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Obtaining Camera Pose via TF

asked 2019-03-06 04:23:50 -0500

Jägermeister gravatar image

updated 2019-03-06 04:24:26 -0500

I have the calibration board fixed on the work station, and I have its world coordinates, entered them in URDF, all good. I used OpenCV's pose estimation module to find the board's pose (rvecs and tvecs) from the camera frame as well. This also is OK. However, I want to get the camera pose (from the world frame) and to do that I think I need to use TF. So basically, we can formulate the problem as follows:

Given:

World -> Board (board in world frame)

Board -> Camera (board in camera frame)

Find:

World -> Camera (world in camera frame, and vice versa, camera in the world frame).

I have the world and board in my URDF, but since I don't have my camera (which is what I am trying to find out anyway), I don't know how I could utilise TF functionalities.

Does anyone have an experience with this setup?

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answered 2019-03-06 04:54:54 -0500

Delb gravatar image

You just have to create a tf listener between your two frames, there is a tutorial in the wiki showing you how to do that.

You can also take a look at the code of tf_echo.

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This isn't really an answer tbh. Seeing linked ROS tutorial pages is not why I asked the question. If you have a concrete example showing slightly how this unestablished link between the camera and the world could be created, be my guest. Otherwise, anyone can Google these pages and source files.

Jägermeister gravatar imageJägermeister ( 2019-03-06 05:12:30 -0500 )edit
1

Maybe I haven't understand your question but you said that your inputs are a link between world and board and a link between board and camera. So your tf tree is world -> board -> camera right ? The tf listener will make the calculation between each link...

Delb gravatar imageDelb ( 2019-03-06 07:24:19 -0500 )edit
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... eventhough they are not directly connected. If you run :

rosrun tf tf_echo world camera

You will get the camera pose in relation to world.

Delb gravatar imageDelb ( 2019-03-06 07:25:54 -0500 )edit

You understood it well, that's exactly what I am after. Without having a direct connection, I want to get the camera pose with respect to world. In order words world -> camera.

Jägermeister gravatar imageJägermeister ( 2019-03-06 09:08:08 -0500 )edit

That's the answer yes, we can add that to the answer's body.

Jägermeister gravatar imageJägermeister ( 2019-03-06 09:08:55 -0500 )edit
1

For completeness, the line you were looking for in the tutorial was listener.lookupTransform("/camera", "/world", ros::Time(0), transform);, tf_echo just outputs the result to the command line.

fvd gravatar imagefvd ( 2019-03-19 06:25:34 -0500 )edit

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Asked: 2019-03-06 04:23:50 -0500

Seen: 135 times

Last updated: Mar 06