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mit-aera / FlightGoggles

A framework for photorealistic hardware-in-the-loop agile flight simulation using Unity3D and ROS. Developed by MIT AERA group.
http://flightgoggles.mit.edu
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Changing the camera extrinsic #159

Closed AlessandroFornasier closed 4 years ago

AlessandroFornasier commented 4 years ago

Hi, thanks a lot for open sourcing this amazing work, I am actually working on extending some functionalities of FG and I was wondering if it is possible to have different camera extrinsic (mainly a different rotation wrt imu) acting only on the ros bridge side.

Thanks a lot in advance for the answer.

varunmurali1 commented 4 years ago

Yes, it is easy to change the camera extrinsic. Take a look at core.launch. The TF for cameras is defined there in line 56 and 57. You could modify the transform directly from there since the ros bridge works by querying the tf ( see https://github.com/mit-fast/FlightGoggles/blob/f25e1c2555d0c83f3cbac441d4e6973f09e2d0b9/flightgoggles_ros_bridge/src/ROSClient/ROSClient.cpp#L190)

AlessandroFornasier commented 4 years ago

Thanks for the answer, this was what I exactly tried without success before opening the issue, anyway, I figured out how to do that looking at the tf tree. I actually needed to change both lines 56-57 and 62-63 since the tf the ros bridge is querying is "world"--"uav/camera/left/internal_nwu".

Thanks a lot again for your fast reply.