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Hi,

I am completely confused with the static transformations required to make Viso2 work with my setup, any help will be greatly appreciated.

In the wiki says: "The coordinate frame of the camera is expected to be the optical frame, which means x is pointing right, y downwards and z from the camera into the scene.".

I have a ground robot (robotino), the base_link X axis points forward, the base_link Y axis left and the base_link Z axis points upwards and I have a stereo camera installed on the robot looking exactly to the front.

I configured a static transformation between my camera (stereo_cam) and the base_link of my robot (base_link) using only a rotation so the Z axis of the camera frame points forward, the X axis right and the Y axis downwards. I also enabled in the Viso2 parameters the publishing of the /odom to base_link transformation.

However, with this configuration the base_link doesn't move in the x-y plane of the odom frame as I expected but instead is floating around.

Now, watching the youtube video in viso2_ros wiki I noticed that the X axis (the red one) on the /stereo_dow frame is pointing down... shouldn't it be oriented with the Z axis (the blue one) looking down instead?.

Thanks in advance.


Originally posted by raultron on ROS Answers with karma: 61 on 2016-08-16

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1 Answer 1

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Hi Raultron,

in the video we have a stereo camera looking downwards. You should set a TF between base_link (parent) and your camera optical frame (child). Your axis ordering is correct, but maybe the parent and the child you wrote are swapped.


Originally posted by Miquel Massot with karma: 1471 on 2016-08-17

This answer was ACCEPTED on the original site

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