Frame offsets for Kinect and Asus Xtion Pro Live? [closed]

asked 2013-09-18 04:49:54 -0500

Pi Robot gravatar image

updated 2016-10-24 08:37:11 -0500

ngrennan gravatar image

Hello,

I'm creating URDF/Xacro models for a pair of robots, one using the original Kinect and one using an Asus Xtion Pro Live. I'm having difficulty finding consistent frame offsets for these two cameras. What I need are the lateral offsets from the center of each camera (usually called camera_link) and the two frames camera_rgb_frame and camera_depth_frame.

The turtlebot_description package appears to use 0.0125 meters for both offsets and this matches the physical displacements of the lenses on the Kinect but not the Xtion. On the Xtion, the physical offsets appear to be more like 0.023 meters.

In summary, I need the values for y1 and y2 for both cameras in the URDF blocks below:

  <joint name="camera_depth_joint" type="fixed">
    <origin xyz="0 y1 0" rpy="0 0 0" />
    <parent link="camera_link"/>
    <child link="camera_depth_frame"/>
  </joint>

  <joint name="camera_rgb_joint" type="fixed">
    <origin xyz="0 y2 0" rpy="0 0 0" />
    <parent link="camera_link"/>
    <child link="camera_rgb_frame"/>
  </joint>

Thanks!
patrick

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2016-08-08 00:34:14.114825