renamed Corrector to FullCorrector

wg-perception · Aug 9, 2011 · a7dac5a · a7dac5a
1 parent fcae1e5
commit a7dac5a
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Showing 3 changed files with 6 additions and 6 deletions.
diff --git a/scripts/correct_test.py b/scripts/correct_test.py
@@ -19,7 +19,7 @@
     sub_rgb = ImageSub("image sub",topic_name="/camera/rgb/image_color")
     sub_cloud = Cloud2Sub("cloud sub",topic_name="/camera/rgb/points")
     sub_info = InfoSub("info sub",topic_name="/camera/rgb/camera_info")
-    corrector = ecto_corrector.Corrector("Corrector")
+    corrector = ecto_corrector.FullCorrector("Corrector")
 
     graph = [
                     sub_rgb[:] >> corrector["image_color"],

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -2,7 +2,7 @@ include_directories(${CMAKE_CURRENT_SOURCE_DIR})
 
 ectomodule(ecto_corrector 
   ecto_corrector.cpp
-  Corrector.cpp
+  FullCorrector.cpp
   DetectionSimulator.cpp
   DepthEdgeDetector.cpp)
 link_ecto(ecto_corrector

diff --git a/src/Corrector.cpp → src/FullCorrector.cpp b/src/Corrector.cpp → src/FullCorrector.cpp
@@ -1,5 +1,5 @@
 /*
- * Corrector.cpp
+ * FullCorrector.cpp
  *
  *  Created on: Jul 19, 2011
  *      Author: mkrainin
@@ -19,7 +19,7 @@ namespace ecto_corrector
 {
   using ecto::tendrils;
 
-  struct Corrector
+  struct FullCorrector
   {
   public:
     static void declare_params(tendrils& params)
@@ -61,7 +61,7 @@ namespace ecto_corrector
       corrector.setModel(model);
       corrector.setModelBasePose(init_pose);
       corrector.initCamera(in.get<sensor_msgs::CameraInfoConstPtr>("camera_info"));
-
+      corrector.updateROI();
       corrector.correct(in.get<sensor_msgs::ImageConstPtr>("image_color"),
                         in.get<sensor_msgs::PointCloud2ConstPtr>("cloud"));
 
@@ -78,4 +78,4 @@ namespace ecto_corrector
     pose_corrector::OptimizerG2OParams opt_params;
   };
 } //namespace
-ECTO_CELL(ecto_corrector, ecto_corrector::Corrector, "Corrector", "Performs pose refinement for rigid objects");
+ECTO_CELL(ecto_corrector, ecto_corrector::FullCorrector, "Corrector", "Performs pose refinement for rigid objects. Performs the full process including cloud conversion, depth edges, ROI computation, etc.");