From aefeb8b8c3003d7c0853cd248685ca720248e925 Mon Sep 17 00:00:00 2001
From: Irene Garcia Camacho <igarcia@iri.upc.edu>
Date: Fri, 14 Jul 2017 08:27:51 +0200
Subject: [PATCH] Removed tone of the camera transforms because the cameara
frame has been updated and it already takes into account the necessary
rotations. Minor changes in the Eigen variable declaration due to some
assertions.
---
qr_global_loc/include/qr_global_loc_alg_node.h | 1 +
qr_global_loc/src/qr_global_loc_alg_node.cpp | 6 +++---
2 files changed, 4 insertions(+), 3 deletions(-)
diff --git a/qr_global_loc/include/qr_global_loc_alg_node.h b/qr_global_loc/include/qr_global_loc_alg_node.h
index 8857bb4..da8fd76 100644
--- a/qr_global_loc/include/qr_global_loc_alg_node.h
+++ b/qr_global_loc/include/qr_global_loc_alg_node.h
@@ -93,6 +93,7 @@ class QrGlobalLocAlgNode : public algorithm_base::IriBaseAlgorithm<QrGlobalLocAl
Eigen::Matrix4d robot_transform;
Eigen::Vector3d robot_position,robot_rotation;
public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
/**
* \brief Constructor
*
diff --git a/qr_global_loc/src/qr_global_loc_alg_node.cpp b/qr_global_loc/src/qr_global_loc_alg_node.cpp
index aae0b29..05a8610 100644
--- a/qr_global_loc/src/qr_global_loc_alg_node.cpp
+++ b/qr_global_loc/src/qr_global_loc_alg_node.cpp
@@ -121,7 +121,7 @@ void QrGlobalLocAlgNode::qr_pose_callback(const humanoid_common_msgs::tag_pose_a
tf::Matrix3x3 tf_rotation;
tf::Vector3 tf_position;
Eigen::Matrix4d body_transform,qr_transform,cam1_transform,cam2_transform,map_transform;
- std::vector<Eigen::Matrix4d> total_transforms;
+ std::vector< Eigen::Matrix4d,Eigen::aligned_allocator<Eigen::Matrix4d> > total_transforms;
Eigen::Vector3d position,rotation;
std::string odom_frame;
unsigned int i=0,j=0;
@@ -145,8 +145,8 @@ void QrGlobalLocAlgNode::qr_pose_callback(const humanoid_common_msgs::tag_pose_a
body_transform=this->alg_.generate_transform(position,rotation);
// QR detection library transfrom
position << 0.0,0.0,0.0;
- rotation << -1.5707 , 0.0 , -1.5707;
- //rotation << 0.0 , 0.0 , 0.0;
+ //rotation << -1.5707 , 0.0 , -1.5707;
+ rotation << 0.0 , 0.0 , 0.0;
cam1_transform=this->alg_.generate_transform(position,rotation);
position << 0.0,0.0,0.0;
rotation << 0.0 , 0.0 , 3.14159;
--
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