[Personalrobots-commit] SF.net SVN: personalrobots:[14112] pkg/trunk

[<vij...@us...>]

Revision: 14112
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=14112&view=rev
Author:   vijaypradeep
Date:     2009-04-21 00:57:39 +0000 (Tue, 21 Apr 2009)

Log Message:
-----------
Changing stereo frame_id from stereo_link to stereo_optical_frame. stereo_image_proc now builds point clouds in a z-forward frame, instead of an x-forward frame

Modified Paths:
--------------
    pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_alpha/pre.launch
    pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_alpha/prf.launch
    pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_alpha/prg.launch
    pkg/trunk/vision/stereo_image_proc/src/stereoproc.cpp

Modified: pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_alpha/pre.launch
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_alpha/pre.launch	2009-04-21 00:55:08 UTC (rev 14111)
+++ pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_alpha/pre.launch	2009-04-21 00:57:39 UTC (rev 14112)
@@ -51,6 +51,7 @@
   <param name="do_colorize" type="bool" value="False"/>
   <param name="do_rectify" type="bool" value="False"/>
   <param name="do_stereo" type="bool" value="False"/>
+  <param name="frame_id" type="string" value="stereo_optical_frame"/>
 </node>
 -->
 

Modified: pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_alpha/prf.launch
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_alpha/prf.launch	2009-04-21 00:55:08 UTC (rev 14111)
+++ pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_alpha/prf.launch	2009-04-21 00:57:39 UTC (rev 14112)
@@ -51,7 +51,7 @@
     <param name="do_stereo" type="bool" value="False"/>
     <param name="do_calc_points" type="bool" value="False"/>
     <param name="fps" type="double" value="15.0"/>
-    <param name="frame_id" type="string" value="stereo_link"/>
+    <param name="frame_id" type="string" value="stereo_optical_frame"/>
   </group>
   <node machine="three" pkg="dcam" type="stereodcam" respawn="false"/>
 

Modified: pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_alpha/prg.launch
===================================================================
--- pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_alpha/prg.launch	2009-04-21 00:55:08 UTC (rev 14111)
+++ pkg/trunk/robot_descriptions/pr2/pr2_configurations/pr2_alpha/prg.launch	2009-04-21 00:57:39 UTC (rev 14112)
@@ -60,7 +60,7 @@
     <param name="do_stereo" type="bool" value="False"/>
     <param name="do_calc_points" type="bool" value="False"/>
     <param name="fps" type="double" value="30.0"/>
-    <param name="frame_id" type="string" value="stereo_link"/>
+    <param name="frame_id" type="string" value="stereo_optical_frame"/>
   </group>
   <node machine="four" pkg="dcam" type="stereodcam" respawn="false"/>
 

Modified: pkg/trunk/vision/stereo_image_proc/src/stereoproc.cpp
===================================================================
--- pkg/trunk/vision/stereo_image_proc/src/stereoproc.cpp	2009-04-21 00:55:08 UTC (rev 14111)
+++ pkg/trunk/vision/stereo_image_proc/src/stereoproc.cpp	2009-04-21 00:57:39 UTC (rev 14112)
@@ -220,9 +220,9 @@
 
       for (int i = 0; i < stdata_->numPts; i++)
       {
-        cloud_.pts[i].y = -stdata_->imPts[3*i + 0];
-        cloud_.pts[i].z = -stdata_->imPts[3*i + 1];
-        cloud_.pts[i].x = stdata_->imPts[3*i + 2];
+        cloud_.pts[i].x = stdata_->imPts[3*i + 0];
+        cloud_.pts[i].y = stdata_->imPts[3*i + 1];
+        cloud_.pts[i].z = stdata_->imPts[3*i + 2];
       }
 
       for (int i = 0; i < stdata_->numPts; i++)


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