Commit 9eee03e0 authored by James Ward's avatar James Ward
Browse files

Output transform translation in metres

parent 900a6a5f
......@@ -385,8 +385,8 @@ bool Optimiser::optimise()
ROS_INFO_STREAM("Rotation and Translation after first optimization "
<< initial_rotation_translation.rot.roll << " " << initial_rotation_translation.rot.pitch << " "
<< initial_rotation_translation.rot.yaw << " " << initial_rotation_translation.x << " "
<< initial_rotation_translation.y << " " << initial_rotation_translation.z);
<< initial_rotation_translation.rot.yaw << " " << initial_rotation_translation.x / 1000.0 << " "
<< initial_rotation_translation.y / 1000.0 << " " << initial_rotation_translation.z / 1000.0);
rotation_increment = M_PI / 18.;
constexpr double translation_increment = 0.05;
......@@ -470,7 +470,7 @@ bool Optimiser::optimise()
rot_trans.z = e_z / 10;
ROS_INFO_STREAM("Extrinsic Parameters "
<< " " << rot_trans.rot.roll << " " << rot_trans.rot.pitch << " " << rot_trans.rot.yaw << " "
<< rot_trans.x << " " << rot_trans.y << " " << rot_trans.z);
<< rot_trans.x / 1000.0 << " " << rot_trans.y / 1000.0 << " " << rot_trans.z / 1000.0);
ROS_INFO_STREAM("The problem was optimised in " << timer.toc() << " seconds");
return true;
......
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