How to line up a 3D model in ROS to the Motion capture markers.

The .urdf file in this repo is hard coded to the stl Location. The .urdf reference in the launch file is also hard coded. Change these to your paths or make them generic ;)

Set the IP adresses in the launch for the motion capture.

Launch the launch file until fully launched.

This is roughly (-0.307,0.302,0.999) in model space (glassesOut is the model space in TF). I will update this with a better estimate once we have a way of viewing things in a reasonable way.

Uncomment the line that will allow the marker positions to be printed. Find the correspondence between the markers and the balls on the glasses. I usually put the glasses such that the balls are unambiguous in hight from the ground. Then swap the bot/top/front/side -> 0,1,2,3 assingments in the cpp file (near main(){ )