计算与 TangoPoseData 的距离

Question

我的 Project Tango 设备记录了两次 Java TangoPoseData 观察。如何计算这两个观测值之间的距离（以米为单位）？

Answer 1

来自Coordinate Pair Frames Documentation：

For all coordinate frame pairs, the unit of measurement is meters.

还有...

Project Tango uses a right-handed, local-level frame for the START_OF_SERVICE and AREA_DESCRIPTION coordinate frames. This convention sets the Z-axis aligned with gravity, with Z+ pointed upwards, and the X-Y plane is perpendicular to gravity that is locally level with the ground plane.

因此坐标可以与标准库一起使用，例如 JTS Topology Suite 用于使用 START_OF_SERVICE 和 AREA_DESCRIPTION 坐标系 的坐标。

public static Coordinate coordinate(TangoPoseData pose){

    return new Coordinate(pose.translation[TangoPoseData.INDEX_TRANSLATION_X],
                pose.translation[TangoPoseData.INDEX_TRANSLATION_Y],
                pose.translation[TangoPoseData.INDEX_TRANSLATION_Z]);
}

坐标提供 distance method:

double distanceInMeters = coordinate(pose1).distance(coordinate(pose2));