ar_pose with several cameras

Hello everybody,

I'm trying to use arpose to detect the position of a marker. I'm interested into use more than one camera. My idea is to run one arpose node for every camera.

Since now I've been able to run it only by one camera provided that the arpose use the topic /camera/camerainfo and /camera/imageraw to construct its tf's. I achieve the camera toppic by doing remaping form usbcam nodes.

Since I'm not able to do remaping to the same topic for every camera, my question is: How can I do to use several ar_pose nodes from diferent image streams?

I have been reading some answers related with arposeekf but i'm not been able to find the package on the wiki.

Thank you in advance.

Asked by Julen on 2015-06-19 05:20:22 UTC

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Answers

Remap the camera topics of your ar_pose nodes to the camera topics of you multiple camera nodes.

Asked by dornhege on 2015-06-19 05:23:47 UTC

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Thanks for the answer. ar_pose reads from the topic /camera/camera_info and /camera/image_raw. I can not do remap form two diferent nodes to the same topic name. Could you be more explicit or provide an example?

Asked by Julen on 2015-06-19 05:39:30 UTC

You will choose a camera topic for each camera. Remap the driver and the ar_pose node to use this new topic.

Asked by dornhege on 2015-06-19 06:34:41 UTC

like dornhege said, it work for me to remap the driver, the topics from each cam: image description

But if the cameras detect the same Tag, the pose estamation jump from one camera to the other. Is it possible to get the old packge ar_pose_ekf somewhere? Or have someone a good idea to merge the estimations without long coding?

Asked by rossi on 2015-11-23 16:02:44 UTC