I am also stuck at constantly refreshing the TF of two markers . I can see points in "cloud" window, but the "polygon" window displayed nothing. I paste my log information below, and looking foreword to any reply, thanks!
![2017-12-21 14_44_13____________](https://user-images.githubusercontent.com/23658856/34244145-007b7350-e65f-11e7-88b2-6035ac954140.png)
`SUMMARY
PARAMETERS
- /aruco_mapping/calibration_file: /home/molmc-chy/v...
- /aruco_mapping/marker_size: 0.18
- /aruco_mapping/num_of_markers: 2
- /aruco_mapping/roi_allowed: False
- /aruco_mapping/roi_height: 480
- /aruco_mapping/roi_width: 752
- /aruco_mapping/roi_x: 0
- /aruco_mapping/roi_y: 0
- /aruco_mapping/space_type: plane
- /lidar_camera_calibration/camera_frame_topic: /camera/image_raw
- /lidar_camera_calibration/camera_info_topic: /camera/camera_info
- /lidar_camera_calibration/velodyne_topic: /velodyne_points
- /rosdistro: indigo
- /rosversion: 1.11.21
NODES
/
aruco_mapping (aruco_mapping/aruco_mapping)
find_transform (lidar_camera_calibration/find_transform)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[aruco_mapping-1]: started with pid [9424]
process[find_transform-2]: started with pid [9425]
[ INFO] [1513839635.890962802]: Calibration file path: /home/molmc-chy/velodyne_ws/src/aruco_mapping/data/ptgrey.ini
[ INFO] [1513839635.891108217]: Number of markers: 2
[ INFO] [1513839635.891158264]: Marker Size: 0.18
[ INFO] [1513839635.891188261]: Type of space: plane
[ INFO] [1513839635.891222934]: ROI allowed: 0
[ INFO] [1513839635.891251538]: ROI x-coor: 0
[ INFO] [1513839635.891282672]: ROI y-coor: 0
[ INFO] [1513839635.891312241]: ROI width: 32665
[ INFO] [1513839635.891342511]: ROI height: 4272766
[ INFO] [1513839635.893254134]: Calibration data loaded successfully
Size of the frame: 752 x 480
Limits: -1 to 1.5
Limits: -1 to 1
Limits: 0 to 2.3
Number of markers: 2
Intensity threshold (between 0.0 and 1.0): 0.0004
useCameraInfo: 0
Projection matrix:
[722.22699, 0, 396.83157, 0;
0, 724.25177, 245.65433, 0;
0, 0, 1, 0]
MAX_ITERS: 100
[ INFO] [1513839635.928687068]: Reading CameraInfo from configuration file
66=(136.628,271.375) (100.5,319.508) (49.3703,284.37) (86.3264,235.886) Txyz=-0.91036 0.0955786 2.16889 Rxyz=-0.441642 1.79648 -1.78922
77=(403.858,266.719) (359.723,305.623) (320.718,261.157) (365.832,222.415) Txyz=-0.104221 0.0555665 2.22151 Rxyz=-0.630651 1.64157 -1.6905
[ INFO] [1513839636.272981332]: First marker with ID: 66 detected
[ WARN] [1513839636.277726860]: TF to MSG: Quaternion Not Properly Normalized
66=(136.723,271.402) (100.399,319.546) (49.3407,284.313) (86.2181,235.797) Txyz=-0.908639 0.0953415 2.1645 Rxyz=-0.44495 1.80124 -1.78419
77=(403.909,266.643) (359.656,305.696) (320.753,261.148) (365.746,222.378) Txyz=-0.104228 0.0554753 2.22053 Rxyz=-0.634499 1.63693 -1.6988
[ INFO] [1513839636.387703679]: Velodyne scan received at 1.51384e+09
