[Fawkes Git] branch/fzwilling/depthcam: gazsim-depthcam: match point coordinates to frame with x going forward

Frederik Zwilling zwilling at kbsg.rwth-aachen.de
Thu Feb 25 10:51:22 CET 2016


Changes have been pushed for the project "Fawkes Robotics Software Framework".

Gitweb: http://git.fawkesrobotics.org/fawkes.git
Trac:   http://trac.fawkesrobotics.org

The branch, fzwilling/depthcam has been updated
        to  ed00e5db94ec36fd5e2f046e649bca57c3cf4e3d (commit)
      from  2f00cc914647b8dc9689ca44d2c52c23f4df4417 (commit)

http://git.fawkesrobotics.org/fawkes.git/fzwilling/depthcam

Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.

- *Log* ---------------------------------------------------------------
commit ed00e5db94ec36fd5e2f046e649bca57c3cf4e3d
Author:     Frederik Zwilling <zwilling at kbsg.rwth-aachen.de>
AuthorDate: Thu Feb 25 10:49:36 2016 +0100
Commit:     Frederik Zwilling <zwilling at kbsg.rwth-aachen.de>
CommitDate: Thu Feb 25 10:49:36 2016 +0100

    gazsim-depthcam: match point coordinates to frame with x going forward

http://git.fawkesrobotics.org/fawkes.git/commit/ed00e5d
http://trac.fawkesrobotics.org/changeset/ed00e5d

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -


- *Summary* -----------------------------------------------------------
 .../gazsim-depthcam/gazsim_depthcam_thread.cpp     |    6 +++---
 1 files changed, 3 insertions(+), 3 deletions(-)


- *Diffs* -------------------------------------------------------------

- *commit* ed00e5db94ec36fd5e2f046e649bca57c3cf4e3d - - - - - - - - - -
Author:  Frederik Zwilling <zwilling at kbsg.rwth-aachen.de>
Date:    Thu Feb 25 10:49:36 2016 +0100
Subject: gazsim-depthcam: match point coordinates to frame with x going forward

 .../gazsim-depthcam/gazsim_depthcam_thread.cpp     |    6 +++---
 1 files changed, 3 insertions(+), 3 deletions(-)

_Diff for modified files_:
diff --git a/src/plugins/gazebo/gazsim-depthcam/gazsim_depthcam_thread.cpp b/src/plugins/gazebo/gazsim-depthcam/gazsim_depthcam_thread.cpp
index 4c5b4f1..e2da4b6 100644
--- a/src/plugins/gazebo/gazsim-depthcam/gazsim_depthcam_thread.cpp
+++ b/src/plugins/gazebo/gazsim-depthcam/gazsim_depthcam_thread.cpp
@@ -96,9 +96,9 @@ void DepthcamSimThread::on_depthcam_data_msg(ConstPointCloudPtr &msg)
     for (unsigned int h = 0; h < height_; ++h) {
       for (unsigned int w = 0; w < width_; ++w, ++idx) {
         // Fill in XYZ
-        pcl.points[idx].x = -msg->points(idx).x();
-        pcl.points[idx].y = msg->points(idx).y();
-        pcl.points[idx].z = msg->points(idx).z();
+        pcl.points[idx].x = msg->points(idx).z();
+        pcl.points[idx].y = -msg->points(idx).x();
+        pcl.points[idx].z = msg->points(idx).y();
       }
     }
   // }




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