simutisernestas
/ calibrate.py
Created
March 31, 2021 13:12
Trasformation between 2 L-shape pointclouds
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| def icp(a, b, | |
| max_time = 1 | |
| ): | |
| import cv2 | |
| import numpy | |
| import copy | |
| import pylab | |
| import time | |
| import sys | |
| import sklearn.neighbors |
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| .... | |
| #include <tf2_geometry_msgs/tf2_geometry_msgs.h> | |
| int main() | |
| { | |
| .... | |
| tf2::Quaternion quat_tf; | |
| geometry_msgs::msg::Quaternion quat_msg = pose.pose.orientation; | |
| tf2::fromMsg(quat_msg, quat_tf); |