Fixes bug in initial-world-transform orientation

Fixes initial world transform to use the set coordinate system to
set the ordering of the orientation (roll, pitch, yaw). Fixes
another bug in setRegionOfInterst for ROI Mask that used the
wrong datatype.

Author: ryanppeters

gst-zed-src/gstzedsrc.cpp

@@ -1894,16 +1894,19 @@ static gboolean gst_zedsrc_start( GstBaseSrc * bsrc )
 		src->roi_w != -1 && 
 		src->roi_h != -1) {	    
 	    int roi_x_end = src->roi_x + src->roi_w;
-	    int roi_y_end = src->roi_y + src->roi_y;
+	    int roi_y_end = src->roi_y + src->roi_h;
 	    sl::Resolution resolution = sl::getResolution(init_params.camera_resolution);
 	    if (src->roi_x < 0 || src->roi_x >= resolution.width ||
 		    src->roi_y < 0 || src->roi_y >= resolution.height ||
 		    roi_x_end >= resolution.width || roi_y_end >= resolution.height) {
-		sl::Mat roi_mask(resolution, sl::MAT_TYPE::U8_C1);
-		roi_mask.setTo(0.f);
-		for (int i = src->roi_x; i < roi_x_end; i++) 
-		    for (int j = src->roi_y; j < roi_y_end; j++)
-			roi_mask.setValue(i, j, 1.f);
+
+		sl::uchar1 uint0 = 0;
+		sl::uchar1 uint1 = 1;
+		sl::Mat roi_mask(resolution, sl::MAT_TYPE::U8_C1, sl::MEM::CPU);
+		roi_mask.setTo(uint0);
+		for (int row = src->roi_y; row < roi_y_end; row++)
+		    for (int col = src->roi_y; col < roi_x_end; col++)
+		        roi_mask.setValue(col, row, uint1);
 
 		GST_INFO(" * ROI mask: (%d,%d)-%dx%d",
 			src->roi_x, src->roi_y, src->roi_w, src->roi_h);
@@ -1945,13 +1948,26 @@ static gboolean gst_zedsrc_start( GstBaseSrc * bsrc )
 
         sl::Translation init_pos(src->init_pose_x,src->init_pose_y, src->init_pose_z);
         sl::Rotation init_or;
-        init_or.setEulerAngles( sl::float3(src->init_orient_roll,src->init_orient_pitch,src->init_orient_yaw), false);
-        pos_trk_params.initial_world_transform = sl::Transform(init_or,init_pos);
+	switch (init_params.coordinate_system) {
+	    case sl::COORDINATE_SYSTEM::IMAGE:
+	    case sl::COORDINATE_SYSTEM::LEFT_HANDED_Y_UP:
+	    case sl::COORDINATE_SYSTEM::RIGHT_HANDED_Y_UP:
+                init_or.setEulerAngles( sl::float3(src->init_orient_pitch,src->init_orient_yaw,src->init_orient_roll), false);
+		break;
+	    case sl::COORDINATE_SYSTEM::RIGHT_HANDED_Z_UP:
+		init_or.setEulerAngles( sl::float3(src->init_orient_pitch,src->init_orient_roll,src->init_orient_yaw), false);
+		break;
+	    case sl::COORDINATE_SYSTEM::LEFT_HANDED_Z_UP:
+	    case sl::COORDINATE_SYSTEM::RIGHT_HANDED_Z_UP_X_FWD:
+		init_or.setEulerAngles( sl::float3(src->init_orient_roll,src->init_orient_pitch,src->init_orient_yaw), false);
+		break;
+	}
+
+	pos_trk_params.initial_world_transform = sl::Transform(init_or,init_pos);
         GST_INFO(" * Initial world transform: T(%g,%g,%g) OR(%g,%g,%g)",
                  src->init_pose_x,src->init_pose_y, src->init_pose_z,
                  src->init_orient_roll,src->init_orient_pitch,src->init_orient_yaw);
 
-
         ret = src->zed.enablePositionalTracking(pos_trk_params);
         if (ret!=sl::ERROR_CODE::SUCCESS) {
             GST_ELEMENT_ERROR (src, RESOURCE, NOT_FOUND,