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UbiquityRobotics / fiducials

Simultaneous localization and mapping using fiducial markers.
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Detected 0 markers #272

Closed koliber31 closed 2 years ago

koliber31 commented 2 years ago

I'm trying to use aruco_detect by using rosrun aruco_detect aruco_detect /camera:=/usb_cam/image_raw /camera_info:=/usb_cam/camera_info _publish_images:=true.

  1. I'm not sure if using /camera instead of /camera/compressed is good thing but when i was using /camera/compressed i haven't seen this topic between camera and aruco.
  2. When i'm using above command to run aruco_node i get information "Detected 0 markers" although i'm holding marker in front of camera.
anfederman commented 2 years ago

What does rostopic list show? There should be fiducial topics and rostopic echo should show data. If not, there is probably a transform missing or a topic misnamed. Also is fiducial_slam is being used, the camera position relative to the robot and camera needs to be accounted for.

On Mon, May 30, 2022, 2:20 AM Igor Staniszewski @.***> wrote:

I'm trying to use aruco_detect by using rosrun aruco_detect aruco_detect /camera:=/usb_cam/image_raw /camera_info:=/usb_cam/camera_info _publish_images:=true.

  1. I'm not sure if using /camera instead of /camera/compressed is good thing but when i was using /camera/compressed i haven't seen this topic between camera and aruco.
  2. When i'm using above command to run aruco_node i get information "Detected 0 markers" although i'm holding marker in front of camera.

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koliber31 commented 2 years ago

rostopic list /aruco_detect/parameter_descriptions /aruco_detect/parameter_updates /clicked_point /fiducial_images /fiducial_images/compressed /fiducial_images/compressed/parameter_descriptions /fiducial_images/compressed/parameter_updates /fiducial_images/compressedDepth /fiducial_images/compressedDepth/parameter_descriptions /fiducial_images/compressedDepth/parameter_updates /fiducial_images/theora /fiducial_images/theora/parameter_descriptions /fiducial_images/theora/parameter_updates /fiducial_transforms /fiducial_vertices /initialpose /move_base_simple/goal /rosout /rosout_agg /tf /tf_static /usb_cam/camera_info /usb_cam/image_raw /usb_cam/image_raw/compressed /usb_cam/image_raw/compressed/parameter_descriptions /usb_cam/image_raw/compressed/parameter_updates /usb_cam/image_raw/compressedDepth /usb_cam/image_raw/compressedDepth/parameter_descriptions /usb_cam/image_raw/compressedDepth/parameter_updates /usb_cam/image_raw/theora /usb_cam/image_raw/theora/parameter_descriptions /usb_cam/image_raw/theora/parameter_updates rostopic echo /fiducial_transforms header: seq: 3510 stamp: secs: 1653928621 nsecs: 232605798 frame_id: "head_camera" image_seq: 3510 transforms: [] rostopic echo /fiducial_vertices header: seq: 6038 stamp: secs: 1653928705 nsecs: 498679778 frame_id: "head_camera" image_seq: 6038 fiducials: [] Messages that i get from using aruco_detect [ INFO] [1653929175.500986007]: Got image 20138 [ INFO] [1653929175.512547677]: Detected 0 markers [ INFO] [1653929175.533858802]: Got image 20139 [ INFO] [1653929175.547884351]: Detected 0 markers

rosgraph

aruco

I'm not using fiducial_slam yet, I want to detect aruco markers properly first.

anfederman commented 2 years ago

Hard do see what the warning is in rviz, but my guess is there is no transform between the fiducial location(vertices) and the map, so rviz can't locate the the vertices on the map. You might want to look at our github code fro magni_gazebo fiducial_world.launch and see how we do it. I also seem to remember you need to calibrate the usb_cam .

