Go to the documentation of this file.00001 #include "TransformPublisher.h"
00002
00003 #include <sstream>
00004
00005 using namespace std;
00006 using namespace ros;
00007 using namespace tf;
00008 using namespace aruco;
00009
00010 void TransformPublisher::publishTransform(std_msgs::Header imageHeader, Marker marker, btVector3 position, btQuaternion orientation)
00011 {
00012 stringstream targetFrame;
00013 targetFrame << "/marker_" << marker.id;
00014
00015 transformBroadcaster.sendTransform(StampedTransform(Transform(orientation, position), imageHeader.stamp, imageHeader.frame_id, targetFrame.str()));
00016 }
00017