[IGSTK-Users] Coordinate System with unknown Transformation

[Patrick Cheng]

Hi Jamie,

You need to 'register' your robot coordinate system with the tracker system.
You can use the igstkLandmark3DRegistration class.

For instance, you can command your robot to move to several specific
landmarks, get a set of position readings, and then use a tracker tool to
pinpoint the same landmarks and get a second set of points.

With these two sets of points, you can calculate the transform between these
two spaces.

Patrick

On Thu, Aug 18, 2011 at 6:25 AM, Jiwon Jamie Ryu
<jjamieryu at melab.snu.ac.kr>wrote:

> Hi All!
>
> I'm having problem with coordinate transformation.
> I have a marker's position and rotation from polaris camera,
> and I have world coordinate obtained from my robot.
> I'm trying to transform my marker's position frame to the robot's frame.
>
> The problem is, I don't know the transformation, all I know are the
> coordinates of the two frames.
> So, I cannot use RequestSetTransformAndParent(const Transform &t, const
> CoordinateSystem *parent) function.
>
> In IGSTK, do I need to calculate the transformation matrix using the
> formulas provided in the CH. 8 coordinate System?
> Or, is there a simpler way?
>
> Thanks in advance.
>
> Sincerley,
> Jamie Ryu
>
>
>
>
>
> *-----------------------------------------------------------------*
> * Jiwon Jamie Ryu**
> *
> **
> **
> * PhD Candidate*
>  Dept. Bioengineering
>  Seoul National University
>  TEL:    +82 10 8868 3678
>  Office: +82 2 2072 3128
> *-------------------------------------------------------*-------------
>
>
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