From 8045511b293ffa728864f74e63579a8a8b3aabc7 Mon Sep 17 00:00:00 2001 From: RoboticsYY Date: Mon, 8 Jun 2020 20:56:04 +0800 Subject: [PATCH] Correct target detection test reference --- .../handeye_calibration_target/test/handeye_target_test.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/moveit_calibration_plugins/handeye_calibration_target/test/handeye_target_test.cpp b/moveit_calibration_plugins/handeye_calibration_target/test/handeye_target_test.cpp index 8a4bd14..25e3038 100644 --- a/moveit_calibration_plugins/handeye_calibration_target/test/handeye_target_test.cpp +++ b/moveit_calibration_plugins/handeye_calibration_target/test/handeye_target_test.cpp @@ -129,8 +129,8 @@ TEST_F(MoveItHandEyeTargetTester, DetectArucoMarkerPose) camera_transform = target_->getTransformStamped(camera_info->header.frame_id); Eigen::Affine3d ret = tf2::transformToEigen(camera_transform); std::cout << "Translation:\n" << ret.translation() << "\nRotation:\n" << ret.rotation().eulerAngles(0, 1, 2) << std::endl; - Eigen::Vector3d t(0.412949, -0.198895, 11.1761); - Eigen::Vector3d r(0.324172, -2.03144, 2.90114); + Eigen::Vector3d t(0.0148984, 0.0123107, 0.58609); + Eigen::Vector3d r(2.12328, -1.50481, -1.29729); ASSERT_TRUE(ret.translation().isApprox(t, 0.01)); ASSERT_TRUE(ret.rotation().eulerAngles(0, 1, 2).isApprox(r, 0.01)); }