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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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28
aruco_pose/test/basic.py
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@@ -22,13 +22,13 @@ class TestArucoPose(unittest.TestCase):
assert markers.header.frame_id == 'main_camera_optical'
assert markers.markers[0].id == 2
assert markers.markers[0].pose.pose.position.x == approx(0.36706567854)
assert markers.markers[0].pose.pose.position.y == approx(0.290484516644)
assert markers.markers[0].pose.pose.position.z == approx(2.18787602301)
assert markers.markers[0].pose.pose.orientation.x == approx(0.993997406299)
assert markers.markers[0].pose.pose.orientation.y == approx(-0.00532003481626)
assert markers.markers[0].pose.pose.orientation.z == approx(-0.107390951553)
assert markers.markers[0].pose.pose.orientation.w == approx(0.0201999263402)
assert markers.markers[0].pose.position.x == approx(0.36706567854)
assert markers.markers[0].pose.position.y == approx(0.290484516644)
assert markers.markers[0].pose.position.z == approx(2.18787602301)
assert markers.markers[0].pose.orientation.x == approx(0.993997406299)
assert markers.markers[0].pose.orientation.y == approx(-0.00532003481626)
assert markers.markers[0].pose.orientation.z == approx(-0.107390951553)
assert markers.markers[0].pose.orientation.w == approx(0.0201999263402)
assert markers.markers[0].c1.x == approx(415.557739258)
assert markers.markers[0].c1.y == approx(335.557739258)
assert markers.markers[0].c2.x == approx(509.442260742)
@@ -39,13 +39,13 @@ class TestArucoPose(unittest.TestCase):
assert markers.markers[0].c4.y == approx(429.442260742)
assert markers.markers[3].id == 3
assert markers.markers[3].pose.pose.position.x == approx(-0.1805169666)
assert markers.markers[3].pose.pose.position.y == approx(-0.200697302327)
assert markers.markers[3].pose.pose.position.z == approx(0.585767514823)
assert markers.markers[3].pose.pose.orientation.x == approx(-0.961738074009)
assert markers.markers[3].pose.pose.orientation.y == approx(-0.0375180244707)
assert markers.markers[3].pose.pose.orientation.z == approx(-0.0115387773672)
assert markers.markers[3].pose.pose.orientation.w == approx(0.271144115664)
assert markers.markers[3].pose.position.x == approx(-0.1805169666)
assert markers.markers[3].pose.position.y == approx(-0.200697302327)
assert markers.markers[3].pose.position.z == approx(0.585767514823)
assert markers.markers[3].pose.orientation.x == approx(-0.961738074009)
assert markers.markers[3].pose.orientation.y == approx(-0.0375180244707)
assert markers.markers[3].pose.orientation.z == approx(-0.0115387773672)
assert markers.markers[3].pose.orientation.w == approx(0.271144115664)
assert markers.markers[3].c1.x == approx(129.557723999)
assert markers.markers[3].c1.y == approx(49.557723999)
assert markers.markers[3].c2.x == approx(223.442276001)