Trying to register 2 cameras using fiducials as common reference point

asked 2020-12-02 13:56:18 -0500

dhemp09 gravatar image

Hi, I'm a relative novice with ROS but I'm trying to make a package for automatically aligning two RealSense cameras using aruco_detect nodes. Basically I'm trying to have both cameras independently do pose estimation on one or more fiducials, and then use the transform from one camera as the reference point for the other. I honestly don't know if I'm going about it the right way, but I've succeeded in getting both cameras in the same world frame by doing it like this, as shown in this tf tree diagram.

however, the camera images aren't lining up and I'm wondering if there is a simple fix such as another transform I can apply or if I'm just totally doing it wrong. Here's a screenshot of the two images in rviz.

I'm using Ubuntu 16.04 with ROS Kinetic. Thanks in advance.

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