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aruco_pose: rename snap_orientation to known_orientation

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This commit is contained in:
Oleg Kalachev
2019-02-22 16:44:01 +03:00
parent 6382c25417
commit 022eaed76c
2 changed files with 9 additions and 9 deletions
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8
aruco_pose/src/aruco_map.cpp
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@@ -60,7 +60,7 @@ private:
tf2_ros::Buffer tf_buffer_;
tf2_ros::TransformListener tf_listener_{tf_buffer_};
visualization_msgs::MarkerArray vis_array_;
std::string snap_orientation_;
std::string known_orientation_;
int image_width_, image_height_, image_margin_;
bool has_camera_info_ = false;
@@ -85,7 +85,7 @@ public:
nh_priv_.param<std::string>("type", type, "map");
nh_priv_.param<std::string>("name", map_name, "map");
nh_priv_.param<std::string>("frame_id", transform_.child_frame_id, "aruco_map");
nh_priv_.param<std::string>("snap_orientation", snap_orientation_, "");
nh_priv_.param<std::string>("known_orientation", known_orientation_, "");
nh_priv_.param("image_width", image_width_, 2000);
nh_priv_.param("image_height", image_height_, 2000);
nh_priv_.param("image_margin", image_margin_, 200);
@@ -140,7 +140,7 @@ public:
Mat obj_points, img_points;
cv::Vec3d rvec, tvec;
if (snap_orientation_.empty()) {
if (known_orientation_.empty()) {
// simple estimation
int valid = cv::aruco::estimatePoseBoard(corners, ids, board_, camera_matrix_, dist_coeffs_,
rvec, tvec, false);
@@ -166,7 +166,7 @@ public:
fillTransform(transform_.transform, rvec, tvec);
try {
geometry_msgs::TransformStamped snap_to = tf_buffer_.lookupTransform(markers.header.frame_id,
snap_orientation_, markers.header.stamp, ros::Duration(0.02));
known_orientation_, markers.header.stamp, ros::Duration(0.02));
snapOrientation(transform_.transform.rotation, snap_to.transform.rotation);
} catch (const tf2::TransformException& e) {
ROS_WARN_THROTTLE(1, "aruco_map: can't snap: %s", e.what());