clean up stream_transform.py further

dasc-lab · May 10, 2024 · 73d0140 · 73d0140
1 parent 2cf08c5
commit 73d0140
Showing 1 changed file with 5 additions and 2 deletions.
diff --git a/xavier_node_multithreading_dashed.py b/xavier_node_multithreading_dashed.py
@@ -150,9 +150,12 @@ def in_range(new_pos, trail_pos):
 
 	def pixel_to_world_trans(self, pixel_coordinates):
 		'''
-		Deprojects a point from 2D pixel space to 3D world space
+		Deprojects a point from 2D pixel space to 3D world space in robot NED frame
 		'''
 		def world_to_robot( world_coordinates):
+			'''
+			Transforms a point from world frame to robot frame
+			'''
 			robot_coordinates = (world_coordinates[1], world_coordinates[0], -1 * world_coordinates[2])
 			return robot_coordinates
 		frame = self.pipe.wait_for_frames()
@@ -209,7 +212,7 @@ def draw_dotted_curve(self, img, coordinates, dot_spacing=8,curve_color=(255, 0,
 		return img
 	def timer_callback(self):
 		'''
-		Main loop that draws trajectories
+		Main loop that draws trajectories and sends frames to Hololens 2
 		'''
 		#pdb.set_trace()