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ipa320 / softkinetic

This repository holds a ROS driver package for an interactive gesture camera (softkinetic).
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Replicate kinect tf scheme. #44

Closed corot closed 9 years ago

corot commented 9 years ago

This necessarily implies converting softkinetic vertices into a kinect-like coordinates pointcloud.

The need of this change came when simulating the Senz3D on Gazebo: the pointcloud appeared rotated, as Gazebo generates pointclouds following kinect frames.

Be warned that you must change your parent camera_link to something similar to the kinect one, that is, x-axis pointing forward and z pointing up. Apart from this, you should not notice the change but on visualizing the tf tree, as the optical frames remain the same.

corot commented 9 years ago

Any objections to merge this? I think is a good idea to fully mimic the kinect behavior.

floweisshardt commented 9 years ago

visual review: OK