Closed pattacini closed 7 years ago
@fiorisi please also consider that Marcello is willing to mount asap the new mechanical support of the Xtion
, which will entail to move the two RGB cameras slightly apart (~ 2 mm
).
Therefore, could you take this into account and provide new DH parameters for the cameras' frames as well?
Yes, no problem.
regarding the Xtion, do you want 2 different
I'd go for depth
and depth_rgb
, as reported above.
The most flexible solution appears to have 2 different sensors in the urdf/sdf, a rgb and a depth camera.
In this case, playing with config file, we could have the realistic
robot configuration (rgb and depth camera NOT colocated) or the ideal
configuration where the 2 sensor are colocated.
(or both)
With @fiorisi we agreed to keep in the model also the fake frame attached to the center of Xtion
device for control purpose. It will be termed depth_center
(actually it's not cyclopic)
Testing the following frames: depth_center
, depth
and depth_rgb
.
The test are performed by computing the transform between the base_link
and the frame to be tested
using our forward kinematics library and our CAD model.
The position of the joints that belong to the kinematic chain (between base_link
and the frame to be tested
) is defined by the vector q. The CAD model is updated accordingly.
q=( 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000)
IPOPT H=-0.00000 0.00000 1.00000 0.02156 -1.00000 0.00000 -0.00000 0.00000 -0.00000 -1.00000 0.00000 1.07240 0.00000 0.00000 0.00000 1.00000
CREO
q=( 0.01500 0.00000 0.00000 20.00000 15.00000 0.00000)
IPOPT H= 0.33993 -0.34839 0.87354 0.13368 -0.93969 -0.08852 0.33037 0.00941 -0.03777 -0.93316 -0.35747 1.04557 0.00000 0.00000 0.00000 1.00000
CREO
q=( 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000)
IPOPT H=-0.00000 0.00000 1.00000 0.02156 -1.00000 0.00000 -0.00000 0.04449 -0.00000 -1.00000 0.00000 1.07240 0.00000 0.00000 0.00000 1.00000
CREO
q=( 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000)
IPOPT H=-0.00000 0.00000 1.00000 0.02156 -1.00000 0.00000 -0.00000 0.01849 -0.00000 -1.00000 0.00000 1.07240 0.00000 0.00000 0.00000 1.00000
CREO
Testing the following frames: left
, right
, cyclopic
and gaze
.
q=( 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000)
IPOPT H=-0.00000 0.00000 1.00000 0.01385 -1.00000 0.00000 -0.00000 0.03351 -0.00000 -1.00000 0.00000 0.96090 0.00000 0.00000 0.00000 1.00000
CREO
q=( 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000)
IPOPT H=-0.00000 0.00000 1.00000 0.01385 -1.00000 0.00000 -0.00000 -0.03351 -0.00000 -1.00000 0.00000 0.96090 0.00000 0.00000 0.00000 1.00000
CREO
q=( 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000)
IPOPT H=-0.00000 0.00000 1.00000 0.01385 -1.00000 0.00000 -0.00000 0.00000 -0.00000 -1.00000 0.00000 0.96090 0.00000 0.00000 0.00000 1.00000
CREO
q=( 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000)
IPOPT H=-0.00000 0.00000 1.00000 0.01116 -1.00000 0.00000 -0.00000 0.00000 -0.00000 -1.00000 0.00000 1.01450 0.00000 0.00000 0.00000 1.00000
CREO
Thank you @fiorisi !
As of now we have one frame attached to the mechanical center of the
Xtion
.For control purpose, we would need to:
depth
to the actual center of the depth sensor.depth_rgb
to be attached to the center of theXtion
rgb sensor.@fiorisi is going to deal with this request (not urgent) next week.
Note
Other frames already available are:
left
right
cyclopic
, attached to the middle ofleft
andright
gaze
, attached to the middle of the screencc @randaz81 @barbalberto @vtikha