Hi!
I want to add an INS to tf which will transform pointcloud from ORB SLAM2 to real world coordinate. My idea is to do a transformation so that the INS is at the rotational center of the robot.
My tf_tree looks like this: INS -> map -> base_link -> camera_link
My problem - despite the set transformation, the point cloud is saved in the orb slam system, not in the real coordinate system with INS. For my future work I have to get point cloud with world coordinates in ECEF.
Has anyone ever had this problem or can give me some advice?
Between INS and map I made a broadcaster that reads the data from IMU (x,y,z,w) and transforms it to ROS msg.
Hi! I want to add an INS to tf which will transform pointcloud from ORB SLAM2 to real world coordinate. My idea is to do a transformation so that the INS is at the rotational center of the robot.
My tf_tree looks like this:
INS -> map -> base_link -> camera_link
My problem - despite the set transformation, the point cloud is saved in the orb slam system, not in the real coordinate system with INS. For my future work I have to get point cloud with world coordinates in ECEF.
Has anyone ever had this problem or can give me some advice?
ros/launch/camera_mono.launch