Perception3d

Calibration of tf between Jaco and Kinect with ARTags

Create an approximate transformation between the kinect and jaco (in vision.launch, named 'jaco_kinect')
Launch jaco_calibration.launch
Open Rviz
Make sure the AR Marker can be seen by the kinect by moving the arm and wrist of Jaco
Check that the tf 'AR_OBJECT' exists (if the marker is not detected, the tf will not exist)
Copy and paste the resulted transform (printed in the terminal) in vision.launch

roslaunch perception3d main.launch

Name		Name	Last commit message	Last commit date
Latest commit History 265 Commits
artag		artag
bagJaco		bagJaco
calib		calib
dataSet_bd		dataSet_bd
gazebo_worlds		gazebo_worlds
include		include
launch		launch
screenshots		screenshots
src		src
test		test
.gitignore		.gitignore
CMakeLists.txt		CMakeLists.txt
LICENSE		LICENSE
README.md		README.md
backupDatabase.sh		backupDatabase.sh
cleanDatabase.sh		cleanDatabase.sh
database_object_description.txt		database_object_description.txt
jaco_calibration.launch		jaco_calibration.launch
main.launch		main.launch
multipleKinects.launch		multipleKinects.launch
package.xml		package.xml