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orbbec / OrbbecHardware

The open source hardware data for Orbbec series cameras includes 2D and 3D model files, as well as interface-related information.
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Orbbec Femto Bolt Screw Hole Coordinate Calculation #2

Open wataru-okumura opened 1 month ago

wataru-okumura commented 1 month ago

Hello. I always enjoy using orbbec femto bolt. I asked this question because I wanted to calculate the position coordinates of the femto bolt screw hole.

ros2 launch orbbec_camera femto_bolt.launch.py

If I start with the above command and check rviz2, I get the information camera_link=depth_frame. image

I want to get the coordinates of the screw hole and I want to do this by inputting the difference from the camera_link. orbbec_hardware

https://www.orbbec.com/documentation/femto-bolt-hardware-specifications/ In that case, I think it would be correct to assume that the height is 21mm below the depth_optical,

But I can't tell from this document how many mm the depth should be. I would like to know the official coordinate information for the screw hole.

Thank you in advance.

Danilrivero commented 3 weeks ago

Screenshot from 2024-07-05 09-30-57

Seeing the STP or STL mesh, the origin should be reorientated to be aligned with the _baselink. When implementing the URDF you can surely adjust it manually but it would be ideal for users.

@wataru-okumura do you have the values to align the STL with the _baselink?