search

HBRS-SDP / ss22-factor-graph-slam

0 stars 4 forks source link

Aruco marker detection on collected dataset #13

Closed TharunSethuraman closed 2 years ago

TharunSethuraman commented 2 years ago

https://github.com/UbiquityRobotics/fiducials

TharunSethuraman commented 2 years ago

To convert the sensor_msgs/ image to sensor_msgs/compressed_images, run the following code:

rosrun image_transport republish raw in:=/device_0/sensor_1/Color_0/image/data compressed out:=/device_0/sensor_1/Color_0/image

The above code publishes new topic /device_0/sensor_1/Color_0/image/compressed

TharunSethuraman commented 2 years ago

/fiducials_transforms topic publishes the pose of the aruco marker

RavisankarSelvaraju commented 2 years ago 
<arg name="vis_msgs" default="true"/>

Need to change the default parameter to "true" inorder for the library to start detecting the aruco markers The change is to be made in < aruco_detect.launch > file

RavisankarSelvaraju commented 2 years ago 
<remap from="camera/compressed" to="/device_0/sensor_1/Color_0/image/compressed"/>
<remap from="camera_info" to="/device_0/sensor_1/Color_0/info/camera_info"/>

The remap should be done from ''camera/compressed/'' to "/device_0/sensor_1/Color_0/image/compressed"/

The aruco_detect need the data at the topic ''camera/compressed/'' but the data from rosbag file publishes the data at "/device_0/sensor_1/Color_0/image/compressed"/

The aruco_detect need the camera info at the topic ''camera_info'' but the data from rosbag file publishes the camera info at "/device_0/sensor_1/Color_0/info/camera_info"/