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aruco_pose: use Pose instead of PoseWithCovariance in Marker message (for now)

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Oleg Kalachev
2019-03-01 13:04:07 +03:00
parent af4321c530
commit f1c614d91a
3 changed files with 19 additions and 19 deletions
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8
aruco_pose/src/aruco_detect.cpp
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@@ -172,17 +172,17 @@ private:
fillCorners(marker, corners[i]);
if (estimate_poses_) {
fillPose(marker.pose.pose, rvecs[i], tvecs[i]);
fillPose(marker.pose, rvecs[i], tvecs[i]);
// 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);
snapOrientation(marker.pose.orientation, snap_to.transform.rotation);
}
// TODO: check IDs are unique
if (send_tf_) {
transform.child_frame_id = getChildFrameId(ids[i]);
transform.transform.rotation = marker.pose.pose.orientation;
transform.transform.rotation = marker.pose.orientation;
fillTranslation(transform.transform.translation, tvecs[i]);
br_.sendTransform(transform);
}
@@ -203,7 +203,7 @@ private:
vis_array_.markers.push_back(vis_marker);
for (unsigned int i = 0; i < ids.size(); i++)
pushVisMarkers(msg->header.frame_id, msg->header.stamp, array_.markers[i].pose.pose,
pushVisMarkers(msg->header.frame_id, msg->header.stamp, array_.markers[i].pose,
getMarkerLength(ids[i]), ids[i], i);
vis_markers_pub_.publish(vis_array_);