Closed GuillaumeHauss closed 6 years ago
We actually had some issues with TIAGo and markers that were 8x8cm, and switched to 16x16cm and then it worked perfectly. Ubuntu 16.04, Kinetic and Gazebo 7.12.
Could you post an image of the aruco debug topic?
Hi @v-lopez,
I'm using 5-bits Aruco markers, generated by another ROS package. As I want to see them from really far away (15m), they are huge: 30cm wide.
I'm home now, but I'll post a screen shot of the debug topic first thing tomorrow. From what I saw, markers are perfectly visible in it
As promised, here is a screenshot of the debug topic (left) and the input image from gazebo (right), both visualized using Rviz
I echoed the topic /markers too, to make sure it wasn't a display error, and it's empty. As you can see, thresholding is really efficient, and markers should be detected. I tried to mess around with pixel format from Gazebo and openCV, but ultimately, only one combination works:
I have a monocamera on the car, so I must test the algorithm with grayscale images by the way
Hi,
I found the issue, well my mistake to be correct. I changed the pixel format to RBG8 in the capture of the Image at the beginning of the ROS callback, and somehow that was responsible for the the detector being absolutely inefficient. I changed it back to MONO8 and now it works fine. However, one nice-to-have feature would be a detection of such misalignment in format between Gazebo and ROS :) I'll open another issue to know how I can modify the marker identification function to detect N-bits marker. I've tried to changed the wrapper function but this led to some crappy compilation error :/
I'll close this issue now! have a nice day
Hi all,
I'm working with Aruco markers to do some localization process. It was working fine and giving me pretty good results so far.
However, I updated Gazebo to 7.12 in order to get some relevant functions on SDF format for frictions models, and now it's a complete failure. The node detects and identifies markers correctly when I use my built-in webcam, but as soon as I feed it a fake image from Gazebo, with a big marker in front of the camera, nothing happened..
Has any of you faced the same issue here? If so, did you find a work around?
Thank you for your help and advice :)
Setup info: Ubuntu 16.04 ROS Kinetic Gazebo 7.12
Cheers Guillaume