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change position system

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This commit is contained in:
ackimixs
2024-04-08 17:21:33 +02:00
parent 6120b6284d
commit 42d422d103
2 changed files with 7 additions and 7 deletions
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8
aruco/ArucoDetector.cpp
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@@ -21,9 +21,9 @@ ArucoDetector::ArucoDetector(Type::RobotPose* pose, const std::string& calibrati
this->transformationMatrix = (cv::Mat_<double>(4, 4) <<
cos(pose->theta), 0, sin(pose->theta), pose->position.x,
cos(pose->theta), 0, sin(pose->theta), pose->position.z,
0, 1, 0, pose->position.y,
-sin(pose->theta), 0, cos(pose->theta), pose->position.z,
-sin(pose->theta), 0, cos(pose->theta), pose->position.x,
0, 0, 0, 1
);
this->readCameraParameters(calibrationPath);
@@ -236,9 +236,9 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
void ArucoDetector::updateTransformationMatrix() {
this->transformationMatrix = (cv::Mat_<double>(4, 4) <<
cos(robotPose->theta), 0, sin(robotPose->theta), robotPose->position.x,
cos(robotPose->theta), 0, sin(robotPose->theta), robotPose->position.y,
0, 1, 0, robotPose->position.y,
-sin(robotPose->theta), 0, cos(robotPose->theta), robotPose->position.z,
-sin(robotPose->theta), 0, cos(robotPose->theta), robotPose->position.x,
0, 0, 0, 1
);
}

6
tcp/MyClient.cpp
View File

@@ -46,9 +46,9 @@ void MyClient::handleMessage(const std::string& message)
std::vector<std::string> tokens = TCPSocket::split(messageSplited[3], ",");
robotPose->position.x = std::stof(tokens[0]);
robotPose->position.y = std::stof(tokens[1]);
robotPose->position.z = std::stof(tokens[2]);
robotPose->theta = std::stof(tokens[3]);
// robotPose->position.y = std::stof(tokens[1]);
robotPose->position.z = std::stof(tokens[1]);
robotPose->theta = std::stof(tokens[2]);
}
}
}