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fix: change the camera mesh location.

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This commit is contained in:
TinyOh 2019-03-19 09:54:22 +08:00
parent 2462c1b37a
commit 8400966a5c
1 changed files with 6 additions and 17 deletions
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23
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -1159,20 +1159,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
} }
void publishMesh() { void publishMesh() {
// also do the mesh
/*if (parameters_.publishing.trackedBodyFrame == FrameName::S) {
mesh_msg_.child_frame_id = "sensor";
} else if (parameters_.publishing.trackedBodyFrame == FrameName::B) {
mesh_msg_.child_frame_id = "body";
} else {
mesh_msg_.child_frame_id = "body";
}*/
mesh_msg_.header.frame_id = base_frame_id_; mesh_msg_.header.frame_id = base_frame_id_;
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;
// if ((ros::Time::now() - _t).toSec() > 10.0)
// mesh_msg_.header.stamp = ros::Time::now();
// fill orientation // fill orientation
mesh_msg_.pose.orientation.x = 0; mesh_msg_.pose.orientation.x = 0;
mesh_msg_.pose.orientation.y = 0; mesh_msg_.pose.orientation.y = 0;
@ -1180,14 +1169,14 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
mesh_msg_.pose.orientation.w = 0; mesh_msg_.pose.orientation.w = 0;
// fill position // fill position
mesh_msg_.pose.position.x = 0; mesh_msg_.pose.position.x = -0.25;
mesh_msg_.pose.position.y = 0; mesh_msg_.pose.position.y = -0.05;
mesh_msg_.pose.position.z = -0.3; mesh_msg_.pose.position.z = -0.1;
// scale -- needed // scale -- needed
mesh_msg_.scale.x = 0.01; mesh_msg_.scale.x = 0.003;
mesh_msg_.scale.y = 0.01; mesh_msg_.scale.y = 0.003;
mesh_msg_.scale.z = 0.01; mesh_msg_.scale.z = 0.003;
mesh_msg_.action = visualization_msgs::Marker::ADD; mesh_msg_.action = visualization_msgs::Marker::ADD;
mesh_msg_.color.a = 1.0; // Don't forget to set the alpha! mesh_msg_.color.a = 1.0; // Don't forget to set the alpha!