From 615194fc2af2782451cadffd68bc69fe1ab1e5a5 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 26 Feb 2019 09:10:36 +0300 Subject: [PATCH] aruco_pose: rename known_orientation to known_tilt --- aruco_pose/src/aruco_detect.cpp | 12 ++++++------ aruco_pose/src/aruco_map.cpp | 8 ++++---- 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/aruco_pose/src/aruco_detect.cpp b/aruco_pose/src/aruco_detect.cpp index 14c828a1..a7ce2d42 100644 --- a/aruco_pose/src/aruco_detect.cpp +++ b/aruco_pose/src/aruco_detect.cpp @@ -65,7 +65,7 @@ private: bool estimate_poses_, send_tf_; double length_; std::unordered_map 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("known_orientation", known_orientation_, ""); + nh_priv_.param("known_tilt", known_tilt_, ""); nh_priv_.param("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); } diff --git a/aruco_pose/src/aruco_map.cpp b/aruco_pose/src/aruco_map.cpp index d013343a..8777b0c9 100644 --- a/aruco_pose/src/aruco_map.cpp +++ b/aruco_pose/src/aruco_map.cpp @@ -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("type", type, "map"); nh_priv_.param("name", map_name, "map"); nh_priv_.param("frame_id", transform_.child_frame_id, "aruco_map"); - nh_priv_.param("known_orientation", known_orientation_, ""); + nh_priv_.param("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());