SA camera frames wrong on v4 and v5 models

osrf / drcsim

Repository for the DRC project.

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SA camera frames wrong on v4 and v5 models #478

Closed osrf-migration closed 9 years ago

osrf-migration commented 9 years ago

Original report (archived issue) by Stefan Kohlbrecher (Bitbucket: Stefan_Kohlbrecher).

On v4/v5, the SA cameras have moved and are now mounted above the Multisense head. This change is not reflected in the drcsim Atlas models so far. For some applications it is important to have accurate poses for both cameras, so it would be good to get the relevant CAD data from BDI and incorporate it into the drcsim models.

osrf-migration commented 9 years ago

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

@BillBlank Do you have the locations of the SA cameras?

osrf-migration commented 9 years ago

Original comment by Bill Blank (Bitbucket: BillBlank).

Yes.

The new values are:

r_situational_awareness_camera_link

l_situational_awareness_camera_link There is no longer a rear situational camera and that should be removed from the v4 and v5 urdfs Finally, I do not understand what the "optical frame joints" are? Do you? I cannot even begin to fathom their purpose. Maybe those should be removed too? They seem to be just a roll and yaw of the camera joints. Could you do me the favor of making the above changes to the v4 and v5 urdfs? I am pushing to get the physical robots shipped back to the performers. Feel free to say no and I'll make a formal commit to bitbucket.

osrf-migration commented 9 years ago

Original comment by Stefan Kohlbrecher (Bitbucket: Stefan_Kohlbrecher).

The optical frames are frequently used in ROS based image processing (see for example http://www.ros.org/reps/rep-0103.html#suffix-frames). I agree that it's not the most straightforward concept at first sight :)

osrf-migration commented 9 years ago

Original comment by Bill Blank (Bitbucket: BillBlank).

Thanks Stefan. Do you know if given the changes above any changes to that joint need to be implemented?

osrf-migration commented 9 years ago

Original comment by Stefan Kohlbrecher (Bitbucket: Stefan_Kohlbrecher).

As the relative transform between the sa camera frames and their optical frames stays the same, these joints do not need to be modified.

osrf-migration commented 9 years ago

Original comment by Bill Blank (Bitbucket: BillBlank).

Sweet.

osrf-migration commented 9 years ago

Original comment by Ian Chen (Bitbucket: Ian Chen, GitHub: iche033).

Changes made in pull request #523. Let me know if they are correct

osrf-migration commented 9 years ago

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

changed state from "new" to "resolved"

appears fixed. please reopen if needed.