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IEEERobotics / bot

Robot code for 2014.
BSD 2-Clause "Simplified" License
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Convert camera pose to arm co-ordinates. #435

Open AhmedSamara opened 8 years ago

AhmedSamara commented 8 years ago

The QRCodeEstimation library returns the 'pose' of the camera, to the QR code.

We need to figure out how to talk between pose and dagu arm co-ordinates.

Keep in mind that the pose (calculated from the camera) is relative to the end effectors co-ordinate frame, but the current arm abstraction deals with the world frame.

AhmedSamara commented 8 years ago

http://image.slidesharecdn.com/426lecture4-2012final-120803022706-phpapp01/95/426-lecture-4-ar-developer-tools-12-728.jpg?cb=1344327307

Turns out that this is actually very straightforward.
Now we just need to figure out how to communicate between this and python (so that we don't have to do the math manually).

which should also be straightforward.