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Use TF2 package for quaternion conversion (backport #1031) #1041

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Oct 31, 2024
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Use TF2 package for quaternion conversion (backport #1031) #1041

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2 changes: 2 additions & 0 deletions image_proc/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,8 @@
<depend>rclcpp_components</depend>
<depend>rcutils</depend>
<depend>sensor_msgs</depend>
<depend>tf2</depend>
<depend>tf2_geometry_msgs</depend>
<depend>tracetools_image_pipeline</depend>

<test_depend>ament_lint_auto</test_depend>
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12 changes: 6 additions & 6 deletions image_proc/src/track_marker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,8 @@
// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.

#include <tf2/LinearMath/Quaternion.h>

#include <cstddef>
#include <functional>
#include <memory>
Expand All @@ -40,9 +42,9 @@
#include <image_proc/track_marker.hpp>
#include <image_proc/utils.hpp>
#include <image_transport/image_transport.hpp>
#include <opencv2/core/quaternion.hpp>
#include <rclcpp/qos.hpp>
#include <rclcpp/rclcpp.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>

namespace image_proc
{
Expand Down Expand Up @@ -135,11 +137,9 @@ void TrackMarkerNode::imageCb(
pose.pose.position.y = tvecs[0][1];
pose.pose.position.z = tvecs[0][2];
// Convert angle-axis to quaternion
cv::Quatd q = cv::Quatd::createFromRvec(rvecs[0]);
pose.pose.orientation.x = q.x;
pose.pose.orientation.y = q.y;
pose.pose.orientation.z = q.z;
pose.pose.orientation.w = q.w;
const tf2::Vector3 rvec(rvecs[0][0], rvecs[0][1], rvecs[0][2]);
const tf2::Quaternion q(rvec.normalized(), rvec.length());
tf2::convert(q, pose.pose.orientation);
pub_->publish(pose);
}
}
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