calib tool minor changes

tests/lidar_calib_tools.cpp

@@ -2,7 +2,7 @@
  * @Description: lidar calib tools
  * @Author: yct
  * @Date: 2021-09-02 11:02:00
- * @LastEditTime: 2022-01-18 13:47:18
+ * @LastEditTime: 2022-01-25 12:15:07
  * @LastEditors: yct
  */
 
@@ -188,9 +188,17 @@ void matrix_trans()
     //     -0.901792705059, -0.083268046379, 0.42407116293,
     //     -0.421508878469, -0.047132223845, -0.9055985808;
     // 211 B out left
-    rot_matrix0 << 0.083884611726, 0.990452945232, -0.109390966594,
-        0.894117712975, -0.123275801539, -0.430530607700,
-        -0.439905554056, -0.061693508178, -0.89592242240;
+    // rot_matrix0 << 0.083884611726, 0.990452945232, -0.109390966594,
+    //     0.894117712975, -0.123275801539, -0.430530607700,
+    //     -0.439905554056, -0.061693508178, -0.89592242240;
+    // 541
+    // rot_matrix0 << 0.127279058099, -0.989588797092, -0.067186594009,
+    //     -0.888444364071, -0.143861815333, 0.435855954885,
+    //     -0.440983742476, 0.004216216505, -0.897505164146;
+    //621
+    rot_matrix0 << -0.154493823647, 0.987829446793, 0.018017675728,
+            0.905054211617, 0.148814871907, -0.398410588503,
+            -0.396243005991, -0.045244999230, -0.91703021526;
     Eigen::Matrix3d rot_matrix1;
     rot_matrix1.setIdentity();
     // rot_matrix1 << 0.9993, 0.03618, 0.0,
@@ -211,9 +219,18 @@ void matrix_trans()
     //     -0.912935018539, 0.106191061437, 0.394047111273,
     //     -0.398243665695, -0.020834382623, -0.9170430302;
     // 051 B out right
-    rot_matrix2 << -0.097560293972, 0.995089590549, 0.016694894060,
-        0.888557076454, 0.094646930695, -0.448896795511,
-        -0.448272645473, -0.028960136697, -0.89342767000;
+    // rot_matrix2 << -0.097560293972, 0.995089590549, 0.016694894060,
+    //     0.888557076454, 0.094646930695, -0.448896795511,
+    //     -0.448272645473, -0.028960136697, -0.89342767000;
+    // 001
+    // rot_matrix2 << -0.077520310879, -0.990943193436, 0.109645560384,
+    //     -0.916525423527, 0.114115700126, 0.383352011442,
+    //     -0.392392337322, -0.070775382221, -0.91707092523;
+    //131
+    rot_matrix2 << 0.144158020616, 0.987975895405, -0.055875182152, 
+            0.896719515324, -0.154303416610, -0.414830744267,
+            -0.418464511633, 0.009696813300, -0.908181369305;
+
     Eigen::Matrix3d rot_matrix3;
     rot_matrix3.setIdentity();
     // rot_matrix3 << 0.97486, 0.2228, 0.0,
@@ -223,6 +240,9 @@ void matrix_trans()
     euler = (rot_matrix3 * rot_matrix2).eulerAngles(2, 1, 0);
     std::cout << "mat to euler right (z y x): " << euler[0]*180.0/M_PI << ", " << euler[1]*180.0/M_PI << ", " << euler[2]*180.0/M_PI << std::endl;
 
+    //541: 98.1528, 153.833, -0.269157
+    //001: 85.1654, 156.897, 4.41308
+
     // 921----- -2.31 161.58 -64 2.512
     // 541----- 176.45 28.05 71.85
     euler << -2.31, 161.58, -64;

tests/vlp16_driver_test.cpp

@@ -2,7 +2,7 @@
  * @Description: vlp16驱动测试
  * @Author: yct
  * @Date: 2021-07-26 14:11:26
- * @LastEditTime: 2021-11-17 15:35:02
+ * @LastEditTime: 2022-01-20 13:57:25
  * @LastEditors: yct
  */
 
@@ -270,7 +270,7 @@ void message_test()
 {
     nnxx::socket socket{nnxx::SP, nnxx::BUS};
     // socket.bind("tcp://127.0.0.1:7000");
-    socket.connect("tcp://192.168.2.113:30010");
+    socket.connect("tcp://192.168.1.233:30010");
     int n = 0;
     message::Base_msg base_msg;
 
@@ -285,9 +285,9 @@ void message_test()
     t_ground_detect_request.mutable_id_struct()->set_terminal_id(0);
 
     usleep(1000 * 1000);
-    std::cout << "try to send" << std::endl;
-    socket.send(t_ground_detect_request.SerializeAsString());
-    usleep(1000 * 100);
+    // std::cout << "try to send" << std::endl;
+    // socket.send(t_ground_detect_request.SerializeAsString());
+    // usleep(1000 * 100);
 
     while (true)
     {
@@ -343,9 +343,9 @@ int main()
 
     // velo_driver_test();
     // device_test();
-    region_detect();
+    // region_detect();
     // velo_manager_test();
-    // message_test();
+    message_test();
 
     return 0;
 }