Rotate the map image

[weisongwen]

Hi @gareth-cross Thanks for sharing this meaningful package.

How can I rotate the map image in the Rviz ? for example rotate 45 degrees with z axis.

Best, Welson,

[schra]

Hey Welson, this plugin doesn't provide such a functionality. You have to adjust the source code for that. Could you elaborate on your use case?

[schra]

Closed due to inactivity

[weisongwen]

Hi @schra I have just fixed this problem by set rotation to the scenenode. The code is added as follows:

  Ogre::Matrix3  xyz_R_ned;
  Ogre::Radian radx(Ogre::Real(0*  3.1415926 /180));
  Ogre::Radian rady(Ogre::Real(0* 3.1415926 /180));
  Ogre::Radian radz(Ogre::Real(rotateAngleinDegree * 3.1415926 /180));
  xyz_R_ned.FromEulerAnglesXYZ(radx,rady,radz);
  position = xyz_R_ned * position;
  scene_node_->setPosition(position);

  int const convention = frame_convention_property_->getOptionInt();
  if (convention == FRAME_CONVENTION_XYZ_ENU)
  {
    scene_node_->setOrientation(Ogre::Quaternion::IDENTITY);
    Ogre::Matrix3  xyz_R_ned;
    Ogre::Radian radx(Ogre::Real(0*  3.1415926 /180));
    Ogre::Radian rady(Ogre::Real(0* 3.1415926 /180));
    Ogre::Radian radz(Ogre::Real(rotateAngleinDegree * 3.1415926 /180));
    xyz_R_ned.FromEulerAnglesXYZ(radx,rady,radz);                             
    scene_node_->setOrientation(xyz_R_ned);
  }

The variable rotateAngleinDegree is the angle you want to rotate the map with respect to the z axis. Thanks again for sharing this package.

Best, Welson,

[Hisham178]

Hi @weisongwen

Thanks for your code. I managed to rotate the map from the center. I refactor a bit of your code.

Ogre::Matrix3  xyz_R_ned;
Ogre::Radian radx(Ogre::Real(0*  3.1415926 /180));
Ogre::Radian rady(Ogre::Real(0* 3.1415926 /180));
Ogre::Radian radz(Ogre::Real(90 * 3.1415926 /180));  //rotate 90 degrees  map to the right
xyz_R_ned.FromEulerAnglesXYZ(radx,rady,radz);   

auto const t_centertile_fixed = t_fixed_map + xyz_R_ned * t_centertile_map_;

scene_node_->setPosition(t_centertile_fixed);
scene_node_->setOrientation(xyz_R_ned);