1/4/2024 0 Comments Zed axis 10.2![]() ![]() For many transactions import types Axis will create CustomerJobs, Vendors, or Items that dont exist in QuickBooks, however less commonly used lists like Payment Terms, Classes, Templates etc are not automatically created so if the list data that is being imported into QuickBooks does not match then an error will be returned from QuickBooks. Many errors encountered are due to list items that do not existing in the QuickBooks company file you are importing into. By reducing the number of fields that you map will reduce the chances of Axis encountering an error like those described below when importing into QuickBooks. #1: Only map the fields you requireĪs a minimum for most types of transactions QuickBooks only requires a few fields to successfully create a transaction, for example the mandatory fields to create an invoice are Customer Full Name, & Item Full Name, QuickBooks will assume the transaction date, invoice number and quantity. We have suggested some best practices when importing data that will help to reduce the number of errors that you may encounter. QuickBooks will reject any transaction data that does not match or fit into the QuickBooks data format and requirements, it is important that this data is rejected as it minimises the chances of your company data file becoming corrupted. I haven't used it myself before though.When importing transactions into QuickBooks using Zed Axis you may encounter errors. In Python, it looks like you can convert Euler angles into a quaternion using transformations.py ( doc_link). Of course, this is all available in C++ by including. There is also tf::createQuaternionMsgFromYaw(double yaw) (notice the 'Msg') which is similar, but returns a geometry_msgs::Quaternion ROS message.įor all three axes, there is tf::createQuaternionFromRPY(double roll, double pitch, double yaw) and tf::createQuaternionMsgFromRollPitchYaw(double roll, double pitch, double yaw). For yaw quaternions, there is tf::createQuaternionFromYaw(double yaw) which takes a single argument which is the yaw angle in radians and returns a tf::Quaternion object that is equivalent. The tf library has very helpful functions for constructing quaternions from Euler angles. If X (roll) or Y (pitch) axis rotations are involved too, the formula is a little more tedious, and can be found on Wikipedia. W = cos(theta / 2) x = 0 y = 0 z = sin(theta / 2) The quaternion for a given Z axis (yaw) rotation is given by: ![]() # get the rotated rectangle to get the rotation (im, contours, hierarchy) = cv2.findContours(im, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_NONE) I also printed the value of rotation (in radian) and here are some values of it: 0.980580687945Īnd this is how I get the angle using OpenCV: # helper function to find out which side of the rectangle is longer, then add the angle appropriately I print the quarternion list separately, and there is a non-zero value inside, which seems fine, but I don't know why the published value gets zero. This runs, however I always get 0 values for all of the quarternions, which is somehow nonsense because the rotation angle is definitely non-zero (I print its value). = quaternion # this is the rotation we are talking about Quaternion = quaternion_about_axis(rotation_angle, zaxis) # use rotation angle + axis to get the quaternion ![]() Zaxis = (0, 0, 1) #rotation is around the Z axis in the image Rotation_angle = v # extract the rotation angle # this is where the actual thing shall happen self.some_srv = rospy.Service("/bla/request_poses", PartArray, self.some_service_srv) # which one below is the one I should use to pass the rotation angle?ĮDIT: So I came up with the following after the useful insights given by the commentators. I only need the position (I have it already) and the rotation. I do know I cannot fill in everything, I don't intend to, either. ![]() Now that I want to fill in the pose object with what I collected from the 2D vision, I get stuck at where to insert the rotation. I have a 2D image on which I conduct an algorithm to find its rotation, and I get it in radian. ![]()
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