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ar-tools / ar_tools

AR Marker tools for ROS
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Line of commands to run? #31

Open eyildiz-ugoe opened 5 years ago

eyildiz-ugoe commented 5 years ago

I've cloned the package but I don't know what command to run? I want to find the extrinsics of my stereo camera, which I hope is possible through this package. I've printed the hiro [marker] and put it to a fixed position. I am using ROS melodic.

I've looked into the launch file and saw this though:

 <node pkg="tf" type="static_transform_publisher" name="world_to_cam" 
    args="0 0 0.5 -1.57 0 -1.57 world camera 10" />

which confuses me. The reason why I use this package is to find the pose of the camera, why would we give something like "world_to_cam" ? I mean, I want to acquire this information already, I don't have it. Or is this the wrong file to launch?

Could the authors perhaps tell the line of commands (along with what to modify in the code files) to acquire the rotation and translation matrix of the camera?

procopiostein commented 5 years ago

It's been a long time since I used this pkg. But I believe you want to run the ar_pose_reverse.launch launch file. Besides that, the best place to ask questions like yours is http://answers.ros.org/questions/ The issues in github should be used to point out problems in the code or to report bugs.