C++ (Cpp) correctOrientation示例

示例#1

文件： imu_tf_broadcaster.cpp 项目： MathieuR/ros-bioloid

void Broadcaster::gyroCallback(const geometry_msgs::Vector3::ConstPtr& msg)
{
    dt = ros::Time::now().toSec() - prevt;

    gyro.setX(msg->x);
    gyro.setY(msg->y);
    gyro.setZ(msg->z);

    angularVel.setX(gyro.x());
    angularVel.setY(gyro.y());
    angularVel.setZ(gyro.z());

    filterCoeff = timeConst / (timeConst + dt);

    // Use accelerometer and magnetometer data to correct gyro drift
    correctOrientation();

    updateRotation();

    prevt = ros::Time::now().toSec();

//    std::cout << "angularVel x: " << angularVel.x() << std::endl;
//    std::cout << "angularVel y: " << angularVel.y() << std::endl;
//    std::cout << "angularVel z: " << angularVel.z() << std::endl;
//    std::cout << "----" << std::endl;
}

示例#2

文件： imageprovider.cpp 项目： manmetplok/zoom-tools

// TODO: very inefficient!!
void ImageProvider::correctOrientation (QString fileName, Image &thumb)
{
    QImage temp_image = thumb.toQImage();
    correctOrientation( fileName, temp_image);

    thumb = Image::fromQImage( temp_image );
}