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Difference of the frames

asked 2013-03-02 08:56:36 -0500

JaRu gravatar image

updated 2016-10-24 09:02:42 -0500

ngrennan gravatar image

Hi all!

I work with the ar_kinect package to recognize the ARMarkers with the kinect. So, there are different frames, but I don't really know the difference, because I work with it the first time.

So maybe someone can explain me the different from the frames: Thats the view_frames Result:

/Test_Pattern <-- /camera_rgb_optical_frame(Broadcaster: ar_kinect) <-- /camera_rgb_frame(Broadcaster:/camera_base_link3) <-- /camera_link(Broadcaster:/camera_base_link1) --> /camera_depth_frame(Broadcaster:camera_base_link) --> /camera_depth_optical_frame(Broadcaster:/camera_base_link2)

The Test_Pattern should be the ARMarker. Thanks for help!

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answered 2013-03-02 20:02:45 -0500

These frames represent multiple frames that are associated with kinect.They are defined in kinect_frames.launch that comes with openni_launch package. camera_rgb_optical_frame is header_frame_id for images that is capturing pattern. Hence pattern is defined in that frame.

These frames also define static transformation between stereo cameras, IR projector, position of kinect w.r.t.to camera_links.

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Ok, thank you! I looked at the kinect_frames.launch. Can you or somebody explain me for what stands the six numbers after args in the launch file? I think the first three are some coordinates and the last three angle?

JaRu gravatar image JaRu  ( 2013-03-03 01:10:53 -0500 )edit

The first three are position coordinates in x,y,z and next three are orientation along x,y,z ....

ayush_dewan gravatar image ayush_dewan  ( 2013-03-03 01:37:58 -0500 )edit

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Asked: 2013-03-02 08:56:36 -0500

Seen: 89 times

Last updated: Mar 02 '13