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depth_registered point cloud in the wrong frame_id

Hi all, I'm using openni2camera package with the ASUS Xtion on a legged robot. When I look at my own legs I've noticed that the image does not fit my URDF model, it seems shifted. Actually when I manually translate the rgboptical frame to make it coincident with the depthoptical frame, the VGA fits perfectly but the point cloud still remains wrong because the points are of course the same. So I think that while the system believes that the registration is from depth to RGB, actually the opposite happens, so if I manage to change the way of registration or the frameid of the published point cloud, it could work. Unfortunately I did not find any parameter to do neither of the two.

Can someone help me? I have Hydro + 12.04

Asked by mark_vision on 2014-10-24 09:39:00 UTC

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