feat(*): add 3dmodel rotation config.

wrappers/ros/src/mynt_eye_ros_wrapper/config/mesh/mesh.yaml

@@ -0,0 +1,10 @@
+# this file is used to config mesh file in rviz display
+
+
+s1030_mesh_file: "S1030-0315.obj"
+
+model_rotation_x: 1.5708
+
+model_rotation_y: 0
+
+model_rotation_z: 1.5708

wrappers/ros/src/mynt_eye_ros_wrapper/config/sub/mesh_1/mesh.yaml

@@ -0,0 +1,10 @@
+# this file is used to config mesh file in rviz display
+
+
+s1030_mesh_file: "S1030-0315.obj"
+
+model_rotation_x: 1.5708
+
+model_rotation_y: 0
+
+model_rotation_z: 1.5708

wrappers/ros/src/mynt_eye_ros_wrapper/config/sub/mesh_2/mesh.yaml

@@ -0,0 +1,10 @@
+# this file is used to config mesh file in rviz display
+
+
+s1030_mesh_file: "S1030-0315.obj"
+
+model_rotation_x: 1.5708
+
+model_rotation_y: 0
+
+model_rotation_z: 1.5708

wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch

@@ -43,7 +43,6 @@
 
   <arg name="gravity" default="9.8" />
 
-  <arg name="mesh_file" default="S1030-0315.obj" />
   <!-- Push down all topics/nodelets into "mynteye" namespace -->
   <group ns="$(arg mynteye)">
 
@@ -65,7 +64,6 @@
       <param name="disparity_norm_topic" value="$(arg disparity_norm_topic)" />
       <param name="points_topic" value="$(arg points_topic)" />
       <param name="depth_topic" value="$(arg depth_topic)" />
-      <param name="mesh_file" value="$(arg mesh_file)" />
 
       <param name="left_mono_topic" value="$(arg left_mono_topic)" />
       <param name="right_mono_topic" value="$(arg right_mono_topic)" />
@@ -88,6 +86,7 @@
       <rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard.yaml" command="load" />
       <rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard2.yaml" command="load" />
       <rosparam file="$(find mynt_eye_ros_wrapper)/config/process/process_config.yaml" command="load" />
+      <rosparam file="$(find mynt_eye_ros_wrapper)/config/mesh/mesh.yaml" command="load" />
 
       <param name="gravity" value="$(arg gravity)" />
     </node>

wrappers/ros/src/mynt_eye_ros_wrapper/launch/sub/mynteye_1.launch

@@ -65,7 +65,6 @@
       <param name="disparity_norm_topic" value="$(arg disparity_norm_topic)" />
       <param name="points_topic" value="$(arg points_topic)" />
       <param name="depth_topic" value="$(arg depth_topic)" />
-      <param name="mesh_file" value="$(arg mesh_file)" />
 
       <param name="left_mono_topic" value="$(arg left_mono_topic)" />
       <param name="right_mono_topic" value="$(arg right_mono_topic)" />
@@ -88,6 +87,7 @@
       <rosparam file="$(find mynt_eye_ros_wrapper)/config/sub/device_1/standard.yaml" command="load" />
       <rosparam file="$(find mynt_eye_ros_wrapper)/config/sub/device_1/standard2.yaml" command="load" />
       <rosparam file="$(find mynt_eye_ros_wrapper)/config/sub/process_1/process_config.yaml" command="load" />
+      <rosparam file="$(find mynt_eye_ros_wrapper)/config/sub/mesh_1/mesh.yaml" command="load" />
 
       <param name="gravity" value="$(arg gravity)" />
     </node>

wrappers/ros/src/mynt_eye_ros_wrapper/launch/sub/mynteye_2.launch

@@ -43,7 +43,6 @@
 
   <arg name="gravity" default="9.8" />
 
-  <arg name="mesh_file" default="S1030-0315.obj" />
   <!-- Push down all topics/nodelets into "mynteye" namespace -->
   <group ns="$(arg mynteye)">
 
@@ -65,7 +64,6 @@
       <param name="disparity_norm_topic" value="$(arg disparity_norm_topic)" />
       <param name="points_topic" value="$(arg points_topic)" />
       <param name="depth_topic" value="$(arg depth_topic)" />
-      <param name="mesh_file" value="$(arg mesh_file)" />
 
       <param name="left_mono_topic" value="$(arg left_mono_topic)" />
       <param name="right_mono_topic" value="$(arg right_mono_topic)" />
@@ -88,6 +86,7 @@
       <rosparam file="$(find mynt_eye_ros_wrapper)/config/sub/device_2/standard.yaml" command="load" />
       <rosparam file="$(find mynt_eye_ros_wrapper)/config/sub/device_2/standard2.yaml" command="load" />
       <rosparam file="$(find mynt_eye_ros_wrapper)/config/sub/process_2/process_config.yaml" command="load" />
+      <rosparam file="$(find mynt_eye_ros_wrapper)/config/sub/mesh_2/mesh.yaml" command="load" />
 
       <param name="gravity" value="$(arg gravity)" />
     </node>

wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc

@@ -43,6 +43,8 @@
 #include "configuru.hpp"
 using namespace configuru;  // NOLINT
 
+#define PIE 3.1416
+
 #define FULL_PRECISION \
   std::fixed << std::setprecision(std::numeric_limits<double>::max_digits10)
 
@@ -62,6 +64,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     skip_tmp_left_tag = 0;
     skip_tmp_right_tag = 0;
     unit_hard_time *= 10;
+    mesh_rotation_x = PIE/2;
+    mesh_rotation_y = 0.0;
+    mesh_rotation_z = PIE/2;
   }
 
   ~ROSWrapperNodelet() {
@@ -196,6 +201,13 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
 
     pthread_mutex_init(&mutex_data_, nullptr);
 
+    private_nh_.getParamCached("model_rotation_x",
+        mesh_rotation_x);
+    private_nh_.getParamCached("model_rotation_y",
+        mesh_rotation_y);
+    private_nh_.getParamCached("model_rotation_z",
+        mesh_rotation_z);
+
     // node params
 
     std::map<Stream, std::string> stream_names{
@@ -404,7 +416,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     pub_mesh_ = nh_.advertise<visualization_msgs::Marker>("camera_mesh", 0 );
     // where to get the mesh from
     std::string mesh_file;
-    if (private_nh_.getParamCached("mesh_file", mesh_file)) {
+    if (private_nh_.getParamCached("s1030_mesh_file", mesh_file)) {
       mesh_msg_.mesh_resource = "package://mynt_eye_ros_wrapper/mesh/"+mesh_file;
     } else {
       LOG(INFO) << "no mesh found for visualisation, set ros param mesh_file, if desired";
@@ -1271,8 +1283,11 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     mesh_msg_.header.stamp = ros::Time::now();
     mesh_msg_.type = visualization_msgs::Marker::MESH_RESOURCE;
     geometry_msgs::Quaternion q;
-    double Pie = 3.1416;
+
-    q = tf::createQuaternionMsgFromRollPitchYaw(Pie/2, 0.0, Pie/2);
+    q = tf::createQuaternionMsgFromRollPitchYaw(
+        mesh_rotation_x,
+        mesh_rotation_y,
+        mesh_rotation_z);
 
     // fill orientation
     mesh_msg_.pose.orientation.x = q.x;
@@ -1650,6 +1665,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
   int skip_tag;
   int skip_tmp_left_tag;
   int skip_tmp_right_tag;
+  double mesh_rotation_x;
+  double mesh_rotation_y;
+  double mesh_rotation_z;
 
   std::uint64_t unit_hard_time = std::numeric_limits<std::uint32_t>::max();
 };