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Fix swapped translation/rotation unit labels in reprojection error display #153

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Fix swapped translation/rotation unit labels in reprojection error display #153

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2 changes: 1 addition & 1 deletion moveit_calibration_gui/handeye_calibration_rviz_plugin/src/handeye_control_widget.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -409,7 +409,7 @@ bool ControlTabWidget::solveCameraRobotPose()
const auto& reproj_err = solver_->getReprojectionError(effector_wrt_world_, object_wrt_sensor_,
camera_robot_pose_, sensor_mount_type_);
std::ostringstream reproj_err_text;
reproj_err_text << "Reprojection error:\n" << reproj_err.first << " m, " << reproj_err.second << " rad";
reproj_err_text << "Reprojection error:\n" << reproj_err.first << " rad, " << reproj_err.second << " m";
ROS_WARN_NAMED(LOGNAME, "%s", reproj_err_text.str().c_str());
reprojection_error_label_->setText(QString(reproj_err_text.str().c_str()));

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2 changes: 1 addition & 1 deletion ...andeye_calibration_solver/include/moveit/handeye_calibration_solver/handeye_solver_base.h
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Expand Up @@ -92,7 +92,7 @@ class HandEyeSolverBase
* with respect to the camera.
* @param X The calibration, as a 4X4 transform.
* @param setup Camera mount type, {EYE_TO_HAND, EYE_IN_HAND}.
* @return Pair of translation and rotation reprojection error in meters and radians, or NaNs on error.
* @return Pair of rotation and translation reprojection error in radians and meters, or NaNs on error.
*/
std::pair<double, double> getReprojectionError(const std::vector<Eigen::Isometry3d>& effector_wrt_world,
const std::vector<Eigen::Isometry3d>& object_wrt_sensor,
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