translate_coords

ROS package containing nodes for converting from 2d coordinates to 3d RTAB_map coordinates.

• translate_coords
  • Nodes
    • cam_to_depthcoords.py
      • Subscribes:
      • Publishes:
      • Parameters:
      • Usage:
    • depth_to_mapcoords.py
      • Subscribes:
      • Publishes:
      • Parameters:
      • Usage:
  • Setup
  • Launch Files

Nodes

cam_to_depthcoords.py

Converts 2d pixel coordinates from depth camera colour images to realworld 3d coordinates measured in metres, where 0,0,0 is WHERE.

Subscribes:

• /camera/depth/camera_info (sensor_msgs.CameraInfo): Camera intrinsics data
• /camera/aligned_depth_to_color/image_raw (sensor_msgs.Image): Depth image
• /input_coords (geometry_msgs.Point): Input pixel location to be converted. 'z' is ignored

Publishes:

• /realworld_coords (geometry_msgs.Point): Position in metres, relative to the camera, of the input pixel location

Parameters:

NONE

Usage:

rosrun translate_coords cam_to_depthcoords.py

depth_to_mapcoords.py

Converts 3d realworld coordinates measured in metres relative to the camera to RTAB_map coordinates.

Subscribes:

NONE

Publishes:

NONE

Parameters:

NONE

Usage:

rosrun translate_coords depth_to_mapcoords.py

Setup

Place contents of repository in the directory <ros_workspace_dir>/src/translate_coords. Build and source your ROS workspace.

Launch Files