VOXL MPA_to_ROS rostopics not subscribing to anything
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@ben-grocholsky Thanks that helped me do it.
My tof_ir, tof_conf image feed is rotated 90 degrees counter clockwise when the drone is in a normal position, is there way to change that rotation
@Darshit-Desai @Moderator Can anyone reply on this post?
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@Darshit-Desai @Moderator Can anyone reply on this post?
@Darshit-Desai Can anyone help with this? @tom
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@Darshit-Desai Can anyone help with this? @tom
@Darshit-Desai this is a more generic ROS
tftransform network question than anything specific to ModalAI devices. You can get any result you'd like by adding appropriate frames to map or vehicle in thetftree. For example, sincervizis hard coded to expect z axis upwards and everything is easier with z axis down, I'll attach anENUframe to every fixed mapNEDframe and vehicle carried bodyFRDframe. That allows for all algorithms to be implemented inNED/FRDand still use ROS visualization by selectingENUframes asfixedandview.Check out the
tfdocumentation http://wiki.ros.org/tf2The
static transform publisheris a quick way to test changes. Then you'll want to explore using http://wiki.ros.org/urdf -
@Darshit-Desai this is a more generic ROS
tftransform network question than anything specific to ModalAI devices. You can get any result you'd like by adding appropriate frames to map or vehicle in thetftree. For example, sincervizis hard coded to expect z axis upwards and everything is easier with z axis down, I'll attach anENUframe to every fixed mapNEDframe and vehicle carried bodyFRDframe. That allows for all algorithms to be implemented inNED/FRDand still use ROS visualization by selectingENUframes asfixedandview.Check out the
tfdocumentation http://wiki.ros.org/tf2The
static transform publisheris a quick way to test changes. Then you'll want to explore using http://wiki.ros.org/urdf@ben-grocholsky It shows up the same in VOXL PORTAL too.
Is there a way to get camera intrinsic Matrix of the ToF camera. Also, if I want to align the depth image with the RGB image how do I do that? -
@ben-grocholsky It shows up the same in VOXL PORTAL too.
Is there a way to get camera intrinsic Matrix of the ToF camera. Also, if I want to align the depth image with the RGB image how do I do that?@Darshit-Desai I wanted to ask one more follow up to this question? The datasheet in voxl-documentation says the PMD TOF runs at 45 fps for ranging distances less then 1 metres. Is there a way to set that?
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@Darshit-Desai I wanted to ask one more follow up to this question? The datasheet in voxl-documentation says the PMD TOF runs at 45 fps for ranging distances less then 1 metres. Is there a way to set that?
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@Darshit-Desai No, there is no current way to set that
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@ben-grocholsky It shows up the same in VOXL PORTAL too.
Is there a way to get camera intrinsic Matrix of the ToF camera. Also, if I want to align the depth image with the RGB image how do I do that?@Darshit-Desai said in VOXL MPA_to_ROS rostopics not subscribing to anything:
@ben-grocholsky It shows up the same in VOXL PORTAL too.
Is there a way to get camera intrinsic Matrix of the ToF camera. Also, if I want to align the depth image with the RGB image how do I do that? -
@Darshit-Desai said in VOXL MPA_to_ROS rostopics not subscribing to anything:
@ben-grocholsky It shows up the same in VOXL PORTAL too.
Is there a way to get camera intrinsic Matrix of the ToF camera. Also, if I want to align the depth image with the RGB image how do I do that?@Darshit-Desai the recommendation to learn about
tf,urdf, andxacroin ROS was because that's a way to achieve what you're asking for. If you get thelaunchandconfigfiles right then ROS tools such asrvizwill do what ever you want without writing any code. -
@Darshit-Desai said in VOXL MPA_to_ROS rostopics not subscribing to anything:
@ben-grocholsky It shows up the same in VOXL PORTAL too.
Is there a way to get camera intrinsic Matrix of the ToF camera. Also, if I want to align the depth image with the RGB image how do I do that?@Darshit-Desai said in VOXL MPA_to_ROS rostopics not subscribing to anything:
Is there a way to get camera intrinsic Matrix of the ToF camera. Also, if I want to align the depth image with the RGB image how do I do that?
Hi sorry, I wanted to ask about the intrinsics that was highlighted by mistake. @ben-grocholsky
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