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larics / icuas22_competition

The main repository for the ICUAS 2022 UAV competition.
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Pose of registered depth #37

Closed laxnpander closed 2 years ago

laxnpander commented 2 years ago

Hey hey,

I currently wonder on what pose the registered depth of 

/red/camera/depth_registered/points

is based on? I'd assume it is computed with some camera internal SLAM pose, not with the one from the external tracking system? If that is the case and one wants to use the tracking pose together with the depth map by the camera: Will we get a transformation camera -> uav frame?

Best regards,

Alex

lmark1 commented 2 years ago

Hi @laxnpander,

The camera plugin is gazebo_ros_openni_kinect which is a part of the standard gazebo ROS simulation packages. I believe it's simply reading the depth from the Gazebo camera sensor and republishing it to a ROS topic.

You can get the transformation from base_link to the camera via the /tf topic.

Best regards, Lovro

laxnpander commented 2 years ago

@lmark1 I see, thanks! And the /tf topic will be available in the "real" setup as well?

lmark1 commented 2 years ago

Yes.

laxnpander commented 2 years ago

Perfect, all questions resolved!