| ARToolKit | Mailing List Archive |
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| From: | Arvind Lakshmikumar <kla@c .........> | Received: | May 16, 2003 |
| To | artoolkit@h .................. | ||
| Subject: | Global coordinates | ||
Hello Folks,
I'm trying to use the tracking functionality from ART to do visual
servoing. arGetTransMat() returns the transformation between the marker
and the camera. I have the camera mounted on a robot arm and would like to
get the position of the marker w.r.t a global coordinate system. Would
appreciate any help..
Thanks,
Arvind
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Arvind Lakshmikumar
Research Scientist Research Scholar
Intelligent Automation, Inc Robotics Institute, CMU
7519 Standish Place 5000 Forbes Avenue
Rockville MD Pittsburgh PA
email : kla@c .........
Phone: 443-538-4555 (Cell)
301-540-4396 (Home)
Linux is like a Teepee
No Windows, No Gates,
Only APACHE Inside!
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| From: | Stuart Reeves <str00u@c ............> | Received: | May 16, 2003 |
| To | Arvind Lakshmikumar <kla@c .........> | ||
| Subject: | Re: Global coordinates | ||
Hi. I just completed a dissertation where I had to do this. Basically, you need to have two coordinate systems; one for the location of the robot (i.e. camera) and one for the markers. This means that you need some location markers as well since you can then get the translation between the location and the detected marker. In this way, the location markers form the global coordinate system. For more information, you can read my dissertation: http://www.nontrivial.uklinux.net/?node=mixed%20reality%20game%20project%20paper If you want the code, i can send it to you. On Fri, 16 May 2003, Arvind Lakshmikumar wrote: > Hello Folks, > I'm trying to use the tracking functionality from ART to do visual > servoing. arGetTransMat() returns the transformation between the marker > and the camera. I have the camera mounted on a robot arm and would like to > get the position of the marker w.r.t a global coordinate system. Would > appreciate any help.. > > Thanks, > Arvind > > > > > //////////////////////////////////////////////////////////////////////////// > Arvind Lakshmikumar > > Research Scientist Research Scholar > Intelligent Automation, Inc Robotics Institute, CMU > 7519 Standish Place 5000 Forbes Avenue > Rockville MD Pittsburgh PA > > email : kla@c ......... > Phone: 443-538-4555 (Cell) > 301-540-4396 (Home) > > > > Linux is like a Teepee > No Windows, No Gates, > Only APACHE Inside! > //////////////////////////////////////////////////////////////////////////// > > later, Stuart --- email: stuart@t ............ my pointless, self-congratulatory vanity site is located here: http://www.nontrivial.uklinux.net [http://lns.sf.net for code] |
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| From: | Daniel Wagner <daniel@i ...............> | Received: | May 16, 2003 |
| To | artoolkit@h .................. | ||
| Subject: | Re: Global coordinates | ||
> I'm trying to use the tracking functionality from ART to do visual >servoing. arGetTransMat() returns the transformation between the marker >and the camera. I have the camera mounted on a robot arm and would like to >get the position of the marker w.r.t a global coordinate system. Would >appreciate any help.. well, that's quite simple. just multiply the matrix that transforms from the "marker's space" to the global coordinate system onto the matrix you get from artoolkit. that's it... bye, DANIEL |
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