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rgbdslam camera location

asked 2011-11-01 01:50:06 -0500

drew212 gravatar image

updated 2016-10-24 09:00:18 -0500

ngrennan gravatar image

Is there a way to calculate or extract the camera location and pose within RGBDSlam. I've been poking at the RGBDSlam code for a while trying to figure out if data was able to be published or calculated somewhere but can't find anything. I think it is inferred somehow as the newest version prints the changed coordinate axis on each update. Thanks!

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answered 2011-11-02 08:41:24 -0500

In the new snapshot (see http://www.ros.org/wiki/rgbdslam/evaluation) you can store the trajectory to file. Also, if you send the model, a transformation from /map to /openni_camera is published. In the svn version, a transformation from /openni_camera to /slam_transform is published, where (somewhat confusing) /openni_camera acts as the fixed/map frame and /slam_transform is the moving camera postion.

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I looked through all the topics and nodes after sending the whole model and couldn't find anything labeled as openni_camera or slam_transform. Where should I be looking for the transforms? Thanks!
drew212 gravatar imagedrew212 ( 2011-11-03 02:37:41 -0500 )edit
Which Version are you using? Do you know how to use TF?
Felix Endres gravatar imageFelix Endres ( 2011-11-03 04:02:46 -0500 )edit
I was able to figure out how to use TF. I'm working on how to parse the output of TF to be able to set up a "coordinate system" so I can locate myself in a previously compiled map for comparison. Thanks!
drew212 gravatar imagedrew212 ( 2011-11-04 01:01:56 -0500 )edit
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answered 2011-11-01 08:40:25 -0500

Not sure, but in GraphManager.cpp there is a method publishCorrectedTransforms(). Maybe it has what you are looking for. Otherwise you should check the addNode() method of GraphManager. I think that is where all the magic happens.

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Asked: 2011-11-01 01:50:06 -0500

Seen: 582 times

Last updated: Nov 02 '11