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feat(ros): mesh position params.

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This commit is contained in:
TinyO 2019-10-15 14:31:34 +08:00
parent 1df9a28756
commit 6003a8b405
4 changed files with 44 additions and 14 deletions
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10
wrappers/ros/src/mynt_eye_ros_wrapper/config/mesh/mesh.yaml
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@ -5,6 +5,12 @@ s1030_mesh_file: "S1030-0315.obj"
model_rotation_x: 1.5708 model_rotation_x: 1.5708
model_rotation_y: 0 model_rotation_y: 0.
model_rotation_z: 1.5708 model_rotation_z: 1.5708
model_positioin_x: 0.
model_positioin_y: -0.176
model_positioin_z: 0.

8
wrappers/ros/src/mynt_eye_ros_wrapper/config/sub/mesh_1/mesh.yaml
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@ -7,4 +7,10 @@ model_rotation_x: 1.5708
model_rotation_y: 0 model_rotation_y: 0
model_rotation_z: 1.5708 model_rotation_z: 1.5708
model_positioin_x: 0.
model_positioin_y: -0.176
model_positioin_z: 0.

8
wrappers/ros/src/mynt_eye_ros_wrapper/config/sub/mesh_2/mesh.yaml
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@ -7,4 +7,10 @@ model_rotation_x: 1.5708
model_rotation_y: 0 model_rotation_y: 0
model_rotation_z: 1.5708 model_rotation_z: 1.5708
model_positioin_x: 0.
model_positioin_y: -0.176
model_positioin_z: 0.

32
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
View File

@ -60,14 +60,17 @@ inline double compute_time(const double end, const double start) {
class ROSWrapperNodelet : public nodelet::Nodelet { class ROSWrapperNodelet : public nodelet::Nodelet {
public: public:
ROSWrapperNodelet() { ROSWrapperNodelet() :
skip_tag = -1; mesh_position_x(0.),
skip_tmp_left_tag = 0; mesh_position_y(-0.176),
skip_tmp_right_tag = 0; mesh_position_z(0.),
mesh_rotation_x(PIE/2),
mesh_rotation_y(0.0),
mesh_rotation_z(PIE/2),
skip_tag(-1),
skip_tmp_left_tag(0),
skip_tmp_right_tag(0) {
unit_hard_time *= 10; unit_hard_time *= 10;
mesh_rotation_x = PIE/2;
mesh_rotation_y = 0.0;
mesh_rotation_z = PIE/2;
} }
~ROSWrapperNodelet() { ~ROSWrapperNodelet() {
@ -1312,6 +1315,12 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
mesh_rotation_y); mesh_rotation_y);
private_nh_.getParamCached("model_rotation_z", private_nh_.getParamCached("model_rotation_z",
mesh_rotation_z); mesh_rotation_z);
private_nh_.getParamCached("model_position_x",
mesh_position_x);
private_nh_.getParamCached("model_position_y",
mesh_position_y);
private_nh_.getParamCached("model_position_z",
mesh_position_z);
q = tf::createQuaternionMsgFromRollPitchYaw( q = tf::createQuaternionMsgFromRollPitchYaw(
mesh_rotation_x, mesh_rotation_x,
@ -1325,9 +1334,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
mesh_msg_.pose.orientation.w = q.w; mesh_msg_.pose.orientation.w = q.w;
// fill position // fill position
mesh_msg_.pose.position.x = 0; mesh_msg_.pose.position.x = mesh_position_x;
mesh_msg_.pose.position.y = 0; mesh_msg_.pose.position.y = mesh_position_y;
mesh_msg_.pose.position.z = 0; mesh_msg_.pose.position.z = mesh_position_z;
// scale -- needed // scale -- needed
mesh_msg_.scale.x = 0.003; mesh_msg_.scale.x = 0.003;
@ -1712,6 +1721,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
double mesh_rotation_x; double mesh_rotation_x;
double mesh_rotation_y; double mesh_rotation_y;
double mesh_rotation_z; double mesh_rotation_z;
double mesh_position_x;
double mesh_position_y;
double mesh_position_z;
std::vector<int64_t> left_timestamps; std::vector<int64_t> left_timestamps;
std::vector<int64_t> right_timestamps; std::vector<int64_t> right_timestamps;