ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Revision history [back]

Yep, just requires a few steps.

  1. Choose which camera you want to use (on a PR2, narrow_stereo might be a good choice). I'll refer to this as camera.
  2. Create a [image_geometry]( using camera/camera_info.
  3. Let's say you have a PointStamped called object_center which represents the center of mass of some detected object. Transform that point into camera's frame using a tf.TransformListener.
  4. Project that point onto camera's image plane using your camera model's project3dToPixel.