Perception3d

Calibration of tf between Jaco and Kinect with ARTags

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

How to use the package

roslaunch perception3d vision.launch
rosrun perception3d perception