Physical transform of kinect 360

asked 2019-09-19 11:44:41 -0600

I use a Kinect 360 and wonder if my static_transform_publisher values for the transform from the base_link to my kinect are right?!

The kinect is 28 wide, and looking at my kinect, coming from the left:

  • the position of the laser beam lense is at 8 cm,
  • the position of the RGB color lense is at 13cm and
  • the position of the depth lense is at 15cm.

Which point of the kinect or which lens I need to transform to?

At the moment I am simply transforming to the exact middle/width-center of the kinect, between the RGB and depth lenses at 14cm. Is that correct?

Note: My static transform from the base_link is x=11cm, z=5.4cm and y=0 as the foot of the kinect is exactly alligned to the center of base_link.

<node pkg="tf2_ros" type="static_transform_publisher" name="base_link_to_laser" args="0.11 0 0.054 0 0 0  /base_link /laser"/>
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