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Properly rotate GT rooms #64

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Properly rotate GT rooms #64

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4377352
Properly rotate GT rooms
GoldenZephyr Apr 11, 2026
fd499b1
Set gt room frame id from config
GoldenZephyr Apr 11, 2026
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3 changes: 2 additions & 1 deletion hydra_ros/include/hydra_ros/backend/gt_room_publisher.h
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,8 @@ namespace hydra {
class GtRoomPublisher : public UpdateRoomsFunctor::Sink {
public:
struct Config {
std::string ns = "~gt_rooms";
std::string ns = "~/gt_rooms";
std::string room_frame_id = "map";
visualizer::DiscreteColormap::Config colormap;
} const config;

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12 changes: 9 additions & 3 deletions hydra_ros/src/backend/gt_room_publisher.cpp
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@@ -1,5 +1,6 @@
#include "hydra_ros/backend/gt_room_publisher.h"

#include <Eigen/src/Geometry/Quaternion.h>
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@nathanhhughes nathanhhughes Apr 12, 2026

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I'd prefer this to be <Eigen/Geometry> as an include

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@nathanhhughes nathanhhughes Apr 12, 2026

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Actually you shouldn't need this if you're going through the spark_dsg bounding boxes

#include <config_utilities/config.h>
#include <config_utilities/factory.h>
#include <config_utilities/parsing/context.h>
Expand All @@ -21,6 +22,7 @@ void declare_config(GtRoomPublisher::Config& config) {
using namespace config;
name("GtRoomPublisher::Config");
field(config.ns, "ns");
field(config.room_frame_id, "room_frame_id");
field(config.colormap, "colormap");
}

Expand All @@ -35,7 +37,6 @@ GtRoomPublisher::GtRoomPublisher(const Config& config)
std::string GtRoomPublisher::printInfo() const { return config::toString(config); }

void GtRoomPublisher::call(uint64_t, const RoomFinder& rf) const {
LOG(WARNING) << "GT Room sink called";
MarkerArray ma;
auto& m = ma.markers.emplace_back();
m.action = m.DELETEALL;
Expand All @@ -47,12 +48,17 @@ void GtRoomPublisher::call(uint64_t, const RoomFinder& rf) const {
for (auto room : rf.room_extents.room_bounding_boxes) {
for (auto box : room) {
auto& m = ma.markers.emplace_back();
m.header.frame_id = "map";
m.header.frame_id = config.room_frame_id;
m.ns = "gt_rooms";
m.id = idx++;
m.action = m.ADD;
m.type = m.CUBE;
m.pose.orientation.w = 1;

Eigen::Quaternionf q(box.world_R_center);
m.pose.orientation.x = q.x();
m.pose.orientation.y = q.y();
m.pose.orientation.z = q.z();
m.pose.orientation.w = q.w();
m.pose.position.x = box.world_P_center.x();
m.pose.position.y = box.world_P_center.y();
m.pose.position.z = box.world_P_center.z();
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