Intersect ray with plane ground
Hi
I have a webcam, and after calibrating with camera_calibration I created a program that when you click a part of the image will return pixel coordinates.
Assuming that the camera is on the ground, I want to calculate the point where intersect the ray (with projectPixelTo3dRay()) and the plane (the ground plane Z=0), relative to the robot coordinate frame. I have seen these codes but do not understand.
perceive_poo in void imageCb()
object_tracker in void imageCb()
Can anyone help me?
Thanks
Thanks dejanpan, It seems that this code uses the old version of image_geometry, projectPixelTo3dRay() return a ray or a point?
It shall be a ray, that is a normalized vector. Of course you can also represent it as a point.