:00 2001 From: Samuel Felton Date: Mon, 22 Apr 2024 18:18:13 +0200 Subject: [PATCH] document using ViSP convention for setting and retrieving object and camera pose --- modules/ar/include/visp3/ar/vpPanda3DBaseRenderer.h | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/modules/ar/include/visp3/ar/vpPanda3DBaseRenderer.h b/modules/ar/include/visp3/ar/vpPanda3DBaseRenderer.h index 19273dbefb..8fc61bc633 100644 --- a/modules/ar/include/visp3/ar/vpPanda3DBaseRenderer.h +++ b/modules/ar/include/visp3/ar/vpPanda3DBaseRenderer.h @@ -110,6 +110,7 @@ class VISP_EXPORT vpPanda3DBaseRenderer /** * @brief Set the camera's pose. + * The pose is specified using the ViSP convention (Y-down right handed). * * @param wTc the new pose of the camera, in world frame */ @@ -117,11 +118,13 @@ class VISP_EXPORT vpPanda3DBaseRenderer /** * @brief Retrieve the camera's pose, in the world frame. + * The pose is specified using the ViSP convention (Y-down right handed). */ virtual vpHomogeneousMatrix getCameraPose(); /** * @brief Set the pose of a node. This node can be any Panda object (light, mesh, camera). + * The pose is specified using the ViSP convention (Y-down right handed). * * @param name Node path to search for, from the render root. This is the object that will be modified See https://docs.panda3d.org/1.10/python/programming/scene-graph/searching-scene-graph * @param wTo Pose of the object in the world frame @@ -131,7 +134,9 @@ class VISP_EXPORT vpPanda3DBaseRenderer virtual void setNodePose(const std::string &name, const vpHomogeneousMatrix &wTo); /** - * @brief Set the pose of a node. This node can be any Panda object (light, mesh, camera). + * @brief Set the pose of a node. + * The pose is specified using the ViSP convention (Y-down right handed). + * This node can be any Panda object (light, mesh, camera). * * @param object The object for which to set the pose * @param wTo Pose of the object in the world frame @@ -139,7 +144,7 @@ class VISP_EXPORT vpPanda3DBaseRenderer virtual void setNodePose(NodePath &object, const vpHomogeneousMatrix &wTo); /** - * @brief Get the pose of a Panda node, in world frame. + * @brief Get the pose of a Panda node, in world frame in the ViSP convention (Y-down right handed). * * @param name Node path to search for. \see setNodePose(const std::string &, const vpHomogeneousMatrix &) for more info * @return wTo, the pose of the object in world frame @@ -148,7 +153,7 @@ class VISP_EXPORT vpPanda3DBaseRenderer virtual vpHomogeneousMatrix getNodePose(const std::string &name); /** - * @brief Get the pose of a Panda node, in world frame. This version of the method directly uses the Panda Nodepath. + * @brief Get the pose of a Panda node, in world frame in the ViSP convention (Y-down right handed). This version of the method directly uses the Panda Nodepath. */ virtual vpHomogeneousMatrix getNodePose(NodePath &object);