from jds_utils.conversions import trans_rot_to_hmat,hmat_to_trans_rot
from jds_utils.transformations import euler_from_quaternion
import rospy
import roslib
roslib.load_manifest("tf")
import tf
import numpy as np
class Globals:
listener = None
if rospy.get_name() == "/unnamed":
rospy.init_node("transform_kinect_frames")
Globals.listener = tf.TransformListener()
rospy.sleep(1)
ONIfromCL = trans_rot_to_hmat(*Globals.listener.lookupTransform("/camera_rgb_optical_frame","camera_link", rospy.Time(0)))
GAZfromONI = trans_rot_to_hmat([0, -.15, -.24], [0, 0, 0, 1])
HEADfromGAZ = trans_rot_to_hmat(*Globals.listener.lookupTransform("/head_plate_frame", "/wide_stereo_gazebo_l_stereo_camera_optical_frame",rospy.Time(0)))
HEADfromCL = np.dot(np.dot(HEADfromGAZ, GAZfromONI), ONIfromCL)
trans_final, quat_final = hmat_to_trans_rot(HEADfromCL)
eul_final = euler_from_quaternion(quat_final)
print "translation", trans_final
print "rotation", eul_final
print "%.4f %.4f %.4f %.4f %.4f %.4f %.4f"%(tuple(trans_final) + tuple(quat_final))
def rot_distance(quat1, quat2):
quat1_mat = jut.quaternion_matrix(quat1)
quat2_mat = jut.quaternion_matrix(quat2)
diff_mat = np.dot(quat2_mat, np.linalg.inv(quat1_mat))
diff_xyz, diff_quat = juc.hmat_to_trans_rot(diff_mat)
return (sum([x**2 for x in jut.euler_from_quaternion(diff_quat)]))**0.5
def quat_to_yaw(q):
e = transformations.euler_from_quaternion(q)
return e[2]
def quat_to_yaw(q):
e = transformations.euler_from_quaternion(q)
return e[2]
