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tum-vision / tum_ardrone

Repository for the tum_ardrone ROS package, implementing autonomous flight with PTAM-based visual navigation for the Parrot AR.Drone.
http://wiki.ros.org/tum_ardrone
GNU General Public License v3.0
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tum_ardrone with downward looking camera #50

Open ghost opened 9 years ago

ghost commented 9 years ago

Hi Is it possible to use tum_ardrone for bottom looking drone camera. Iv modified the parrot front looking camra to downward looking. Apart form sending the corrent /tf what else i need to modify?

Thanks

ffurrer commented 9 years ago

Hi, I guess if you want some help, you should be a little more specific on what you want to achieve.

ghost commented 9 years ago

Thanks ffurrer

I'm planning to use the ptam with downward looking camera. I will detect obsticals on the ground and build a 2d map for the turtlebot. I'm using parrot 2 on ubunto 14.04 RoS indigo. In the ardrone driver.CPP I have changed the transform of forward camera (HD) to that of downward camera (qvga).

Do in need to tell ptam of this rotation of camera and how can I do that?

Thanks

Farhan

ghost commented 9 years ago

Hi Does anyone know what in need to change to use tum_ardrone PTAM for downward looking camera?

Thanks Farhan