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AIRLab-POLIMI / ros2-aruco-pose-estimation

Aruco Pose Detection and Estimation with ROS2, using RGB and Depth camera images from Realsense D435
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Can't use depth image to do pose estimation #3

Open Phymin opened 2 weeks ago

Phymin commented 2 weeks ago

Hi, I'm using D415 to do pose estimation of aruco marker, but if I set 'use_depth' to true, there is no x and y data for the pose estimation, do you know why? below are two screenshots taken from my testing. Thanks Snipaste_2024-08-27_10-38-12 Snipaste_2024-08-27_10-39-22

SimonGiampy commented 1 week ago

Hi, thanks for your feedback. Sorry for the delayed response but I was in vacation. Can you be more specific in what you mean by

missing x and y data for the pose estimation

This feature of using the depth map for aruco pose estimation was experimental, so it may not work perfectly well with different cameras other than the D435 that I personally used. But the python code for this estimation using the depth map is commented, so you should be able to change it according to your configuration and obtain the missing values that you are seeking. The output is a tvec vector ( x, y, z coordinates), which is also printed out on the console.

Phymin commented 6 days ago

Hi, thanks for your response, "missing x and y data for the pose estimation" means the x and y data estimated from depth image is all 0, which it should not be. I know the tvec vector is also printed, but it's estimated from color image. What I want is also the estimation from depth image, so I can check which one is more accurate.

Do you have any suggestions to get the pose from depth image, in what ways I can change the code? Thansk