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2017-08-03 14:06:54 -0500 commented answer How to get a ModelPtr from a VisualPlugin

Thanks! I see the constraint now. The solution I am currently using is a ModelPlugin that uses the gazebo transport to s

2017-08-03 14:06:20 -0500 commented answer How to get a ModelPtr from a VisualPlugin

Thanks! I see the constraint now. The solution I am currently using is a ModelPlugin that uses the gazebo transport to s

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2017-08-03 13:00:13 -0500 edited question How to get a ModelPtr from a VisualPlugin

How to get a ModelPtr from a VisualPlugin Let's assume I have a model with a 'body' base link that connected to some lin

2017-08-03 12:59:24 -0500 asked a question How to get a ModelPtr from a VisualPlugin

How to get a ModelPtr from a VisualPlugin Let's assume I have a model with a 'body' base link that connected to some lin

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2016-04-24 16:58:21 -0500 asked a question How to project from world to image pixel coordinates in a CameraSensor plugin

I have written a gazebo CameraSensor plugin to draw sparse features from a map, based on the frustrum of the camera. I can get the frustrum information (HFOV, VFOV, near and far clip) from sensors::CameraSensor::Camera(), and I can work out the camera extrinsics from the link and sensor pose. What I can't seem to work out is how is perform an inverse pinhole projection from world coordinates (X,Y,Z) to image plane coordinates (U,V). Is this possible with the Gazebo API or do I need to use the image_geometry package in ROS to achieve this?