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Target poses are not loaded in the right frame #42
Target poses are not loaded in the right frame #42
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Per the README and the You can still use the workflow of creating a point cloud using PCL mesh sampling and loading that point cloud into the reach study via the
I use option 1 in the |
Closing; addressed in above comment and in linked PRs |
The poses loaded from the pointcloud file are not correctly related to the
kinematic_base_frame
.In a previous version of the code, the
getSampledMesh
function was loading the pointcloud and transforming it to the correct frame, doing something like:That part is lost in the current version.
However display of the markers is still correct because when adding the markers, the frame is actually used:
auto marker = utils::makeInteractiveMarker(id, db[i], kinematic_base_frame_, marker_scale_, heatmap_colors.row(i));
When doing the calculations,
target_poses_
is used, which has not gone under any frame transformation. So even if the display of the poses is correct, the calculations are not.The text was updated successfully, but these errors were encountered: