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Does tf support drone?

asked 2021-02-10 15:48:26 -0500

Tawfiq Chowdhury
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I have an IF750 drone and and I want to use a camera with a gimbal in it. Since drone uses GPS (lat, long) instead of general pose (position and quaternion) values and ROS is not built in like it is in PR2 or Baxter robot, is it possible to perform coordinate transformation from camera body frame to drone's body frame. If so, is there any tf python example to do it.

I will use a vision model to detect an object and it will give me the lat and long value of the object in camera frame so I need to transform it to the drone's body frame.

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answered 2021-02-19 21:06:18 -0500

standmit

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You can use GeographicLib (C++) for this purpose. Convert lat long of the drone to pose (position and quternion) in ECEF frame. Then transform object coordinates from camera frame to ECEF frame. Finally, convert object coordinates from ECEF frame back to lat long

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Asked: 2021-02-10 15:48:26 -0500

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Last updated: Feb 19 '21

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Does tf support drone?