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fix(rviz): temporarily change coordinates to X-axis forward.

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This commit is contained in:
TinyOh 2019-04-01 12:46:40 +08:00
parent 46903bb10f
commit 5b51b999c0
2 changed files with 17 additions and 15 deletions
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18
wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz
View File

@ -32,6 +32,8 @@ Panels:
Name: Time Name: Time
SyncMode: 0 SyncMode: 0
SyncSource: Points SyncSource: Points
Toolbars:
toolButtonStyle: 2
Visualization Manager: Visualization Manager:
Class: "" Class: ""
Displays: Displays:
@ -56,7 +58,7 @@ Visualization Manager:
- Class: rviz/Group - Class: rviz/Group
Displays: Displays:
- Class: rviz/Image - Class: rviz/Image
Enabled: true Enabled: false
Image Topic: /mynteye/left/image_raw Image Topic: /mynteye/left/image_raw
Max Value: 1 Max Value: 1
Median window: 5 Median window: 5
@ -66,7 +68,7 @@ Visualization Manager:
Queue Size: 1 Queue Size: 1
Transport Hint: raw Transport Hint: raw
Unreliable: false Unreliable: false
Value: true Value: false
- Class: rviz/Image - Class: rviz/Image
Enabled: false Enabled: false
Image Topic: /mynteye/right/image_raw Image Topic: /mynteye/right/image_raw
@ -152,10 +154,10 @@ Visualization Manager:
- Alpha: 1 - Alpha: 1
Autocompute Intensity Bounds: true Autocompute Intensity Bounds: true
Autocompute Value Bounds: Autocompute Value Bounds:
Max Value: 6.22900009 Max Value: 1.98300004
Min Value: 0 Min Value: 0
Value: true Value: true
Axis: Z Axis: X
Channel Name: intensity Channel Name: intensity
Class: rviz/PointCloud2 Class: rviz/PointCloud2
Color: 255; 255; 255 Color: 255; 255; 255
@ -221,7 +223,7 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz/Orbit Class: rviz/Orbit
Distance: 14.7952175 Distance: 2.80799317
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987 Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1 Stereo Focal Distance: 1
@ -236,10 +238,10 @@ Visualization Manager:
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.00999999978 Near Clip Distance: 0.00999999978
Pitch: -1.46479619 Pitch: 0.520203829
Target Frame: <Fixed Frame> Target Frame: <Fixed Frame>
Value: Orbit (rviz) Value: Orbit (rviz)
Yaw: 1.54539752 Yaw: 4.3935833
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Depth: Depth:
@ -257,7 +259,7 @@ Window Geometry:
collapsed: false collapsed: false
LeftRect: LeftRect:
collapsed: false collapsed: false
QMainWindow State: 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 QMainWindow State: 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
Right: Right:
collapsed: false collapsed: false
RightRect: RightRect:

14
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
View File

@ -849,9 +849,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
for (std::size_t x = 0; x < in->width; ++x) { for (std::size_t x = 0; x < in->width; ++x) {
auto &&point = data.frame.at<cv::Vec3f>(y, x); auto &&point = data.frame.at<cv::Vec3f>(y, x);
*iter_x = point[0] * 0.001; *iter_x = point[2] * 0.001;
*iter_y = point[1] * 0.001; *iter_y = 0.f - point[0] * 0.001;
*iter_z = point[2] * 0.001; *iter_z = 0.f - point[1] * 0.001;
*iter_r = static_cast<uint8_t>(255); *iter_r = static_cast<uint8_t>(255);
*iter_g = static_cast<uint8_t>(255); *iter_g = static_cast<uint8_t>(255);
@ -1212,10 +1212,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
mesh_msg_.header.stamp = ros::Time::now(); mesh_msg_.header.stamp = ros::Time::now();
mesh_msg_.type = visualization_msgs::Marker::MESH_RESOURCE; mesh_msg_.type = visualization_msgs::Marker::MESH_RESOURCE;
// fill orientation // fill orientation
mesh_msg_.pose.orientation.x = 0; mesh_msg_.pose.orientation.x = 1;
mesh_msg_.pose.orientation.y = 0; mesh_msg_.pose.orientation.y = 1;
mesh_msg_.pose.orientation.z = 0; mesh_msg_.pose.orientation.z = 1;
mesh_msg_.pose.orientation.w = 0; mesh_msg_.pose.orientation.w = 1;
// fill position // fill position
mesh_msg_.pose.position.x = 0; mesh_msg_.pose.position.x = 0;