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在自瞄中,需要在相机与云台之间做坐标变换,采用tf2可以方便的管理维护坐标关系,其还提供了简洁的坐标变换接口,以及tf消息同步功能(将IMU转换为tf,间接的实现IMU-相机同步),可以极大的方便开发。
(1)建立坐标系之间关系:
Tip: gimbal_pitch->camera->camera_optical 可简化为gimbal_pitch->camera_optical gimbal_home参考系可以灵活选取,如果base_link->gimbal_home绑定静态变换,那计算出来的yaw为绝对角,如果gimbal_yaw->gimbal_home绑定静态变换,则计算出的yaw为相对角度。
Tip:
(2)瞄准解算:
The text was updated successfully, but these errors were encountered:
实现步骤:
tf2_ros::MessageFilter
Sorry, something went wrong.
这种方式可能会限制开发模式,从中间件(ROS)-算法功能解耦的角度看,建议采用的开发模式为:
同时,也可以支持tf的发布,方便进行可视化调试,而不是直接用tf参与自瞄目标位置到控制命令的计算。
另一方面,对于数据同步,可以采用buffer进行自行处理,更加方便,如需插值,也可实现插值工具类(可支持线性插值,球面插值等不同插值算法)。
gezp
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Feature request
Feature description
在自瞄中,需要在相机与云台之间做坐标变换,采用tf2可以方便的管理维护坐标关系,其还提供了简洁的坐标变换接口,以及tf消息同步功能(将IMU转换为tf,间接的实现IMU-相机同步),可以极大的方便开发。
Implementation considerations
(1)建立坐标系之间关系:
(2)瞄准解算:
The text was updated successfully, but these errors were encountered: