Adjust camera pose of object
I need your help in figuring out how to add a dynamic grasp point given a camera pose of an object for a robotic operation
(Assume I have a calibrated camera to robot setup)
I have calculated the camera pose of an object and stored in in a 4 x 4 matrix (rotation and translation with respect to the camera of an object). Before the robot picks the object I need to report the pose of the object with respect to the camera frame coordinate system, but I need to apply an offset in the local coordinate system first before sending the pose to the robot.
So for example, lets say I have found the pose of an object with respect to the camera coordinate system. Now lets assume I need to apply translation of 50mm along the x axis in the local object pose coordinate system (not the camera coordinate system), and then recalculate the camera pose so I can pass to the robot along with the calibration of the camera to the robot (calculated earlier). How can I achieve this?
