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 | 1 | initial version |
ar_pose has a reverse_transform parameter. When set to true, it will publish the tf from the marker to the camera. Let's say the marker frame is M, and you have two cameras, A, and B. You will obtain two transforms:
M2A (M to A)M2B (M to B)The transform from A to B, expressed in A's frame, is:
M2A * A2B = M2B
A2B = M2A.inverse() * M2B
| | 2 | No.2 Revision |
ar_pose has a reverse_transform parameter. When set to true, it will publish the tf from the marker to the camera. Let's say the marker frame is M, and you have two cameras, A, and B. You will obtain two transforms:
M2A (M to A)M2B (M to B)The transform from A to B, expressed in A's frame, is:
M2A * A2B = M2B
A2B = M2A.inverse() * M2B
EDIT
I see. There was once upon a time a discussion about TF design decisions. I remember I brought up a similar scenario where it would be nice to support frames with mulitple parents, as long as there are no conflicts in the graph. I don't belive much came of it.
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