I believe there is an issue with the way you handle the camera_matrix in ar_pose. For a camera with a large distortion ar_pose doesn't work, but ar_toolkit does. The fault presents it self as estimating the location of markers as if the image hasn't been correctly rectified, i.e. failing at the edges.
I believe there is an issue with the way you handle the camera_matrix in ar_pose. For a camera with a large distortion ar_pose doesn't work, but ar_toolkit does. The fault presents it self as estimating the location of markers as if the image hasn't been correctly rectified, i.e. failing at the edges.