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aruco_pose: rename known_orientation to known_tilt

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This commit is contained in:
Oleg Kalachev
2019-02-26 09:10:36 +03:00
parent fb676afa07
commit 615194fc2a
2 changed files with 10 additions and 10 deletions
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12
aruco_pose/src/aruco_detect.cpp
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@@ -65,7 +65,7 @@ private:
bool estimate_poses_, send_tf_;
double length_;
std::unordered_map<int, double> length_override_;
std::string frame_id_prefix_, known_orientation_;
std::string frame_id_prefix_, known_tilt_;
Mat camera_matrix_, dist_coeffs_;
aruco_pose::MarkerArray array_;
visualization_msgs::MarkerArray vis_array_;
@@ -86,7 +86,7 @@ public:
}
readLengthOverride();
nh_priv_.param<std::string>("known_orientation", known_orientation_, "");
nh_priv_.param<std::string>("known_tilt", known_tilt_, "");
nh_priv_.param<std::string>("frame_id_prefix", frame_id_prefix_, "aruco_");
camera_matrix_ = cv::Mat::zeros(3, 3, CV_64F);
@@ -151,9 +151,9 @@ private:
}
}
if (!known_orientation_.empty()) {
if (!known_tilt_.empty()) {
try {
snap_to = tf_buffer_.lookupTransform(msg->header.frame_id, known_orientation_,
snap_to = tf_buffer_.lookupTransform(msg->header.frame_id, known_tilt_,
msg->header.stamp, ros::Duration(0.02));
} catch (const tf2::TransformException& e) {
ROS_WARN_THROTTLE(5, "aruco_detect: can't snap: %s", e.what());
@@ -174,8 +174,8 @@ private:
if (estimate_poses_) {
fillPose(marker.pose.pose, rvecs[i], tvecs[i]);
// snap orientation (if enabled and snap frame avaiable)
if (!known_orientation_.empty() && !snap_to.header.frame_id.empty()) {
// snap orientation (if enabled and snap frame available)
if (!known_tilt_.empty() && !snap_to.header.frame_id.empty()) {
snapOrientation(marker.pose.pose.orientation, snap_to.transform.rotation);
}

8
aruco_pose/src/aruco_map.cpp
View File

@@ -60,7 +60,7 @@ private:
tf2_ros::Buffer tf_buffer_;
tf2_ros::TransformListener tf_listener_{tf_buffer_};
visualization_msgs::MarkerArray vis_array_;
std::string known_orientation_;
std::string known_tilt_;
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>("known_orientation", known_orientation_, "");
nh_priv_.param<std::string>("known_tilt", known_tilt_, "");
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 (known_orientation_.empty()) {
if (known_tilt_.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,
known_orientation_, markers.header.stamp, ros::Duration(0.02));
known_tilt_, 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());