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SmartRoboticSystems / aruco_mapping

Positioning system based on ArUco markers
MIT License
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Stripping out ROS, question... #6

Closed antithing closed 6 years ago

antithing commented 7 years ago

Hi, thank you for making this available. i am attempting to strip out the ROS dependencies, and am close, but missing something...

My code builds, and runs, but I cannot get the global marker poses to look right. I think I am missing something around here:

https://github.com/SmartRoboticSystems/aruco_mapping/blob/master/src/aruco_mapping.cpp#L497

Can you explain what this is doing please?

    listener_->lookupTransform("world",marker_tf_name.str(),ros::Time(0),
                                   markers_[index].tf_to_world);

What would the non-ROS equivalent of this section be? Or, how can i get the world position of each marker from the position in camera-space?

Thanks again!

vannem95 commented 6 years ago

Were you able to get it to work without ros?

antithing commented 6 years ago

Nope, i ended up writing my own application in the end. Good luck!

vannem95 commented 6 years ago

is it private? if not, do you mind sharing it with me?

antithing commented 6 years ago

Sorry, its private code. I can tell you that I took a different approach, using bundle adjustment with Ceres to refine the poses and tag corner locations. Good luck!