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Have you ever tried:

rosrun object_recognition_capture capture --seg_z_min 0.01 -o silk.bag --preview --res sxga --fps 15

Omitting the -i parameter sets the capture app to use the printed markers. This works for me!

Remark: The orb_template step is not needed if you omit -i.

It seems that there is a bug in orb_template or in capture when matching the features to the template's.

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