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1 | initial version |
You could have a look at how the PR2 does it: pr2_head_action.
2 | No.2 Revision |
You could have a look at how the PR2 does it: pr2_head_action.. Basically, they use tf to transform the 3D point into the pan and tilt frames, and then use two lines of trigonometry to get the corresponding pan and tilt angles.