On Mon, May 30, 2022 at 9:43 AM Igor Staniszewski @.***> wrote:

rostopic list /aruco_detect/parameter_descriptions /aruco_detect/parameter_updates /clicked_point /fiducial_images /fiducial_images/compressed /fiducial_images/compressed/parameter_descriptions /fiducial_images/compressed/parameter_updates /fiducial_images/compressedDepth /fiducial_images/compressedDepth/parameter_descriptions /fiducial_images/compressedDepth/parameter_updates /fiducial_images/theora /fiducial_images/theora/parameter_descriptions /fiducial_images/theora/parameter_updates /fiducial_transforms /fiducial_vertices /initialpose /move_base_simple/goal /rosout /rosout_agg /tf /tf_static /usb_cam/camera_info /usb_cam/image_raw /usb_cam/image_raw/compressed /usb_cam/image_raw/compressed/parameter_descriptions /usb_cam/image_raw/compressed/parameter_updates /usb_cam/image_raw/compressedDepth /usb_cam/image_raw/compressedDepth/parameter_descriptions /usb_cam/image_raw/compressedDepth/parameter_updates /usb_cam/image_raw/theora /usb_cam/image_raw/theora/parameter_descriptions /usb_cam/image_raw/theora/parameter_updates rostopic echo /fiducial_transforms header: seq: 3510 stamp: secs: 1653928621 nsecs: 232605798 frame_id: "head_camera" image_seq: 3510 transforms: [] rostopic echo /fiducial_vertices `header: seq: 6038 stamp: secs: 1653928705 nsecs: 498679778 frame_id: "head_camera" image_seq: 6038 fiducials: [] [image: rosgraph] https://user-images.githubusercontent.com/42122590/171033616-379b174e-ed1b-488f-b2aa-7537d516315e.png

` [image: aruco] https://user-images.githubusercontent.com/42122590/171033532-cc372095-b52d-463c-b970-447822587077.png

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anfederman commented 2 years ago

aruco.launch:

you need to specify the 'frames' for rviz to work,

On Mon, May 30, 2022 at 11:46 AM Alan Federman @.***> wrote:

Hard do see what the warning is in rviz, but my guess is there is no transform between the fiducial location(vertices) and the map, so rviz can't locate the the vertices on the map. You might want to look at our github code fro magni_gazebo fiducial_world.launch and see how we do it. I also seem to remember you need to calibrate the usb_cam .

On Mon, May 30, 2022 at 9:43 AM Igor Staniszewski < @.***> wrote:

rostopic list /aruco_detect/parameter_descriptions /aruco_detect/parameter_updates /clicked_point /fiducial_images /fiducial_images/compressed /fiducial_images/compressed/parameter_descriptions /fiducial_images/compressed/parameter_updates /fiducial_images/compressedDepth /fiducial_images/compressedDepth/parameter_descriptions /fiducial_images/compressedDepth/parameter_updates /fiducial_images/theora /fiducial_images/theora/parameter_descriptions /fiducial_images/theora/parameter_updates /fiducial_transforms /fiducial_vertices /initialpose /move_base_simple/goal /rosout /rosout_agg /tf /tf_static /usb_cam/camera_info /usb_cam/image_raw /usb_cam/image_raw/compressed /usb_cam/image_raw/compressed/parameter_descriptions /usb_cam/image_raw/compressed/parameter_updates /usb_cam/image_raw/compressedDepth /usb_cam/image_raw/compressedDepth/parameter_descriptions /usb_cam/image_raw/compressedDepth/parameter_updates /usb_cam/image_raw/theora /usb_cam/image_raw/theora/parameter_descriptions /usb_cam/image_raw/theora/parameter_updates rostopic echo /fiducial_transforms header: seq: 3510 stamp: secs: 1653928621 nsecs: 232605798 frame_id: "head_camera" image_seq: 3510 transforms: [] rostopic echo /fiducial_vertices `header: seq: 6038 stamp: secs: 1653928705 nsecs: 498679778 frame_id: "head_camera" image_seq: 6038 fiducials: [] [image: rosgraph] https://user-images.githubusercontent.com/42122590/171033616-379b174e-ed1b-488f-b2aa-7537d516315e.png

` [image: aruco] https://user-images.githubusercontent.com/42122590/171033532-cc372095-b52d-463c-b970-447822587077.png

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koliber31 commented 2 years ago

I found out what the problem was. It turned out that i was using aruco markers from wrong dictionary. It is kinda weird because i was changing dictionary parameters but it seems like you have to use specific markers which are in fiducials on ros wiki.