ROS Rviz的Tango Pose数据可视化 [英] ROS Rviz visualization of Tango Pose data
问题描述
我们已经修改了 C API的示例代码，因此Tango构成了数据(位置(x,y,z)和四元数(x,y,z,w))作为PoseStamped ROS消息发布.
We have modified sample code for the C API so Tango pose data (position (x,y,z) and quaternion (x,y,z,w)) is published as PoseStamped ROS messages.
我们正在尝试使用Rviz可视化姿势.姿势数据似乎需要进行一些转换，因为当我们四处移动时，Rviz箭头的旋转与Tango的行为不匹配.
We are attempting to visualize the pose using Rviz. The pose data appears to need some transformation as the rotation of the Rviz arrow does not match the behavior of the Tango when we move it around.
We realize that in the sample code, before visualization on the Tango screen, the pose data is transformed into a 4x4 Pose matrix (function PoseData::GetExtrinsicsAppliedOpenGLWorldFrame), which is then multiplied left and right by various matrices representing changes of coordinate frames (for instance, Tango to OpenGL).
理想情况下，在发布姿势数据以进行可视化之前，我们将能够对姿势数据进行类似的转换.但是，我们必须将姿势数据保持在位置(x,y,z)和四元数(x,y,z,w)的格式中，以便将其发布到PoseStamped消息中，并且看不到要应用哪种变换.
Ideally, we would be able to apply a similar transformation to the pose data before publishing it for visualization. However we must keep the pose data in the position (x,y,z) and quaternion (x,y,z,w) format in order to publish it in a PoseStamped message, and we do not see what transform to apply.
我们查看了 Tango坐标系约定，但进行了转换Tango开发人员建议我们应用仅适用于Pose矩阵格式的姿势数据.我们还尝试应用
We have looked at the Tango coordinate systems conventions but the transformations the Tango developers suggest we apply are only suited for pose data in a Pose matrix format. We have also attempted to apply transformations applied by Ologic in their code to no avail.
对于在Rviz OpenGL界面上进行正确可视化显示的任何信息，是否有人对如何转换探戈姿势数据而不更改其格式有任何建议?
Does anyone have any suggestions on how to transform Tango pose data, without changing its format, for correct visualization on the Rviz OpenGL interface?
推荐答案
我知道这是一个较晚的答案，但它可能会帮助其他人. 如果您想使用Rviz可视化任何数据，我假设您想使用ros.然后，也许最好的方法是使用rasjava库来执行您的Tango android应用程序.这对我来说很有用.我只需要在探戈设备上使用poseStamp，里程表和tf发布器，然后使用rviz显示主题.而且，这是保留实时方面的最佳方法之一.
I know that is a late answer but it can maybe help others people. If you want to visualize any data with Rviz, I assume that you want to use ros. Then maybe the best way to do it is to use the rasjava library to do your Tango android app. It works well for me. I you just have to use poseStamp, odometry and tf publisher on your tango device and then display the topic with rviz. Morever it is one of the best way to keep the real-time aspect.
此外，这里有2种学习如何使用rosjava的好方法:
Moreover here there is 2 good way to learn how to use rosjava :
https://github.com/ologic/Tango
https://github.com/rosjava/android_core/tree/master
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