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ar_pose with several cameras

asked 2015-06-19 05:20:22 -0500

Julen gravatar image

Hello everybody,

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

Since now I've been able to run it only by one camera provided that the ar_pose use the topic /camera/camera_info and /camera/image_raw to construct its tf's. I achieve the camera toppic by doing remaping form usb_cam 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 ar_pose_ekf but i'm not been able to find the package on the wiki.

Thank you in advance.

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answered 2015-11-23 15:02:44 -0500

rossi gravatar image

updated 2015-11-23 15:15:42 -0500

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?

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answered 2015-06-19 05:23:47 -0500

dornhege gravatar image

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

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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?

Julen gravatar image Julen  ( 2015-06-19 05:39:30 -0500 )edit

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

dornhege gravatar image dornhege  ( 2015-06-19 06:34:41 -0500 )edit

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Asked: 2015-06-19 05:20:22 -0500

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Last updated: Nov 23 '15