V1.0 ASUS_XTION camera

felixchenfy · Feb 28, 2019 · c2fffbd · c2fffbd
1 parent bc546b4
commit c2fffbd
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Showing 19 changed files with 1,667 additions and 48 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -43,11 +43,7 @@ set( THIRD_PARTY_LIBS
     ${PCL_LIBRARIES}
 )
 
-############### Sub directories ######################
-include_directories( ${PROJECT_SOURCE_DIR}/include )
-add_subdirectory( src_cpp )
-add_subdirectory( test )
-# add_subdirectory( docs_not_track )
+
 
 ############### ROS ######################
 find_package(catkin REQUIRED COMPONENTS
@@ -84,5 +80,10 @@ catkin_package(CATKIN_DEPENDS message_runtime) # declares dependencies for packa
 include_directories(
   ${catkin_INCLUDE_DIRS}
 )
+
+############### Sub directories ######################
+include_directories( ${PROJECT_SOURCE_DIR}/include )
+add_subdirectory( src_cpp )
+add_subdirectory( test )
 add_subdirectory( test_ros )
 add_subdirectory( src_main )
diff --git a/config/T_arm_to_depth.txt b/config/T_arm_to_depth.txt
@@ -0,0 +1,4 @@
+1.015825516564594633e-02 -1.571014577250055833e-01 9.875302232502403132e-01 1.206593650272730356e-01
+2.121286215231535377e-02 -9.873250757289093738e-01 -1.572870284423087961e-01 9.924210186297220682e-02
+9.997233739046502698e-01 2.254610426621582800e-02 -6.696928484046339031e-03 -1.451173908924094369e-02
+0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 1.000000000000000000e+00
diff --git a/config/T_baxter_to_chess.txt b/config/T_baxter_to_chess.txt
@@ -0,0 +1,4 @@
+9.999744442655082999e-01 -1.112258856135611490e-03 7.062131131997760082e-03 -5.101391848720326916e-02
+1.074721269560885168e-03 9.999852876337731455e-01 5.316906073418393476e-03 3.947666465622167165e-01
+-7.067941007205597558e-03 -5.309180373442531388e-03 9.999609276435165173e-01 -8.951477224263286736e-01
+0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 1.000000000000000000e+00