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pal-robotics / aruco_ros

Software package and ROS wrappers of the Aruco Augmented Reality marker detector library
MIT License
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cannot show position,but get marks > Hello @Yaoxingtian, #121

Closed Yaoxingtian closed 9 months ago

Yaoxingtian commented 9 months ago 
          > Hello @Yaoxingtian,

Thank you so much for your interest in the package. The estimation of ARuCo is based on the camera info topic, without having this info it is not possible to estimate the pose of the marker. That's why, if your camera is well calibrated, it will be reflected in the camera_info; hence, you have a better estimation.

We hope this answers your question.

Thank you,

Best Regards, PAL Robotics Team.

thanks so much for you kindly reply ! and now i add camera info as a topic ,when i run single.launch,it can gets marks but can not show the position on the picture,but echo /aruco_single/pose have enough information, i'am so confused , could you pls. help ? single.launch: Screenshot from 2023-09-28 11-48-11

/aruco_single/pose: header: seq: 46 stamp: secs: 1695872446 nsecs: 169000149 frame_id: "stereo_gazebo_left_camera_optical_frame" pose: position: x: -30.77961287838618 y: 0.9469890380327535 z: 0.6522766351699829 orientation: x: 0.7413994447944224 y: -0.6668339357097456 z: -0.01968394403844307 w: 0.07260790446958565

_Originally posted by @Yaoxingtian in https://github.com/pal-robotics/aruco_ros/issues/120#issuecomment-1738394662_

Yaoxingtian commented 9 months ago

mark

saikishor commented 9 months ago

Hello @Yaoxingtian!

I'm glad that after adding the information, you could see the position after adding the camera_info. Regarding the marker, yes it should show it on top of the image, however, if you need position, you are supposed to subscribe to the topic and compute it. We haven't done it as most of the time it is redundant.

image

Thank you,

Best Regards, Sai Kishor