I propose adding a marker type that draws a camera frustum given the optical frame, camera intrinsics (sensor_msgs::CameraInfo message), and scale. The marker would look like this:
And the function signature would be something like,
bool publishCameraFrustum(const Eigen::Isometry3d& pose, const sensor_msgs::CameraInfo& camera_intrinsics,
colors color, scales scale, const std::string& ns, std::size_t id)
There's already a function to do this in MoveIt Calibration, and I'd basically copy it here (and then use the version here in MoveIt Calibration). I recently ran into another situation where I'd like to draw a frustum, and so I thought it'd be a good addition to this package. Before writing it, though, I thought I'd double-check that people would want that included, since it would add the dependency on sensor_msgs.
I propose adding a marker type that draws a camera frustum given the optical frame, camera intrinsics (
sensor_msgs::CameraInfomessage), and scale. The marker would look like this:And the function signature would be something like,
There's already a function to do this in MoveIt Calibration, and I'd basically copy it here (and then use the version here in MoveIt Calibration). I recently ran into another situation where I'd like to draw a frustum, and so I thought it'd be a good addition to this package. Before writing it, though, I thought I'd double-check that people would want that included,
since it would add the dependency on.sensor_msgs