WIP: Volume Config #51
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schornakj
reviewed
Dec 3, 2020
| return false; | ||
| Eigen::Isometry3d mid; | ||
| tf::poseMsgToEigen(request.kinfu_params.volume_pose, mid); | ||
| params.volume_pose= cv::Affine3f::Identity().translate(cv::Vec3f(mid.translation().x(), mid.translation().y(), mid.translation().z())); |
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Is there a more direct way to perform this conversion?
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May be able to use #include <opencv2/core/eigen.hpp>.
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The PR adds the ability to move the TSDF volume without needing a new tf frame. Requires ros-industrial-attic/yak#62 for yak