modelec/detection_pot
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ackimixs
2024-04-11 11:08:48 +02:00
parent 2197ba4437
commit 6ab4b5406e
2 changed files with 5 additions and 3 deletions
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6
aruco/ArucoDetector.cpp
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@@ -189,8 +189,8 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
cv::Mat rotationMatrix;
cv::Rodrigues(rvec, rotationMatrix);
std::cout << rvec << std::endl;
std::cout << rotationMatrix << std::endl;
// std::cout << rvec << std::endl;
// std::cout << rotationMatrix << std::endl;
// Extract Euler angles from the rotation matrix
double roll, pitch, yaw;
@@ -199,7 +199,7 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
yaw = atan2(-rotationMatrix.at<double>(1, 0), rotationMatrix.at<double>(0, 0));
// Angles can be used to calculate the distance to the center of the flower.
std::cout << roll << " " << pitch << " " << yaw << std::endl << std::endl;
// std::cout << roll << " " << pitch << " " << yaw << std::endl << std::endl;
cv::Mat rotaEuler = (cv::Mat_<double>(3, 1) << roll, pitch, yaw);

2
tcp/MyClient.cpp
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@@ -33,6 +33,8 @@ void MyClient::handleMessage(const std::string& message)
}
}
std::cout << "Sent to client " << res << std::endl;
this->sendMessage(res.c_str());
} else if (messageSplited[2] == "ping")
{