tf tree organisation for kinect fusion and robot [closed]

asked 2012-11-30 01:16:00 -0500

Fabian gravatar image

updated 2016-10-24 09:05:19 -0500

ngrennan gravatar image

Hi, I am wondering how to organize my tf tree best, using a kinect kamera on a mobile robot. At the moment I have got the /camera_link -> /camera_depth_frame etc tree from openni and a /odom -> /base_link tree from the robot. /camera_link will be connected as a child to /base_link when everything is calibrated.

Now I am using a ROS Wrapper for Kinect Fusion. It is giving me tf messages about the camera movement. But what frame must the kinfu_frame be a child of? Is it best to connect it to /odom or maybe to /camera_link? How is it solved in other 3D model generators?

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2015-08-31 20:17:23.994970