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Use pose multiplication instead of subtraction #231

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merged 1 commit into from
Jun 7, 2022
Merged

Use pose multiplication instead of subtraction #231

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2 changes: 1 addition & 1 deletion src/LogicalCameraSensor.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -155,7 +155,7 @@ bool LogicalCameraSensor::Update(
msgs::LogicalCameraImage::Model *modelMsg =
this->dataPtr->msg.add_model();
modelMsg->set_name(it.first);
msgs::Set(modelMsg->mutable_pose(), it.second - this->Pose());
msgs::Set(modelMsg->mutable_pose(), this->Pose().Inverse() * it.second);
}
}
*this->dataPtr->msg.mutable_header()->mutable_stamp() = msgs::Convert(_now);
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4 changes: 2 additions & 2 deletions test/integration/logical_camera.cc
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Expand Up @@ -183,7 +183,7 @@ TEST_F(LogicalCameraSensorTest, DetectBox)
EXPECT_EQ(sensorPose, gz::msgs::Convert(img.pose()));
EXPECT_EQ(1, img.model().size());
EXPECT_EQ(boxName, img.model(0).name());
gz::math::Pose3d boxPoseCameraFrame = boxPose - sensorPose;
gz::math::Pose3d boxPoseCameraFrame = sensorPose.Inverse() * boxPose;
EXPECT_EQ(boxPoseCameraFrame, gz::msgs::Convert(img.model(0).pose()));

// 2. test box outside of frustum
Expand Down Expand Up @@ -221,7 +221,7 @@ TEST_F(LogicalCameraSensorTest, DetectBox)
EXPECT_EQ(sensorPose3, gz::msgs::Convert(img.pose()));
EXPECT_EQ(1, img.model().size());
EXPECT_EQ(boxName, img.model(0).name());
gz::math::Pose3d boxPose3CameraFrame = boxPose3 - sensorPose3;
gz::math::Pose3d boxPose3CameraFrame = sensorPose3.Inverse() * boxPose3;
EXPECT_EQ(boxPose3CameraFrame, gz::msgs::Convert(img.model(0).pose()));

// 4. rotate camera away and image should be empty
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