Comments (6)
The ideal way to do that would be to set a TF transform between the camera frame and the world frame and then publishing the pose of the object with reference to the camera frame would get transformed. TF setup link. I was setting up a common world frame between robot and camera and your rotations caused trouble and I removed the rotations and now it works well. Thanks for the ROS port.
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AFAIK I did that to publish a world-oriented coordinate frame, not a camera-oriented one. Camera frames often use Z as distance from camera pointing angle (depth) and X,Y align with the image axes.
Having Z pointing up made life much simpler for applications using these markers such as object manipulation or robot localisation.
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Yes you are right, although I weighted the most common usages and went for the internal rotation solution to save head scratching for most users.
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Actually, this started some head scratching for me: If I visualize the marker coordinate frame from the result
topic with image_view
, I get different coordinate systems than the rviz tf
visualization:
(or is that a different issue?)
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One is the internal aruco visualisation, the tf frame is the output I wanted in 2012 :)
There's no further explanation to that.
If you want to fix that, feel free to send in a pull request.
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I'm fine with it -- I only use the ros tf output. I primarily wanted to document this issue :-)
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Related Issues (20)
- Memory errors for branch aruco_ros/tree/humble-devel HOT 12
- Process dies everytime I try to access the topic aruco_marker_publisher/result HOT 6
- Can not get pose information and aruco_marker tf from ZED Mini camera HOT 9
- is there a way to port this back to older version (EOL) ROS2 HOT 1
- [bug] double free detected in tcache 2 HOT 2
- [Humble] Failing to build on buildfarm because of ambiguity HOT 4
- Help๏ผ HOT 1
- about no camera info HOT 2
- cannot show position,but get marks > Hello @Yaoxingtian, HOT 2
- about distance
- howto use many aruco code to make accuracy better? HOT 1
- how to change the coordinate system HOT 1
- the direction changes a lot when i put quaternion ioto navigation HOT 2
- Calculate reprojection error HOT 1
- an error when catkin_make HOT 3
- why the size of distorsionCoeff is 4? HOT 5
- can aruco_ros subscribe raw(distorted) image?
- noetic process has died HOT 11
- pose representation problem HOT 1
- Flickering in Debug View
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