From 47ac8c56eefa7cea7c1e973d48a90aacfaf4a3a9 Mon Sep 17 00:00:00 2001
From: Tommy Persson <tommy.persson@liu.se>
Date: Wed, 24 Aug 2022 16:58:16 +0200
Subject: [PATCH] Work on qr code.
---
src/add_qr.py | 19 +++++++++++++++++--
1 file changed, 17 insertions(+), 2 deletions(-)
diff --git a/src/add_qr.py b/src/add_qr.py
index f115d49..095a8a3 100755
--- a/src/add_qr.py
+++ b/src/add_qr.py
@@ -37,12 +37,12 @@ from geometry_msgs.msg import TransformStamped, Transform
def transform_to_json(tr):
jobj = {
- "translation": {
+ "tra": {
"x": tr.translation.x,
"y": tr.translation.y,
"z": tr.translation.z
},
- "rotation": {
+ "rot": {
"x": tr.rotation.x,
"y": tr.rotation.y,
"z": tr.rotation.z,
@@ -51,6 +51,17 @@ def transform_to_json(tr):
}
return jobj
+def json_to_transform(jobj):
+ res = Transform()
+ res.translation.x = jobj["tra"]["x"]
+ res.translation.y = jobj["tra"]["y"]
+ res.translation.z = jobj["tra"]["z"]
+ res.rotation.x = jobj["rot"]["x"]
+ res.rotation.y = jobj["rot"]["y"]
+ res.rotation.z = jobj["rot"]["z"]
+ res.rotation.w = jobj["rot"]["w"]
+ return res
+
def header_to_json(data):
jobj = {
"seq": data.seq,
@@ -164,6 +175,10 @@ def image_callback(data):
decoded_data, _ = detector.decode(final_image, remembered_points)
if decoded_data:
print("DECODED DATA:", decoded_data)
+ if options.qr_transform:
+ jobj = json.loads(decoded_data)
+ transform = json_to_transform(jobj)
+ print("ROS TRANSFORM:", transform)
else:
print("DECODING FAILED!!!!!!!!!")
--
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