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I am acquiring point cloud and image data from Kinect sensor. The coordinate frame for the data acquired is:-
X axis--> right
Y axis--> downwards
Z axis--> forward
and the odometry(standard /map axis) has coordinate axis as such:-
X axis--> forward
Y axis--> left
Z axis--> upwards
What would be a static transform between the two frames ??
Normally you should not define a direct transform between the optical frame of the kinect and your odometry. If you are using the ros openni driver, there is a camera_link frame with the depth- and optical-frames as children. This is using the standard x-forward terminology and should be used for setting the transform from base_link. There you only have to worry about the offsets in x, y anz z and maybe some rotation to account for the Kinect mounting.
Additionally you may want to have a look at REP 103 regarding the standard axis orientations.
P.S. to answer the inital question: You would need the set the offsets (x,y,z) and then in fixed axis RPY: -pi/2, 0, -pi/2. (at least i think so :))
What do you mean with: "If you are using the ros openni driver, there is a camera_link frame with the depth- and optical-frames as children" ? I am using the ros openni driver but it does not publish any tf information, i have to do that myself. This is why I want to do the same as the question.
If your are using gazebo plugin for kinect, then there won't be any /tf for depth- and optical-frames as children, which can lead to confusing situation. If you are using gazebo, then refer to this issue https://answers.gazebosim.org/questio...
Asked: 2013-01-19 00:11:59 -0500
Seen: 3,018 times
Last updated: Apr 13 '20
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