[ INFO] [1513839636.387768020]: marker_6dof received at 1.51384e+09
Initial Rot 0.000796274 -0.999999 -0.000796274
0 0.000796274 -1
1 0.000796274 6.34053e-07
66 -0.91036 0.0955786 2.16889 -0.441642 1.79648 -1.78922 77 -0.104221 0.0555665 2.22151 -0.630651 1.64157 -1.6905
[ INFO] [1513839636.391943552]: iteration number: 0
---------Moving on to next marker--------
66=(136.766,271.302) (100.316,319.534) (49.3688,284.327) (86.2015,235.876) Txyz=-0.909787 0.0954205 2.16722 Rxyz=-0.441765 1.79419 -1.79198
77=(403.852,266.67) (359.709,305.584) (320.792,261.157) (365.715,222.271) Txyz=-0.104259 0.0553625 2.22151 Rxyz=-0.630496 1.63518 -1.69853
66=(136.598,271.351) (100.45,319.472) (49.4021,284.353) (86.3635,235.782) Txyz=-0.910094 0.0953978 2.16819 Rxyz=-0.446826 1.79635 -1.79403
77=(403.905,266.596) (359.696,305.592) (320.723,261.163) (365.805,222.383) Txyz=-0.104179 0.0554385 2.22051 Rxyz=-0.627335 1.64939 -1.6817
66=(136.666,271.409) (100.374,319.469) (49.3761,284.363) (86.2708,235.826) Txyz=-0.910144 0.0954931 2.16811 Rxyz=-0.443119 1.79708 -1.78829
77=(403.794,266.645) (359.525,305.734) (320.872,261.134) (365.687,222.247) Txyz=-0.104203 0.0553382 2.2188 Rxyz=-0.614036 1.61741 -1.70352
66=(136.612,271.359) (100.438,319.458) (49.407,284.363) (86.324,235.876) Txyz=-0.910964 0.0955674 2.17024 Rxyz=-0.442622 1.79515 -1.7918
77=(403.818,266.673) (359.722,305.599) (320.775,261.138) (365.78,222.356) Txyz=-0.104262 0.0554456 2.22226 Rxyz=-0.628077 1.63286 -1.69834
66=(136.723,271.406) (100.434,319.426) (49.4147,284.36) (86.3251,235.868) Txyz=-0.910746 0.0955728 2.16997 Rxyz=-0.438658 1.79505 -1.78661
77=(403.828,266.642) (359.678,305.608) (320.782,261.121) (365.769,222.334) Txyz=-0.104261 0.055387 2.22166 Rxyz=-0.627092 1.6328 -1.69756
66=(136.729,271.341) (100.553,319.447) (49.526,284.382) (86.3537,235.758) Txyz=-0.909343 0.0953369 2.16702 Rxyz=-0.446929 1.80043 -1.7902
77=(403.936,266.628) (359.617,305.587) (320.764,261.054) (365.798,222.433) Txyz=-0.104355 0.0554368 2.22316 Rxyz=-0.644325 1.64833 -1.69197
66=(136.815,271.371) (100.532,319.432) (49.4913,284.398) (86.4279,235.801) Txyz=-0.909968 0.0954647 2.16877 Rxyz=-0.439982 1.79382 -1.79069
77=(403.882,266.616) (359.656,305.628) (320.807,261.104) (365.783,222.364) Txyz=-0.104229 0.0553983 2.22183 Rxyz=-0.63101 1.63568 -1.69703
66=(136.788,271.348) (100.529,319.442) (49.5416,284.419) (86.3848,235.854) Txyz=-0.910355 0.0955456 2.16963 Rxyz=-0.441614 1.795 -1.79218
77=(403.867,266.593) (359.677,305.699) (320.839,261.138) (365.731,222.415) Txyz=-0.104268 0.055483 2.22259 Rxyz=-0.632272 1.628 -1.70697
66=(136.791,271.344) (100.528,319.444) (49.626,284.319) (86.4911,235.815) Txyz=-0.910125 0.0954218 2.16938 Rxyz=-0.447536 1.79623 -1.79413
77=(403.825,266.688) (359.698,305.662) (320.783,261.141) (365.748,222.356) Txyz=-0.104261 0.0554683 2.22167 Rxyz=-0.62955 1.62726 -1.705 `