Changed names of tf parent and child

sohils · sohils · commit 950133689f17 · 2019-04-05T17:42:36.000-04:00
diff --git a/cuboid_detection/src/surface_normal_estimation.cpp b/cuboid_detection/src/surface_normal_estimation.cpp
@@ -82,7 +82,7 @@ void convert_icp_eigen_to_tf(Eigen::Matrix4f Tm)
     // Broadcast the transforms
     static tf::TransformBroadcaster br;
     
-    br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "camera_depth_frame", "cuboid_frame"));
+    br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "camera_depth_optical_frame", "estimated_cuboid_frame"));
 }
 
 void coefficients_callback(const pcl_msgs::ModelCoefficients& input)

Original file line number	Diff line number	Diff line change
`@@ -82,7 +82,7 @@ void convert_icp_eigen_to_tf(Eigen::Matrix4f Tm)`
`82`	`82`	`// Broadcast the transforms`
`83`	`83`	`static tf::TransformBroadcaster br;`
`84`	`84`
`85`		`- br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "camera_depth_frame", "cuboid_frame"));`
	`85`	`+ br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "camera_depth_optical_frame", "estimated_cuboid_frame"));`
`86`	`86`	`}`
`87`	`87`
`88`	`88`	`void coefficients_callback(const pcl_msgs::ModelCoefficients& input)`