I have a vision based control application, where a drone is flying around, finds a visual marker, extracts the coordinates of the visual marker in **body frame coordinates** and finally flies to the marker with a position setpoint in **local NED frame coordinates**.
I need to transform the coordinates of the visual marker from body frame to local NED frame based on the position of the drone in local NED coordinates.
I understand that this is possible with a broadcaster + listener, but I don't want to complicate things with extra nodes, all I need is a simple mathematical transformation. Is there a simple function available to do this in C++?
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