Add optical frames for all rgb and rgbd cameras #350
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jfernandez37
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May 23, 2024
jfernandez37
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* Fixes misidentification of flipped parts on kit trays (#349) * Fix to flip issue * Fixed issue with part rotation on kitting trays * add optical frames for all rgb and rgbd cameras (#350) * Added option to build package when saving configuration file (#351) * Added option to build package when saving configuration file * Fixed priority not being written to file corrrectly * Added try and except around build command code * Update kit tray model.sdf (#353) * Updated versions (#357) --------- Co-authored-by: Joe Fernandez <[email protected]>
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Adds an additional TF frame for all RGB and RGBD cameras (static and robot) where the z-axis is aligned with the direction of the camera FOV.
The transform between the base sensor frame and the optical frame is: