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visp_tracker /object_position dimension [closed]

asked 2017-06-19 09:27:30 -0500

CesarHoyosM gravatar image

updated 2017-06-20 03:25:41 -0500

Hello there, I have followed the http://wiki.ros.org/visp_tracker tutorial.

Then, I can changed this tutorial by creating my own .launch file, where I give to the node the params I need for get images from my cams.

Now, I want to control the head of my robot, and for that I have developed a rospy node which subscribe to /object_position but the point is (and sorry if it is a obvius question) that I don't know and I haven't found it, which are the position and rotation dimensions. I mean, this position, I assume that are not in real world coordinates, but in scalated pixels?

How can I convert this values to real world values in order to develop my control?

Thanks for your answers.

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Closed for the following reason the question is answered, right answer was accepted by CesarHoyosM
close date 2017-06-20 06:26:02.713105

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Well, I have been looking around, and I have found this website: http://visp-doc.inria.fr/doxygen/visp... With this, what I am not sure now, is what information is given by /object_position with two vectors: Position {x, y, z} and Rotation {x, y, z, w}

CesarHoyosM gravatar image CesarHoyosM  ( 2017-06-20 03:30:31 -0500 )edit

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answered 2017-06-20 06:25:31 -0500

CesarHoyosM gravatar image

Ok! I am going to solve this issue myself. The fact is this /object_position in deed returns the actual object position in meters. My main issue was that I had done a calibration for stereovision in place of a calibration for each camera.

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Asked: 2017-06-19 09:27:30 -0500

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Last updated: Jun 20 '17