Pose estimation error with ar_pose

asked 2018-03-27 07:47:14 -0500

piliboss gravatar image

updated 2018-03-27 08:26:55 -0500

I am using ar_pose package to estimate the pose of aruco marker.

The camera I used is the gazebo camera. The description of the camera is following in urdf file:

 <gazebo reference="robotiq_wrist_camera_link">
<sensor type="camera" name="wrist_camera">
  <update_rate>30.0</update_rate>
  <camera name="camera on wrist">
    <horizontal_fov>0.8727</horizontal_fov>
    <image>
      <width>640</width>
      <height>480</height>
      <format>BGR8</format>
    </image>
    <clip>
      <near>0.02</near>
      <far>50</far>
    </clip>
    <noise>
      <type>gaussian</type>
      <mean>0.0</mean>
      <stddev>0.007</stddev>
    </noise>
  </camera>
  <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
    <alwaysOn>true</alwaysOn>
    <updateRate>0.0</updateRate>
    <cameraName>camera</cameraName>
    <imageTopicName>image_raw</imageTopicName>
    <cameraInfoTopicName>camera_info</cameraInfoTopicName>
    <frameName>camera_link_optical</frameName>
    <hackBaseline>0.07</hackBaseline>
    <distortionK1>0.0</distortionK1>
    <distortionK2>0.0</distortionK2>
    <distortionK3>0.0</distortionK3>
    <distortionT1>0.0</distortionT1>
    <distortionT2>0.0</distortionT2>
  </plugin>
</sensor></gazebo>

In launch file, I ran the ar_pose node like this:

<node name="ar_pose" pkg="ar_pose" type="ar_single" respawn="false" output="screen">
<param name="marker_pattern" type="string" value="data/4x4/4x4_24.patt"/>
<param name="marker_width" type="double" value="25"/>
<param name="marker_center_x" type="double" value="0.0"/>
<param name="marker_center_y" type="double" value="0.0"/>
<param name="threshold" type="int" value="100"/>
<param name="use_history" type="bool" value="true"/></node>

The estimation result shows in the picture. pose estimation result

It seems that the detected pose is not aligned to the marker pose. Someone knows why and thanks for the attention!

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Comments

There is no picture visible in your post.

I've given you enough karma to attach your image to your post directly. Please edit your question to do that.

gvdhoorn gravatar imagegvdhoorn ( 2018-03-27 08:14:53 -0500 )edit

The picture has been attached to the post. Thank you

piliboss gravatar imagepiliboss ( 2018-03-27 08:24:25 -0500 )edit